Delayless acceleration measurement method for motion control applications

Energy Technology Data Exchange (ETDEWEB)

Vaeliviita, S.; Ovaska, S.J. [Helsinki University of Technology, Otaniemi (Finland). Institute of Intelligent Power Electronics

1997-12-31

Delayless and accurate sensing of angular acceleration can improve the performance of motion control in motor drives. Acceleration control is, however, seldom implemented in practical drive systems due to prohibitively high costs or unsatisfactory results of most acceleration measurement methods. In this paper we propose an efficient and accurate acceleration measurement method based on direct differentiation of the corresponding velocity signal. Polynomial predictive filtering is used to smooth the resulting noisy signal without delay. This type of prediction is justified by noticing that a low-degree polynomial can usually be fitted into the primary acceleration curve. No additional hardware is required to implement the procedure if the velocity signal is already available. The performance of the acceleration measurement method is evaluated by applying it to a demanding motion control application. (orig.) 12 refs.

Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents

Directory of Open Access Journals (Sweden)

Debabrata Atta

2010-01-01

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

Learning-based identification and iterative learning control of direct-drive robots

NARCIS (Netherlands)

Bukkems, B.H.M.; Kostic, D.; Jager, de A.G.; Steinbuch, M.

2005-01-01

A combination of model-based and Iterative Learning Control is proposed as a method to achieve high-quality motion control of direct-drive robots in repetitive motion tasks. We include both model-based and learning components in the total control law, as their individual properties influence the

Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot.

Science.gov (United States)

Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Bengoa, Pablo; Jung, Je Hyung

2017-07-01

In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot. The estimators are based on the kinematic and dynamic model of the UHP and the use of signals measured by means of common low-cost sensors. In order to demonstrate the effectiveness of the estimators, several experimental tests were carried out. The force and impedance control of the UHP was implemented first by directly measuring the interaction force using accurate extra sensors and the robot performance was compared to the case where the proposed estimators replace the direct measured values. The experimental results reveal that the controller based on the estimators has similar performance to that using direct measurement (less than 1 N difference in root mean square error between two cases), indicating that the proposed force and motion estimators can facilitate implementation of interactive controller for the UHP in robotmediated rehabilitation trainings.

Effectiveness of the Gaze Direction Recognition Task for Chronic Neck Pain and Cervical Range of Motion: A Randomized Controlled Pilot Study

Directory of Open Access Journals (Sweden)

Satoshi Nobusako

2012-01-01

Full Text Available We developed a mental task with gaze direction recognition (GDR by which subjects observed neck rotation of another individual from behind and attempted to recognize the direction of gaze. A randomized controlled trial was performed in test (=9 and control (=8 groups of subjects with chronic neck pain undergoing physical therapy either with or without the GDR task carried out over 12 sessions during a three-week period. Primary outcome measures were defined as the active range of motion and pain on rotation of the neck. Secondary outcome measures were reaction time (RT and response accuracy in the GDR task group. ANOVA indicated a main effect for task session and group, and interaction of session. Post hoc testing showed that the GDR task group exhibited a significant simple main effect upon session, and significant sequential improvement of neck motion and relief of neck pain. Rapid effectiveness was significant in both groups. The GDR task group had a significant session-to-session reduction of RTs in correct responses. In conclusion, the GDR task we developed provides a promising rehabilitation measure for chronic neck pain.

Effect of Ground Motion Directionality on Fragility Characteristics of a Highway Bridge

Directory of Open Access Journals (Sweden)

Swagata Banerjee Basu

2011-01-01

Full Text Available It is difficult to incorporate multidimensional effect of the ground motion in the design and response analysis of structures. The motion trajectory in the corresponding multi-dimensional space results in time variant principal axes of the motion and defies any meaningful definition of directionality of the motion. However, it is desirable to consider the directionality of the ground motion in assessing the seismic damageability of bridges which are one of the most vulnerable components of highway transportation systems. This paper presents a practice-oriented procedure in which the structure can be designed to ensure the safety under single or a pair of independent orthogonal ground motions traveling horizontally with an arbitrary direction to structural axis. This procedure uses nonlinear time history analysis and accounts for the effect of directionality in the form of fragility curves. The word directionality used here is different from “directivity” used in seismology to mean a specific characteristic of seismic fault movement.

Exploring direct 3D interaction for full horizontal parallax light field displays using leap motion controller.

Science.gov (United States)

Adhikarla, Vamsi Kiran; Sodnik, Jaka; Szolgay, Peter; Jakus, Grega

2015-04-14

This paper reports on the design and evaluation of direct 3D gesture interaction with a full horizontal parallax light field display. A light field display defines a visual scene using directional light beams emitted from multiple light sources as if they are emitted from scene points. Each scene point is rendered individually resulting in more realistic and accurate 3D visualization compared to other 3D displaying technologies. We propose an interaction setup combining the visualization of objects within the Field Of View (FOV) of a light field display and their selection through freehand gesture tracked by the Leap Motion Controller. The accuracy and usefulness of the proposed interaction setup was also evaluated in a user study with test subjects. The results of the study revealed high user preference for free hand interaction with light field display as well as relatively low cognitive demand of this technique. Further, our results also revealed some limitations and adjustments of the proposed setup to be addressed in future work.

Transient Dynamics of Electric Power Systems: Direct Stability Assessment and Chaotic Motions

Science.gov (United States)

Chu, Chia-Chi

A power system is continuously experiencing disturbances. Analyzing, predicting, and controlling transient dynamics, which describe transient behaviors of the power system following disturbances, is a major concern in the planning and operation of a power utility. Important conclusions and decisions are made based on the result of system transient behaviors. As today's power network becomes highly interconnected and much more complex, it has become essential to enhance the fundamental understanding of transient dynamics, and to develop fast and reliable computational algorithms. In this thesis, we emphasize mathematical rigor rather than physical insight. Nonlinear dynamical system theory is applied to study two fundamental topics: direct stability assessment and chaotic motions. Conventionally, power system stability is determined by calculating the time-domain transient behaviors for a given disturbance. In contrast, direct methods identify whether or not the system will remain stable once the disturbance is removed by comparing the corresponding energy value of the post-fault system to a calculated threshold value. Direct methods not only avoid the time-consuming numerical integration of the time domain approach, but also provide a quantitative measure of the degree of system stability. We present a general framework for the theoretical foundations of direct methods. Canonical representations of network-reduction models as well as network-preserving models are proposed to facilitate the analysis and the construction of energy functions of various power system models. An advanced and practical method, called the boundary of stability region based controlling unstable equilibrium point method (BCU method), of computing the controlling unstable equilibrium point is proposed along with its theoretical foundation. Numerical solution algorithms capable of supporting on-line applications of direct methods are provided. Further possible improvements and enhancements are

Rotational Motion Control of a Spacecraft

DEFF Research Database (Denmark)

Wisniewski, Rafal; Kulczycki, P.

2001-01-01

The paper adopts the energy shaping method to control of rotational motion. A global representation of the rigid body motion is given in the canonical form by a quaternion and its conjugate momenta. A general method for motion control on a cotangent bundle to the 3-sphere is suggested. The design...... algorithm is validated for three-axis spacecraft attitude control...

Rotational motion control of a spacecraft

DEFF Research Database (Denmark)

Wisniewski, Rafal; Kulczycki, P.

2003-01-01

The paper adopts the energy shaping method to control of rotational motion. A global representation of the rigid body motion is given in the canonical form by a quaternion and its conjugate momenta. A general method for motion control on a cotangent bundle to the 3-sphere is suggested. The design...... algorithm is validated for three-axis spacecraft attitude control. Udgivelsesdato: APR...

Robot motion control in mobile environment

Institute of Scientific and Technical Information of China (English)

Iliya V Miroshnik; HUANG Xian-lin(黄显林); HE Jie(贺杰)

2003-01-01

With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.

Visual Search for Motion-Form Conjunctions: Selective Attention to Movement Direction.

Science.gov (United States)

Von Mühlenen, Adrian; Müller, Hermann J

1999-07-01

In 2 experiments requiring visual search for conjunctions of motion and form, the authors reinvestigated whether motion-based filtering (e.g., P. McLeod, J. Driver, Z. Dienes, & J. Crisp, 1991) is direction selective and whether cuing of the target direction promotes efficient search performance. In both experiments, the authors varied the number of movement directions in the display and the predictability of the target direction. Search was less efficient when items moved in multiple (2, 3, and 4) directions as compared with just 1 direction. Furthermore, precuing of the target direction facilitated the search, even with "wrap-around" displays, relatively more when items moved in multiple directions. The authors proposed 2 principles to explain that pattern of effects: (a) interference on direction computation between items moving in different directions (e.g., N. Qian & R. A. Andersen, 1994) and (b) selective direction tuning of motion detectors involving a receptive-field contraction (cf. J. Moran & R. Desimone, 1985; S. Treue & J. H. R. Maunsell, 1996).

Influence of Visual Motion, Suggestion, and Illusory Motion on Self-Motion Perception in the Horizontal Plane.

Science.gov (United States)

Rosenblatt, Steven David; Crane, Benjamin Thomas

2015-01-01

A moving visual field can induce the feeling of self-motion or vection. Illusory motion from static repeated asymmetric patterns creates a compelling visual motion stimulus, but it is unclear if such illusory motion can induce a feeling of self-motion or alter self-motion perception. In these experiments, human subjects reported the perceived direction of self-motion for sway translation and yaw rotation at the end of a period of viewing set visual stimuli coordinated with varying inertial stimuli. This tested the hypothesis that illusory visual motion would influence self-motion perception in the horizontal plane. Trials were arranged into 5 blocks based on stimulus type: moving star field with yaw rotation, moving star field with sway translation, illusory motion with yaw, illusory motion with sway, and static arrows with sway. Static arrows were used to evaluate the effect of cognitive suggestion on self-motion perception. Each trial had a control condition; the illusory motion controls were altered versions of the experimental image, which removed the illusory motion effect. For the moving visual stimulus, controls were carried out in a dark room. With the arrow visual stimulus, controls were a gray screen. In blocks containing a visual stimulus there was an 8s viewing interval with the inertial stimulus occurring over the final 1s. This allowed measurement of the visual illusion perception using objective methods. When no visual stimulus was present, only the 1s motion stimulus was presented. Eight women and five men (mean age 37) participated. To assess for a shift in self-motion perception, the effect of each visual stimulus on the self-motion stimulus (cm/s) at which subjects were equally likely to report motion in either direction was measured. Significant effects were seen for moving star fields for both translation (p = 0.001) and rotation (pperception was shifted in the direction consistent with the visual stimulus. Arrows had a small effect on self-motion

Muscle Synergy-Driven Robust Motion Control.

Science.gov (United States)

Min, Kyuengbo; Iwamoto, Masami; Kakei, Shinji; Kimpara, Hideyuki

2018-04-01

Humans are able to robustly maintain desired motion and posture under dynamically changing circumstances, including novel conditions. To accomplish this, the brain needs to optimize the synergistic control between muscles against external dynamic factors. However, previous related studies have usually simplified the control of multiple muscles using two opposing muscles, which are minimum actuators to simulate linear feedback control. As a result, they have been unable to analyze how muscle synergy contributes to motion control robustness in a biological system. To address this issue, we considered a new muscle synergy concept used to optimize the synergy between muscle units against external dynamic conditions, including novel conditions. We propose that two main muscle control policies synergistically control muscle units to maintain the desired motion against external dynamic conditions. Our assumption is based on biological evidence regarding the control of multiple muscles via the corticospinal tract. One of the policies is the group control policy (GCP), which is used to control muscle group units classified based on functional similarities in joint control. This policy is used to effectively resist external dynamic circumstances, such as disturbances. The individual control policy (ICP) assists the GCP in precisely controlling motion by controlling individual muscle units. To validate this hypothesis, we simulated the reinforcement of the synergistic actions of the two control policies during the reinforcement learning of feedback motion control. Using this learning paradigm, the two control policies were synergistically combined to result in robust feedback control under novel transient and sustained disturbances that did not involve learning. Further, by comparing our data to experimental data generated by human subjects under the same conditions as those of the simulation, we showed that the proposed synergy concept may be used to analyze muscle synergy

Exploring Direct 3D Interaction for Full Horizontal Parallax Light Field Displays Using Leap Motion Controller

Directory of Open Access Journals (Sweden)

Vamsi Kiran Adhikarla

2015-04-01

Full Text Available This paper reports on the design and evaluation of direct 3D gesture interaction with a full horizontal parallax light field display. A light field display defines a visual scene using directional light beams emitted from multiple light sources as if they are emitted from scene points. Each scene point is rendered individually resulting in more realistic and accurate 3D visualization compared to other 3D displaying technologies. We propose an interaction setup combining the visualization of objects within the Field Of View (FOV of a light field display and their selection through freehand gesture tracked by the Leap Motion Controller. The accuracy and usefulness of the proposed interaction setup was also evaluated in a user study with test subjects. The results of the study revealed high user preference for free hand interaction with light field display as well as relatively low cognitive demand of this technique. Further, our results also revealed some limitations and adjustments of the proposed setup to be addressed in future work.

Temperature-Responsive Anisotropic Slippery Surface for Smart Control of the Droplet Motion.

Science.gov (United States)

Wang, By Lili; Heng, Liping; Jiang, Lei

2018-02-28

Development of stimulus-responsive anisotropic slippery surfaces is important because of the high demand for such materials in the field of liquid directional-driven systems. However, current studies in the field of slippery surfaces are mainly conducted to prepare isotropic slippery surfaces. Although we have developed electric-responsive anisotropic slippery surfaces that enable smart control of the droplet motion, there remain challenges for designing temperature-responsive anisotropic slippery surfaces to control the liquid droplet motion on the surface and in the tube. In this work, temperature-responsive anisotropic slippery surfaces have been prepared by using paraffin, a thermo-responsive phase-transition material, as a lubricating fluid and directional porous polystyrene (PS) films as the substrate. The smart regulation of the droplet motion of several liquids on this surface was accomplished by tuning the substrate temperature. The uniqueness of this surface lies in the use of an anisotropic structure and temperature-responsive lubricating fluids to achieve temperature-driven smart control of the anisotropic motion of the droplets. Furthermore, this surface was used to design temperature-driven anisotropic microreactors and to manipulate liquid transfer in tubes. This work advances the understanding of the principles underlying anisotropic slippery surfaces and provides a promising material for applications in the biochip and microreactor system.

Absence of direction-specific cross-modal visual-auditory adaptation in motion-onset event-related potentials.

Science.gov (United States)

Grzeschik, Ramona; Lewald, Jörg; Verhey, Jesko L; Hoffmann, Michael B; Getzmann, Stephan

2016-01-01

Adaptation to visual or auditory motion affects within-modality motion processing as reflected by visual or auditory free-field motion-onset evoked potentials (VEPs, AEPs). Here, a visual-auditory motion adaptation paradigm was used to investigate the effect of visual motion adaptation on VEPs and AEPs to leftward motion-onset test stimuli. Effects of visual adaptation to (i) scattered light flashes, and motion in the (ii) same or in the (iii) opposite direction of the test stimulus were compared. For the motion-onset VEPs, i.e. the intra-modal adaptation conditions, direction-specific adaptation was observed--the change-N2 (cN2) and change-P2 (cP2) amplitudes were significantly smaller after motion adaptation in the same than in the opposite direction. For the motion-onset AEPs, i.e. the cross-modal adaptation condition, there was an effect of motion history only in the change-P1 (cP1), and this effect was not direction-specific--cP1 was smaller after scatter than after motion adaptation to either direction. No effects were found for later components of motion-onset AEPs. While the VEP results provided clear evidence for the existence of a direction-specific effect of motion adaptation within the visual modality, the AEP findings suggested merely a motion-related, but not a direction-specific effect. In conclusion, the adaptation of veridical auditory motion detectors by visual motion is not reflected by the AEPs of the present study. © 2015 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

Motion sensing energy controller

International Nuclear Information System (INIS)

Saphir, M.E.; Reed, M.A.

1984-01-01

A moving object sensing processor responsive to slowly varying motions of a human being or other moving object in a zone of interest employs high frequency pulse modulated non-visible radiation generated by a radiation generating source, such as an LED, and detected by a detector sensitive to radiation of a preselected wavelength which generates electrical signals representative of the reflected radiation received from the zone of interest. The detectorsignals are processed to normalize the base level and remove variations due to background level changes, and slowly varying changes in the signals are detected by a bi-polar threshold detector. The control signals generated by the threshold detector in response to slowly varying motion are used to control the application of power to a utilization device, such as a set of fluoroescent lights in a room, the power being applied in response to detection of such motion and being automatically terminated in the absence of such motion after a predetermined time period established by a settable incrementable counter

Models of Postural Control: Shared Variance in Joint and COM Motions.

Directory of Open Access Journals (Sweden)

Melissa C Kilby

Full Text Available This paper investigated the organization of the postural control system in human upright stance. To this aim the shared variance between joint and 3D total body center of mass (COM motions was analyzed using multivariate canonical correlation analysis (CCA. The CCA was performed as a function of established models of postural control that varied in their joint degrees of freedom (DOF, namely, an inverted pendulum ankle model (2DOF, ankle-hip model (4DOF, ankle-knee-hip model (5DOF, and ankle-knee-hip-neck model (7DOF. Healthy young adults performed various postural tasks (two-leg and one-leg quiet stances, voluntary AP and ML sway on a foam and rigid surface of support. Based on CCA model selection procedures, the amount of shared variance between joint and 3D COM motions and the cross-loading patterns we provide direct evidence of the contribution of multi-DOF postural control mechanisms to human balance. The direct model fitting of CCA showed that incrementing the DOFs in the model through to 7DOF was associated with progressively enhanced shared variance with COM motion. In the 7DOF model, the first canonical function revealed more active involvement of all joints during more challenging one leg stances and dynamic posture tasks. Furthermore, the shared variance was enhanced during the dynamic posture conditions, consistent with a reduction of dimension. This set of outcomes shows directly the degeneracy of multivariate joint regulation in postural control that is influenced by stance and surface of support conditions.

Direct flow/motion, coils, and field strength concerns in MRI

International Nuclear Information System (INIS)

Moran, P.R.

1986-01-01

Specific flow/motion bipolar phase-gradient encodings are interlaced into MR sequences for direct NMR imaging of motion quantities, velocity, acceleration, etc. This allows evaluation of the functional properties of tissue, blood flow, heart-wall velocity, vortical-eddies in vascular disease, and perfusion assessment. Attention to fundamentals and basics is important in designing successful flow/motion imaging sequences. 2 refs.; 5 figs

On transcending the impasse of respiratory motion correction applications in routine clinical imaging - a consideration of a fully automated data driven motion control framework

International Nuclear Information System (INIS)

Kesner, Adam L; Schleyer, Paul J; Büther, Florian; Walter, Martin A; Schäfers, Klaus P; Koo, Phillip J

2014-01-01

Positron emission tomography (PET) is increasingly used for the detection, characterization, and follow-up of tumors located in the thorax. However, patient respiratory motion presents a unique limitation that hinders the application of high-resolution PET technology for this type of imaging. Efforts to transcend this limitation have been underway for more than a decade, yet PET remains for practical considerations a modality vulnerable to motion-induced image degradation. Respiratory motion control is not employed in routine clinical operations. In this article, we take an opportunity to highlight some of the recent advancements in data-driven motion control strategies and how they may form an underpinning for what we are presenting as a fully automated data-driven motion control framework. This framework represents an alternative direction for future endeavors in motion control and can conceptually connect individual focused studies with a strategy for addressing big picture challenges and goals. The online version of this article (doi:10.1186/2197-7364-1-8) contains supplementary material, which is available to authorized users.

Robot Motion and Control 2011

CERN Document Server

2012-01-01

Robot Motion Control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: • Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors. • New control algorithms for industrial robots, nonholonomic systems and legged robots. • Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. • Multiagent systems consisting of mobile and flying robots with their applications The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists...

Coupled motions direct electrons along human microsomal P450 Chains.

Directory of Open Access Journals (Sweden)

Christopher R Pudney

2011-12-01

Full Text Available Protein domain motion is often implicated in biological electron transfer, but the general significance of motion is not clear. Motion has been implicated in the transfer of electrons from human cytochrome P450 reductase (CPR to all microsomal cytochrome P450s (CYPs. Our hypothesis is that tight coupling of motion with enzyme chemistry can signal "ready and waiting" states for electron transfer from CPR to downstream CYPs and support vectorial electron transfer across complex redox chains. We developed a novel approach to study the time-dependence of dynamical change during catalysis that reports on the changing conformational states of CPR. FRET was linked to stopped-flow studies of electron transfer in CPR that contains donor-acceptor fluorophores on the enzyme surface. Open and closed states of CPR were correlated with key steps in the catalytic cycle which demonstrated how redox chemistry and NADPH binding drive successive opening and closing of the enzyme. Specifically, we provide evidence that reduction of the flavin moieties in CPR induces CPR opening, whereas ligand binding induces CPR closing. A dynamic reaction cycle was created in which CPR optimizes internal electron transfer between flavin cofactors by adopting closed states and signals "ready and waiting" conformations to partner CYP enzymes by adopting more open states. This complex, temporal control of enzyme motion is used to catalyze directional electron transfer from NADPH→FAD→FMN→heme, thereby facilitating all microsomal P450-catalysed reactions. Motions critical to the broader biological functions of CPR are tightly coupled to enzyme chemistry in the human NADPH-CPR-CYP redox chain. That redox chemistry alone is sufficient to drive functionally necessary, large-scale conformational change is remarkable. Rather than relying on stochastic conformational sampling, our study highlights a need for tight coupling of motion to enzyme chemistry to give vectorial electron

Influence of Visual Motion, Suggestion, and Illusory Motion on Self-Motion Perception in the Horizontal Plane.

Directory of Open Access Journals (Sweden)

Steven David Rosenblatt

Full Text Available A moving visual field can induce the feeling of self-motion or vection. Illusory motion from static repeated asymmetric patterns creates a compelling visual motion stimulus, but it is unclear if such illusory motion can induce a feeling of self-motion or alter self-motion perception. In these experiments, human subjects reported the perceived direction of self-motion for sway translation and yaw rotation at the end of a period of viewing set visual stimuli coordinated with varying inertial stimuli. This tested the hypothesis that illusory visual motion would influence self-motion perception in the horizontal plane. Trials were arranged into 5 blocks based on stimulus type: moving star field with yaw rotation, moving star field with sway translation, illusory motion with yaw, illusory motion with sway, and static arrows with sway. Static arrows were used to evaluate the effect of cognitive suggestion on self-motion perception. Each trial had a control condition; the illusory motion controls were altered versions of the experimental image, which removed the illusory motion effect. For the moving visual stimulus, controls were carried out in a dark room. With the arrow visual stimulus, controls were a gray screen. In blocks containing a visual stimulus there was an 8s viewing interval with the inertial stimulus occurring over the final 1s. This allowed measurement of the visual illusion perception using objective methods. When no visual stimulus was present, only the 1s motion stimulus was presented. Eight women and five men (mean age 37 participated. To assess for a shift in self-motion perception, the effect of each visual stimulus on the self-motion stimulus (cm/s at which subjects were equally likely to report motion in either direction was measured. Significant effects were seen for moving star fields for both translation (p = 0.001 and rotation (p0.1 for both. Thus, although a true moving visual field can induce self-motion, results of this

Direct Parametric Reconstruction With Joint Motion Estimation/Correction for Dynamic Brain PET Data.

Science.gov (United States)

Jiao, Jieqing; Bousse, Alexandre; Thielemans, Kris; Burgos, Ninon; Weston, Philip S J; Schott, Jonathan M; Atkinson, David; Arridge, Simon R; Hutton, Brian F; Markiewicz, Pawel; Ourselin, Sebastien

2017-01-01

Direct reconstruction of parametric images from raw photon counts has been shown to improve the quantitative analysis of dynamic positron emission tomography (PET) data. However it suffers from subject motion which is inevitable during the typical acquisition time of 1-2 hours. In this work we propose a framework to jointly estimate subject head motion and reconstruct the motion-corrected parametric images directly from raw PET data, so that the effects of distorted tissue-to-voxel mapping due to subject motion can be reduced in reconstructing the parametric images with motion-compensated attenuation correction and spatially aligned temporal PET data. The proposed approach is formulated within the maximum likelihood framework, and efficient solutions are derived for estimating subject motion and kinetic parameters from raw PET photon count data. Results from evaluations on simulated [ 11 C]raclopride data using the Zubal brain phantom and real clinical [ 18 F]florbetapir data of a patient with Alzheimer's disease show that the proposed joint direct parametric reconstruction motion correction approach can improve the accuracy of quantifying dynamic PET data with large subject motion.

Motion direction estimation based on active RFID with changing environment

Science.gov (United States)

Jie, Wu; Minghua, Zhu; Wei, He

2018-05-01

The gate system is used to estimate the direction of RFID tags carriers when they are going through the gate. Normally, it is difficult to achieve and keep a high accuracy in estimating motion direction of RFID tags because the received signal strength of tag changes sharply according to the changing electromagnetic environment. In this paper, a method of motion direction estimation for RFID tags is presented. To improve estimation accuracy, the machine leaning algorithm is used to get the fitting function of the received data by readers which are deployed inside and outside gate respectively. Then the fitted data are sampled to get the standard vector. We compare the stand vector with template vectors to get the motion direction estimation result. Then the corresponding template vector is updated according to the surrounding environment. We conducted the simulation and implement of the proposed method and the result shows that the proposed method in this work can improve and keep a high accuracy under the condition of the constantly changing environment.

Adaptive fuzzy trajectory control for biaxial motion stage system

Directory of Open Access Journals (Sweden)

Wei-Lung Mao

2016-04-01

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

Reversed stereo depth and motion direction with anti-correlated stimuli.

Science.gov (United States)

Read, J C; Eagle, R A

2000-01-01

We used anti-correlated stimuli to compare the correspondence problem in stereo and motion. Subjects performed a two-interval forced-choice disparity/motion direction discrimination task for different displacements. For anti-correlated 1d band-pass noise, we found weak reversed depth and motion. With 2d anti-correlated stimuli, stereo performance was impaired, but the perception of reversed motion was enhanced. We can explain the main features of our data in terms of channels tuned to different spatial frequencies and orientation. We suggest that a key difference between the solution of the correspondence problem by the motion and stereo systems concerns the integration of information at different orientations.

Turning Symbolic: The representation of motion direction in working memory

Directory of Open Access Journals (Sweden)

Tal eSeidel Malkinson

2016-02-01

Full Text Available What happens to the representation of a moving stimulus when it is no longer present and its motion direction has to be maintained in working memory (WM? Is the initial, sensorial representation maintained during the delay period or is there another representation, at a higher level of abstraction? It is also feasible that multiple representations may co-exist in WM, manifesting different facets of sensory and more abstract features.To that end, we investigated the mnemonic representation of motion direction in a series of three psychophysical experiments, using a delayed motion-discrimination task (relative clockwisecounter-clockwise judgment. First, we show that a change in the dots' contrast polarity does not hamper performance. Next, we demonstrate that performance is unaffected by relocation of the Test stimulus in either retinotopic or spatiotopic coordinate frames. Finally, we show that an arrow-shaped cue presented during the delay interval between the Sample and Test stimulus, biases performance towards the direction of the arrow, although the cue itself is non-informative (it has no predictive value of the correct answer. These results indicate that the representation of motion direction in WM is independent of the physical features of the stimulus (polarity or position and has non-sensorial abstract qualities. It is plausible that an abstract mnemonic trace might be activated alongside a more basic, analogue representation of the stimulus. We speculate that the specific sensitivity of the mnemonic representation to the arrow-shaped symbol may stem from the long term learned association between direction and the hour in the clock.

Figure-ground segregation can rely on differences in motion direction.

Science.gov (United States)

Kandil, Farid I; Fahle, Manfred

2004-12-01

If the elements within a figure move synchronously while those in the surround move at a different time, the figure is easily segregated from the surround and thus perceived. Lee and Blake (1999) [Visual form created solely from temporal structure. Science, 284, 1165-1168] demonstrated that this figure-ground separation may be based not only on time differences between motion onsets, but also on the differences between reversals of motion direction. However, Farid and Adelson (2001) [Synchrony does not promote grouping in temporally structured displays. Nature Neuroscience, 4, 875-876] argued that figure-ground segregation in the motion-reversal experiment might have been based on a contrast artefact and concluded that (a)synchrony as such was 'not responsible for the perception of form in these or earlier displays'. Here, we present experiments that avoid contrast artefacts but still produce figure-ground segregation based on purely temporal cues. Our results show that subjects can segregate figure from ground even though being unable to use motion reversals as such. Subjects detect the figure when either (i) motion stops (leading to contrast artefacts), or (ii) motion directions differ between figure and ground. Segregation requires minimum delays of about 15 ms. We argue that whatever the underlying cues and mechanisms, a second stage beyond motion detection is required to globally compare the outputs of local motion detectors and to segregate figure from ground. Since analogous changes take place in both figure and ground in rapid succession, this second stage has to detect the asynchrony with high temporal precision.

Exoskeleton Motion Control for Children Walking Rehabilitation

Directory of Open Access Journals (Sweden)

Cristina Ploscaru

2016-06-01

Full Text Available This paper introduces a quick method for motion control of an exoskeleton used on children walking rehabilitation with ages between four to seven years old. The exoskeleton used on this purpose has six servomotors which work independently and actuates each human lower limb joints (hips, knees and ankles. For obtaining the desired motion laws, a high-speed motion analysis equipment was used. The experimental rough data were mathematically modeled in order to obtain the proper motion equations for controlling the exoskeleton servomotors.

Subfemtosecond directional control of chemical processes in molecules

Science.gov (United States)

Alnaser, Ali S.; Litvinyuk, Igor V.

2017-02-01

Laser pulses with a waveform-controlled electric field and broken inversion symmetry establish the opportunity to achieve directional control of molecular processes on a subfemtosecond timescale. Several techniques could be used to break the inversion symmetry of an electric field. The most common ones include combining a fundamental laser frequency with its second harmonic or with higher -frequency pulses (or pulse trains) as well as using few-cycle pulses with known carrier-envelope phase (CEP). In the case of CEP, control over chemical transformations, typically occurring on a timescale of many femtoseconds, is driven by much faster sub-cycle processes of subfemtosecond to few-femtosecond duration. This is possible because electrons are much lighter than nuclei and fast electron motion is coupled to the much slower nuclear motion. The control originates from populating coherent superpositions of different electronic or vibrational states with relative phases that are dependent on the CEP or phase offset between components of a two-color pulse. In this paper, we review the recent progress made in the directional control over chemical processes, driven by intense few-cycle laser pulses a of waveform-tailored electric field, in different molecules.

Ship Roll Motion Control

DEFF Research Database (Denmark)

Perez, Tristan; Blanke, Mogens

2010-01-01

. This tutorial paper presents an account of the development of various ship roll motion control systems and the challenges associated with their design. The paper discusses how to assess performance, the applicability of dierent models, and control methods that have been applied in the past....

An intelligent control scheme for precise tip-motion control in atomic force microscopy.

Science.gov (United States)

Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

2016-01-01

The paper proposes a new intelligent control method to precisely control the tip motion of the atomic force microscopy (AFM). The tip moves up and down at a high rate along the z direction during scanning, requiring the utilization of a rapid feedback controller. The standard proportional-integral (PI) feedback controller is commonly used in commercial AFMs to enable topography measurements. The controller's response performance is determined by the set of the proportional (P) parameter and the integral (I) parameter. However, the two parameters cannot be automatically altered simultaneously according to the scanning speed and the surface topography during continuors scanning, leading to an inaccurate measurement. Thus a new intelligent controller combining the fuzzy controller and the PI controller is put forward in the paper. The new controller automatically selects the most appropriate PI parameters to achieve a fast response rate on basis of the tracking errors. In the experimental setup, the new controller is realized with a digital signal process (DSP) system, implemented in a conventional AFM system. Experiments are carried out by comparing the new method with the standard PI controller. The results demonstrate that the new method is more robust and effective for the precise tip motion control, corresponding to the achievement of a highly qualified image by shortening the response time of the controller. © Wiley Periodicals, Inc.

Direct observation of rectified motion of vortices by Lorentz microscopy

Indian Academy of Sciences (India)

We have investigated the vortex dynamics for the `ratchet' operation in a niobium superconductor via a direct imaging of Lorentz microscopy. We directly observe one-directional selective motion of field-gradient-driven vortices along fabricated channels. This results from the rectification of vortices in a spatially asymmetric ...

[Motion control of moving mirror based on fixed-mirror adjustment in FTIR spectrometer].

Science.gov (United States)

Li, Zhong-bing; Xu, Xian-ze; Le, Yi; Xu, Feng-qiu; Li, Jun-wei

2012-08-01

The performance of the uniform motion of the moving mirror, which is the only constant motion part in FTIR spectrometer, and the performance of the alignment of the fixed mirror play a key role in FTIR spectrometer, and affect the interference effect and the quality of the spectrogram and may restrict the precision and resolution of the instrument directly. The present article focuses on the research on the uniform motion of the moving mirror and the alignment of the fixed mirror. In order to improve the FTIR spectrometer, the maglev support system was designed for the moving mirror and the phase detection technology was adopted to adjust the tilt angle between the moving mirror and the fixed mirror. This paper also introduces an improved fuzzy PID control algorithm to get the accurate speed of the moving mirror and realize the control strategy from both hardware design and algorithm. The results show that the development of the moving mirror motion control system gets sufficient accuracy and real-time, which can ensure the uniform motion of the moving mirror and the alignment of the fixed mirror.

Geometric Control Over the Motion of Magnetic Domain Walls

International Nuclear Information System (INIS)

N.A. Sinitsyn; V.V. Dobrovitski; S. urazhdin; Avadh Saxena

2008-01-01

We propose a method that enables a precise control of magnetic patterns and relies only on the fundamental properties of the wire as well as on the choice of the path in the controlled parameter space but not on the rate of motion along this path. Possible experimental realizations of this mechanism are discussed. In particular, we show that the domain walls in magnetic nanowires can be translated by rotation of the magnetic easy axis or by applying pulses of magnetic field directed transverse to the magnetic easy axis

Independent and additive repetition priming of motion direction and color in visual search.

Science.gov (United States)

Kristjánsson, Arni

2009-03-01

Priming of visual search for Gabor patch stimuli, varying in color and local drift direction, was investigated. The task relevance of each feature varied between the different experimental conditions compared. When the target defining dimension was color, a large effect of color repetition was seen as well as a smaller effect of the repetition of motion direction. The opposite priming pattern was seen when motion direction defined the target--the effect of motion direction repetition was this time larger than for color repetition. Finally, when neither was task relevant, and the target defining dimension was the spatial frequency of the Gabor patch, priming was seen for repetition of both color and motion direction, but the effects were smaller than in the previous two conditions. These results show that features do not necessarily have to be task relevant for priming to occur. There is little interaction between priming following repetition of color and motion, these two features show independent and additive priming effects, most likely reflecting that the two features are processed at separate processing sites in the nervous system, consistent with previous findings from neuropsychology & neurophysiology. The implications of the findings for theoretical accounts of priming in visual search are discussed.

Motion control of rigid bodies in SE(3)

Science.gov (United States)

Roza, Ashton

This thesis investigates the control of motion for a general class of vehicles that rotate and translate in three-space, and are propelled by a thrust vector which has fixed direction in body frame. The thesis addresses the problems of path following and position control. For path following, a feedback linearization controller is presented that makes the vehicle follow an arbitrary closed curve while simultaneously allowing the designer to specify the velocity profile of the vehicle on the path and its heading. For position control, a two-stage approach is presented that decouples position control from attitude control, allowing for a modular design and yielding almost global asymptotic stability of any desired hovering equilibrium. The effectiveness of the proposed method is verified both in simulation and experimentally by means of a hardware-in-the-loop setup emulating a co-axial helicopter.

Training directionally selective motion pathways can significantly improve reading efficiency

Science.gov (United States)

Lawton, Teri

2004-06-01

This study examined whether perceptual learning at early levels of visual processing would facilitate learning at higher levels of processing. This was examined by determining whether training the motion pathways by practicing leftright movement discrimination, as found previously, would improve the reading skills of inefficient readers significantly more than another computer game, a word discrimination game, or the reading program offered by the school. This controlled validation study found that practicing left-right movement discrimination 5-10 minutes twice a week (rapidly) for 15 weeks doubled reading fluency, and significantly improved all reading skills by more than one grade level, whereas inefficient readers in the control groups barely improved on these reading skills. In contrast to previous studies of perceptual learning, these experiments show that perceptual learning of direction discrimination significantly improved reading skills determined at higher levels of cognitive processing, thereby being generalized to a new task. The deficits in reading performance and attentional focus experienced by the person who struggles when reading are suggested to result from an information overload, resulting from timing deficits in the direction-selectivity network proposed by Russell De Valois et al. (2000), that following practice on direction discrimination goes away. This study found that practicing direction discrimination rapidly transitions the inefficient 7-year-old reader to an efficient reader.

Universal CNC platform motion control technology for industrial CT

International Nuclear Information System (INIS)

Cheng Senlin; Wang Yang

2011-01-01

According to the more scanning methods and the higher speed of industrial CT, the higher precision of the motion location and the data collection sync-control is required at present, a new motion control technology was proposed, which was established based on the universal CNC system with high precision of multi-axis control. Aiming at the second and the third generation of CT scanning motion, a control method was researched, and achieved the demands of the changeable parameters and network control, Through the simulation of the second and the third generation of CT scanning motion process, the control precision of the rotation axis reached 0.001° and the linear axis reached 0.002 mm, Practical tests showed this system can meet the requirements of the multi-axis motion integration and the sync signal control, it also have advantages in the control precision and the performance. (authors)

Terahertz Generation & Vortex Motion Control in Superconductors

Science.gov (United States)

Nori, Franco

2005-03-01

A grand challenge is to controllably generate electromagnetic waves in layered superconducting compounds because of its Terahertz frequency range. We propose [1] four experimentally realizable devices for generating continuous and pulsed THz radiation in a controllable frequency range. We also describe [2-4] several novel devices for controlling the motion of vortices in superconductors, including a reversible rectifier made of a magnetic-superconducting hybrid structure [4]. Finally, we summarize a study [5] of the friction force felt by moving vortices. 1) S. Savel'ev, V. Yampol'skii, A. Rakhmanov, F. Nori, Tunable Terahertz radiation from Josephson vortices, preprint 2) S. Savel'ev and F. Nori, Experimentally realizable devices for controlling the motion of magnetic flux quanta, Nature Mat. 1, 179 (2002) 3) S. Savel'ev, F. Marchesoni, F. Nori, Manipulating small particles, PRL 92, 160602 (2004); B. Zhu, F. Marchesoni, F. Nori, Controlling the motion of magnetic flux quanta, PRL 92, 180602 (2004) 4) J.E. Villegas, et al., Reversible Rectifier that Controls the Motion of Magnetic Flux Quanta, Science 302, 1188 (2003) 5) A. Maeda, et al., Nano-scale friction: kinetic friction of magnetic flux quanta and charge density waves, preprint

Design and analysis of a rotary motion controller

Directory of Open Access Journals (Sweden)

Julio Cesar Caye

2015-12-01

Full Text Available This paper presents the design of a rotary motion controller based on the peritrochoid geometry of the rotary (Wankle engine. It uses an orifice limited flow of incompressible fluid between the chambers of the Wankle-type geometry to control the rotation of the rotor. The paper develops the theory of operation and then implements the design as a Matlab model to simulate the motion control under various conditions. It is found that the time to reach stabilised motion is determined by the orifice size and fluid density. When stabilised motion is achieved, the motion dependence on material and geometry factors is determined by the orifice flow equation. The angular velocity is also found to have a square root dependence on the applied torque when in the stabilised regime.

Historical Review of Uncommanded Lateral-Directional Motions at Transonic Conditions

Science.gov (United States)

Chambers, Joseph R.; Hall, Robert M.

2003-01-01

This paper presents the results of a survey of past experiences with uncommanded lateral-directional motions at transonic speeds during specific military aircraft programs. The effort was undertaken to provide qualitative and quantitative information on past airplane programs that might be of use to the participants in the joint NASA/Navy/Air Force Abrupt Wing Stall (AWS) Program. The AWS Program was initiated because of the experiences of the F/A-l8E/F development program, during which unexpected, severe wing-drop motions were encountered by preproduction aircraft at transonic conditions. These motions were judged to be significantly degrading to the primary mission requirements of the aircraft. Although the problem was subsequently solved for the production version of the F/A-l8E/F, a high-level review panel emphasized the poor understanding of such phenomena and issued a strong recommendation to: "Initiate a national research effort to thoroughly and systematically study the wing drop phenomena." A comprehensive, cooperative NASA/Navy/Air Force AWS Program was designed to respond to provide the required technology requirements. As part of the AWS Program, a work element was directed at a historical review of wing-drop experiences in past aircraft development programs at high subsonic and transonic speeds. In particular, information was requested regarding: specific aircraft configurations that exhibited uncommanded motions and the nature of the motions; geometric characteristics of the air- planes; flight conditions involved in occurrences; relevant data, including wind-tunnel, computational, and flight sources; figures of merit used for analyses; and approaches used to alleviate the problem. An attempt was also made to summarize some of the more important lessons learned from past experiences, and to recommend specific research efforts. In addition to providing technical information to assist the AWS research objectives, the study produced fundamental

Revolution at SOLEIL: review and prospect for motion control

International Nuclear Information System (INIS)

Corruble, D.; Betinelli-Deck, P.; Blache, F.; Coquet, J.; Leclercq, N.; Millet, R.; Tournieux, A.

2012-01-01

At any synchrotron facility, motors are numerous: they are the significant actuators of accelerators and the main actuators of beamlines. Since 2003, the Electronic Control and data Acquisition group at SOLEIL has defined a modular and reliable motion architecture integrating industrial products (Galil controller, Midi-Engineering and Phytron power boards). Simultaneously, the software control group has developed a set of dedicated Tango devices. At present, more than 1000 motors and 200 motion controller crates are in operation at SOLEIL. Aware that motion control is important in improving performance, given that the positioning of optical systems and samples is a key element of any beamline, SOLEIL wants to upgrade its motion controller in order to maintain the facility at a high performance level and be able to respond to new requirements: better accuracy, complex trajectory and coupling multi-axis devices such as hexa-pods. This project is called REVOLUTION (Reconsider Various controllers for your motion). (authors)

Widespread ground motion distribution caused by rupture directivity during the 2015 Gorkha, Nepal earthquake

Science.gov (United States)

Koketsu, Kazuki; Miyake, Hiroe; Guo, Yujia; Kobayashi, Hiroaki; Masuda, Tetsu; Davuluri, Srinagesh; Bhattarai, Mukunda; Adhikari, Lok Bijaya; Sapkota, Soma Nath

2016-06-01

The ground motion and damage caused by the 2015 Gorkha, Nepal earthquake can be characterized by their widespread distributions to the east. Evidence from strong ground motions, regional acceleration duration, and teleseismic waveforms indicate that rupture directivity contributed significantly to these distributions. This phenomenon has been thought to occur only if a strike-slip or dip-slip rupture propagates to a site in the along-strike or updip direction, respectively. However, even though the earthquake was a dip-slip faulting event and its source fault strike was nearly eastward, evidence for rupture directivity is found in the eastward direction. Here, we explore the reasons for this apparent inconsistency by performing a joint source inversion of seismic and geodetic datasets, and conducting ground motion simulations. The results indicate that the earthquake occurred on the underthrusting Indian lithosphere, with a low dip angle, and that the fault rupture propagated in the along-strike direction at a velocity just slightly below the S-wave velocity. This low dip angle and fast rupture velocity produced rupture directivity in the along-strike direction, which caused widespread ground motion distribution and significant damage extending far eastwards, from central Nepal to Mount Everest.

Spatial design and control of graphene flake motion

Science.gov (United States)

Ghorbanfekr-Kalashami, H.; Peeters, F. M.; Novoselov, K. S.; Neek-Amal, M.

2017-08-01

The force between a sharp scanning probe tip and a surface can drive a graphene flake over crystalline substrates. The recent design of particular patterns of structural defects on a graphene surface allows us to propose an alternative approach for controlling the motion of a graphene flake over a graphene substrate. The thermally induced motion of a graphene flake is controlled by engineering topological defects in the substrate. Such defect regions lead to an inhomogeneous energy landscape and are energetically unfavorable for the motion of the flake, and will invert and scatter graphene flakes when they are moving toward the defect line. Engineering the distribution of these energy barriers results in a controllable trajectory for the thermal motion of the flake without using any external force. We predict superlubricity of the graphene flake for motion along and between particular defect lines. This Rapid Communication provides insights into the frictional forces of interfaces and opens a route to the engineering of the stochastic motion of a graphene flake over any crystalline substrate.

Tactile motion adaptation reduces perceived speed but shows no evidence of direction sensitivity.

Directory of Open Access Journals (Sweden)

Sarah McIntyre

Full Text Available INTRODUCTION: While the directionality of tactile motion processing has been studied extensively, tactile speed processing and its relationship to direction is little-researched and poorly understood. We investigated this relationship in humans using the 'tactile speed aftereffect' (tSAE, in which the speed of motion appears slower following prolonged exposure to a moving surface. METHOD: We used psychophysical methods to test whether the tSAE is direction sensitive. After adapting to a ridged moving surface with one hand, participants compared the speed of test stimuli on the adapted and unadapted hands. We varied the direction of the adapting stimulus relative to the test stimulus. RESULTS: Perceived speed of the surface moving at 81 mms(-1 was reduced by about 30% regardless of the direction of the adapting stimulus (when adapted in the same direction, Mean reduction = 23 mms(-1, SD = 11; with opposite direction, Mean reduction = 26 mms(-1, SD = 9. In addition to a large reduction in perceived speed due to adaptation, we also report that this effect is not direction sensitive. CONCLUSIONS: Tactile motion is susceptible to speed adaptation. This result complements previous reports of reliable direction aftereffects when using a dynamic test stimulus as together they describe how perception of a moving stimulus in touch depends on the immediate history of stimulation. Given that the tSAE is not direction sensitive, we argue that peripheral adaptation does not explain it, because primary afferents are direction sensitive with friction-creating stimuli like ours (thus motion in their preferred direction should result in greater adaptation, and if perceived speed were critically dependent on these afferents' response intensity, the tSAE should be direction sensitive. The adaptation that reduces perceived speed therefore seems to be of central origin.

Controlled motion in an elastic world. Research project: Manipulation strategies for massive space payloads

Science.gov (United States)

Book, Wayne J.

1992-01-01

The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area.

Control of a virtual ambulation influences body movement and motion sickness

Directory of Open Access Journals (Sweden)

Hagstrom Jens

2011-12-01

Full Text Available Drivers typically are less susceptible to motion sickness than passengers. The influence of vehicle control has theoretical implications for the etiology of motion sickness, and has practical implications for the design of virtual environments. In the present study, participants either controlled or did not control a nonvehicular virtual avatar (i.e., an ambulatory character in a console video game. We examined the incidence of motion sickness and patterns of movement of the head and torso as participants either played or watched the game. Motion sickness incidence was lower when controlling the virutal avatar than when watching an avatar that was controlled by someone else. Patterns of head and torso movement differed between particpants who did and did not control the avatar. Indepenently, patterns of movement differed between participants who reported motion sickness and those who did not. The results suggest that motion sickness is influenced by control of stimulus motion, whether that motion arises from a vehicle or from any other source. We consider implications for the design of humancomputer interfaces.

Historical Review of Uncommanded Lateral-Directional Motions At Transonic Conditions (Invited)

Science.gov (United States)

Chambers, Joseph R.; Hall, Robert M.

2003-01-01

This paper presents the results of a survey of past experiences with uncommanded lateral-directional motions at transonic speeds during specific military aircraft programs. The effort was undertaken to provide qualitative and quantitative information on past airplane programs that might be of use to the participants in the joint NASA/Navy/Air Force Abrupt Wing Stall (AWS) Program. The AWS Program was initiated because of the experiences of the F/A-18E/F development program, during which unexpected, severe wing-drop motions were encountered by preproduction aircraft at transonic conditions. These motions were judged to be significantly degrading to the primary mission requirements of the aircraft. Although the problem was subsequently solved for the production version of the F/A-l8E/F, a high-level review panel emphasized the poor understanding of such phenomena and issued a strong recommendation to: Initiate a national research effort to thoroughly and systematically study the wing drop phenomena. A comprehensive, cooperative NASA/Navy/Air Force AWS Program was designed to respond to provide the required technology requirements. As part of the AWS Program, a work element was directed at a historical review of wing-drop experiences in past aircraft development programs at high subsonic and transonic speeds. In particular, information was requested regarding: specific aircraft configurations that exhibited uncommanded motions and the nature of the motions; geometric characteristics of the air- planes; flight conditions involved in occurrences; relevant data, including wind-tunnel, computational, and flight sources; figures of merit used for analyses; and approaches used to alleviate the problem. An attempt was also made to summarize some of the more important lessons learned from past experiences, and to recommend specific research efforts. In addition to providing technical information to assist the AWS research objectives, the study produced fundamental information

In vivo analysis of trapeziometacarpal joint arthrokinematics during multi-directional thumb motions.

Science.gov (United States)

Su, Fong-Chin; Lin, Chien-Ju; Wang, Chien-Kuo; Chen, Guan-Po; Sun, Yung-Nien; Chuang, Alan K; Kuo, Li-Chieh

2014-11-01

The investigation of the joint arthrokinematics of the trapeziometacarpal joint is critical to comprehend the causative mechanism underlying this common form of osteoarthritis. Therefore, the purpose of this study is to evaluate the arthrokinematics of the trapeziometacarpal joint during thumb postures in vivo. Fifteen healthy participants were enrolled in this study. Static computed tomography images of the 1st metacarpal bone and trapezium were taken at specific thumb postures during thumb flexion-extension, abduction-adduction, and circumduction motions. Images were analyzed to examine the joint gliding, expressed as displacement of the centroid of the articular surface of the 1st metacarpal bone, relative to the trapezium. The gliding ratio, defined as joint gliding in each direction normalized to the dimension of the trapezium joint surface in the given direction, was computed and compared between different thumb motions. The results indicate that thumb motions influenced joint gliding. The centroids of the articular surface of the 1st metacarpal bone were primarily located at the central and dorsal-radial regions while executing these motions. The maximum joint gliding of the 1st metacarpal bone occurred in the radial-ulnar direction when performing abduction-adduction, and in the dorsal-volar direction while performing flexion-extension and circumduction, with the gliding ratio values of 42.35%, 51.65%, and 51.85%, respectively. Activities that involved abduction-adduction in the trapeziometacarpal joint caused greater joint gliding in the ulnar-radial direction, while flexion-extension resulted in greater joint gliding in the dorsal-volar and distal-proximal directions. Understanding normal joint kinematics in vivo may provide insights into the possible mechanism leading to osteoarthritis of the trapeziometacarpal joint, and help to improve the design of implants. Copyright © 2014 Elsevier Ltd. All rights reserved.

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

Science.gov (United States)

Grymin, David J.

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

Wheelchair control by head motion

Directory of Open Access Journals (Sweden)

Pajkanović Aleksandar

2013-01-01

Full Text Available Electric wheelchairs are designed to aid paraplegics. Unfortunately, these can not be used by persons with higher degree of impairment, such as quadriplegics, i.e. persons that, due to age or illness, can not move any of the body parts, except of the head. Medical devices designed to help them are very complicated, rare and expensive. In this paper a microcontroller system that enables standard electric wheelchair control by head motion is presented. The system comprises electronic and mechanic components. A novel head motion recognition technique based on accelerometer data processing is designed. The wheelchair joystick is controlled by the system’s mechanical actuator. The system can be used with several different types of standard electric wheelchairs. It is tested and verified through an experiment performed within this paper.

Motion Control with Vision

NARCIS (Netherlands)

Ir. Dick van Schenk Brill; Ir Peter Boots

2001-01-01

This paper describes the work that is done by a group of I3 students at Philips CFT in Eindhoven, Netherlands. I3 is an initiative of Fontys University of Professional Education also located in Eindhoven. The work focuses on the use of computer vision in motion control. Experiments are done with

The efficiency of direct torque control for electric vehicle behavior improvement

Directory of Open Access Journals (Sweden)

Gasbaoui Brahim

2011-01-01

Full Text Available Nowadays the electric vehicle motorization control takes a great interest of industrials for commercialized electric vehicles. This paper is one example of the proposed control methods that ensure both safety and stability the electric vehicle by the means of Direct Torque Control (DTC. For motion of the vehicle the electric drive consists of four wheels: two front ones for steering and two rear ones for propulsion equipped with two induction motors, due to their lightweight simplicity and high performance. Acceleration and steering are ensured by the electronic differential, permitting safe and reliable steering at any curve. The direct torque control ensures efficiently controlled vehicle. Electric vehicle direct torque control is simulated in MATLAB SIMULINK environment. Electric vehicle (EV demonstrated satisfactory results in all type of roads constraints: straight, ramp, downhill and bends.

Direct observation of rectified motion of vortices by Lorentz microscopy

Indian Academy of Sciences (India)

one-directional selective motion of field-gradient-driven vortices along fabricated channels. This results from ... was irradiated around etched holes to fabricate the asymmetric potential [19]. Fig- ures 1a .... The dotted line is a guide to the eye.

Hierarchical Motion Control for a Team of Humanoid Soccer Robots

Directory of Open Access Journals (Sweden)

Seung-Joon Yi

2016-02-01

Full Text Available Robot soccer has become an effective benchmarking problem for robotics research as it requires many aspects of robotics including perception, self localization, motion planning and distributed coordination to work in uncertain and adversarial environments. Especially with humanoid robots that lack inherent stability, a capable and robust motion controller is crucial for generating walking and kicking motions without losing balance. In this paper, we describe the details of a motion controller to control a team of humanoid soccer robots, which consists of a hierarchy of controllers with different time frames and abstraction levels. A low level controller governs the real time control of each joint angle, either using target joint angles or target endpoint transforms. A mid-level controller handles bipedal locomotion and balancing of the robot. A high level controller decides the long term behavior of the robot, and finally the team level controller coordinates the behavior of a group of robots by means of asynchronous communication between the robots. The suggested motion system has been successfully used by many humanoid robot teams at the RoboCup international robot soccer competitions, which has awarded us five successful championships in a row.

Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

Directory of Open Access Journals (Sweden)

Changan Jiang

2016-01-01

Full Text Available Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

Direct fragmentation of quarkonia including Fermi motion using light-cone wave function

Energy Technology Data Exchange (ETDEWEB)

Nobary, M.A. Gomshi [Razi University, Department of Physics, Faculty of Science, Kermanshah (Iran); A.E.O.I., Center for Theoretical Physics and Mathematics, Tehran (Iran); Javadi, B. [Razi University, Department of Physics, Faculty of Science, Kermanshah (Iran)

2005-07-01

We investigate the effect of Fermi motion on the direct fragmentation of the J/{psi} and {upsilon} states employing a light-cone wave function. Consistent with such a wave function we set up the kinematics of a heavy quark fragmenting into quarkonia such that the Fermi motion of the constituents splits into a longitudinal as well as a transverse direction and thus calculate the fragmentation functions for these states. In the framework of our investigation, we estimate that the fragmentation probabilities of J/{psi} and {upsilon} may increase at least up to 14 percent when including this degree of freedom. (orig.)

Frequency domain performance analysis of nonlinearly controlled motion systems

NARCIS (Netherlands)

Pavlov, A.V.; Wouw, van de N.; Pogromski, A.Y.; Heertjes, M.F.; Nijmeijer, H.

2007-01-01

At the heart of the performance analysis of linear motion control systems lie essential frequency domain characteristics such as sensitivity and complementary sensitivity functions. For a class of nonlinear motion control systems called convergent systems, generalized versions of these sensitivity

Evaluation of a direct motion estimation/correction method in respiratory-gated PET/MRI with motion-adjusted attenuation.

Science.gov (United States)

Bousse, Alexandre; Manber, Richard; Holman, Beverley F; Atkinson, David; Arridge, Simon; Ourselin, Sébastien; Hutton, Brian F; Thielemans, Kris

2017-06-01

Respiratory motion compensation in PET/CT and PET/MRI is essential as motion is a source of image degradation (motion blur, attenuation artifacts). In previous work, we developed a direct method for joint image reconstruction/motion estimation (JRM) for attenuation-corrected (AC) respiratory-gated PET, which uses a single attenuation-map (μ-map). This approach was successfully implemented for respiratory-gated PET/CT, but since it relied on an accurate μ-map for motion estimation, the question of its applicability in PET/MRI is open. The purpose of this work is to investigate the feasibility of JRM in PET/MRI and to assess the robustness of the motion estimation when a degraded μ-map is used. We performed a series of JRM reconstructions from simulated PET data using a range of simulated Dixon MRI sequence derived μ-maps with wrong attenuation values in the lungs, from -100% (no attenuation) to +100% (double attenuation), as well as truncated arms. We compared the estimated motions with the one obtained from JRM in ideal conditions (no noise, true μ-map as an input). We also applied JRM on 4 patient datasets of the chest, 3 of them containing hot lesions. Patient list-mode data were gated using a principal component analysis method. We compared SUV max values of the JRM reconstructed activity images and non motion-corrected images. We also assessed the estimated motion fields by comparing the deformed JRM-reconstructed activity with individually non-AC reconstructed gates. Experiments on simulated data showed that JRM-motion estimation is robust to μ-map degradation in the sense that it produces motion fields similar to the ones obtained when using the true μ-map, regardless of the attenuation errors in the lungs (PET/MRI clinical datasets. It provides a potential alternative to existing methods where the motion fields are pre-estimated from separate MRI measurements. © 2017 University College London (UCL). Medical Physics published by Wiley Periodicals, Inc

Advanced Controllers for Electromechanical Motion Systems

NARCIS (Netherlands)

Nguyen, Duy Cuong

2008-01-01

The aim of this research is to develop advanced controllers for electromechanical motion systems. In order to increase efficiency and reliability, these control systems are required to achieve high performance and robustness in the face of model uncertainty, measurement noise, and reproducible

Evaluation of simulation motion fidelity criteria in the vertical and directional axes

Science.gov (United States)

Schroeder, Jeffery A.

1993-01-01

An evaluation of existing motion fidelity criteria was conducted on the NASA Ames Vertical Motion Simulator. Experienced test pilots flew single-axis repositioning tasks in both the vertical and the directional axes. Using a first-order approximation of a hovering helicopter, tasks were flown with variations only in the filters that attenuate the commands to the simulator motion system. These filters had second-order high-pass characteristics, and the variations were made in the filter gain and natural frequency. The variations spanned motion response characteristics from nearly full math-model motion to fixed-base. Between configurations, pilots recalibrated their motion response perception by flying the task with full motion. Pilots subjectively rated the motion fidelity of subsequent configurations relative to this full motion case, which was considered the standard for comparison. The results suggested that the existing vertical-axis criterion was accurate for combinations of gain and natural frequency changes. However, if only the gain or the natural frequency was changed, the rated motion fidelity was better than the criterion predicted. In the vertical axis, the objective and subjective results indicated that a larger gain reduction was tolerated than the existing criterion allowed. The limited data collected in the yaw axis revealed that pilots had difficulty in distinguishing among the variations in the pure yaw motion cues.

Motion control of servo cylinder using neural network

International Nuclear Information System (INIS)

Hwang, Un Kyoo; Cho, Seung Ho

2004-01-01

In this paper, a neural network controller that can be implemented in parallel with a PD controller is suggested for motion control of a hydraulic servo cylinder. By applying a self-excited oscillation method, the system design parameters of open loop transfer function of servo cylinder system are identified. Based on system design parameters, the PD gains are determined for the desired closed loop characteristics. The neural network is incorporated with PD control in order to compensate the inherent nonlinearities of hydraulic servo system. As an application example, a motion control using PD-NN has been performed and proved its superior performance by comparing with that of a PD control

Variable type framing in Spanish constructions of directed motion

DEFF Research Database (Denmark)

Pedersen, Johan

2014-01-01

demonstrate in this article that this construction type tends to be acceptable whenever the lexical meaning of the verb implies an element of directed motion. Drawing on Goldberg (2006) and Pedersen (2009, 2013), I suggest that schematicity is a typological parameter, and, more specifically, that the term...... variable type framing may accommodate the case of variation under scrutiny here....

Atto-second control of collective electron motion in plasmas

International Nuclear Information System (INIS)

Borot, Antonin; Malvache, Arnaud; Chen, Xiaowei; Jullien, Aurelie; Lopez-Martens, Rodrigo; Geindre, Jean-Paul; Audebert, Patrick; Mourou, Gerard; Quere, Fabien

2012-01-01

Today, light fields of controlled and measured waveform can be used to guide electron motion in atoms and molecules with atto-second precision. Here, we demonstrate atto-second control of collective electron motion in plasmas driven by extreme intensity (approximate to 10 18 W cm -2 ) light fields. Controlled few-cycle near-infrared waves are tightly focused at the interface between vacuum and a solid-density plasma, where they launch and guide sub-cycle motion of electrons from the plasma with characteristic energies in the multi-kilo-electron-volt range-two orders of magnitude more than has been achieved so far in atoms and molecules. The basic spectroscopy of the coherent extreme ultraviolet radiation emerging from the light-plasma interaction allows us to probe this collective motion of charge with sub-200 as resolution. This is an important step towards atto-second control of charge dynamics in laser-driven plasma experiments. (authors)

Directed motion of spheres induced by unbiased driving forces in viscous fluids beyond the Stokes' law regime

Science.gov (United States)

Casado-Pascual, Jesús

2018-03-01

The emergence of directed motion is investigated in a system consisting of a sphere immersed in a viscous fluid and subjected to time-periodic forces of zero average. The directed motion arises from the combined action of a nonlinear drag force and the applied driving forces, in the absence of any periodic substrate potential. Necessary conditions for the existence of such directed motion are obtained and an analytical expression for the average terminal velocity is derived within the adiabatic approximation. Special attention is paid to the case of two mutually perpendicular forces with sinusoidal time dependence, one with twice the period of the other. It is shown that, although neither of these two forces induces directed motion when acting separately, when added together, the resultant force generates directed motion along the direction of the force with the shortest period. The dependence of the average terminal velocity on the system parameters is analyzed numerically and compared with that obtained using the adiabatic approximation. Among other results, it is found that, for appropriate parameter values, the direction of the average terminal velocity can be reversed by varying the forcing strength. Furthermore, certain aspects of the observed phenomenology are explained by means of symmetry arguments.

Effects of Different Heave Motion Components on Pilot Pitch Control Behavior

Science.gov (United States)

Zaal, Petrus M. T.; Zavala, Melinda A.

2016-01-01

The study described in this paper had two objectives. The first objective was to investigate if a different weighting of heave motion components decomposed at the center of gravity, allowing for a higher fidelity of individual components, would result in pilot manual pitch control behavior and performance closer to that observed with full aircraft motion. The second objective was to investigate if decomposing the heave components at the aircraft's instantaneous center of rotation rather than at the center of gravity could result in additional improvements in heave motion fidelity. Twenty-one general aviation pilots performed a pitch attitude control task in an experiment conducted on the Vertical Motion Simulator at NASA Ames under different hexapod motion conditions. The large motion capability of the Vertical Motion Simulator also allowed for a full aircraft motion condition, which served as a baseline. The controlled dynamics were of a transport category aircraft trimmed close to the stall point. When the ratio of center of gravity pitch heave to center of gravity heave increased in the hexapod motion conditions, pilot manual control behavior and performance became increasingly more similar to what is observed with full aircraft motion. Pilot visual and motion gains significantly increased, while the visual lead time constant decreased. The pilot visual and motion time delays remained approximately constant and decreased, respectively. The neuromuscular damping and frequency both decreased, with their values more similar to what is observed with real aircraft motion when there was an equal weighting of the heave of the center of gravity and heave due to rotations about the center of gravity. In terms of open- loop performance, the disturbance and target crossover frequency increased and decreased, respectively, and their corresponding phase margins remained constant and increased, respectively. The decomposition point of the heave components only had limited

Leap Motion controller application in augmented reality technology

OpenAIRE

Artemčiukas, Edgaras; Sakalauskas, Leonidas

2014-01-01

In this work the analysis of interaction techniques, devices and its’ possibilities were accomplished. It was determined that the problem, which many researchers tries to solve – more natural interaction between users and computers. Interaction system in augmented reality environment using Leap Motion controller was developed. To achieve this goal augmented reality NyARToolkit and Leap Motion controller libraries were used. Solution ensures extensive information about hand, finger...

Do Motion Controllers Make Action Video Games Less Sedentary? A Randomized Experiment

OpenAIRE

Lyons, Elizabeth J.; Tate, Deborah F.; Ward, Dianne S.; Ribisl, Kurt M.; Bowling, J. Michael; Kalyanaraman, Sriram

2012-01-01

Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100) were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12). An interaction was found such that in one pair, motion control (mean [SD] 0....

Auditory Motion Elicits a Visual Motion Aftereffect.

Science.gov (United States)

Berger, Christopher C; Ehrsson, H Henrik

2016-01-01

The visual motion aftereffect is a visual illusion in which exposure to continuous motion in one direction leads to a subsequent illusion of visual motion in the opposite direction. Previous findings have been mixed with regard to whether this visual illusion can be induced cross-modally by auditory stimuli. Based on research on multisensory perception demonstrating the profound influence auditory perception can have on the interpretation and perceived motion of visual stimuli, we hypothesized that exposure to auditory stimuli with strong directional motion cues should induce a visual motion aftereffect. Here, we demonstrate that horizontally moving auditory stimuli induced a significant visual motion aftereffect-an effect that was driven primarily by a change in visual motion perception following exposure to leftward moving auditory stimuli. This finding is consistent with the notion that visual and auditory motion perception rely on at least partially overlapping neural substrates.

Auditory Motion Elicits a Visual Motion Aftereffect

Directory of Open Access Journals (Sweden)

Christopher C. Berger

2016-12-01

Full Text Available The visual motion aftereffect is a visual illusion in which exposure to continuous motion in one direction leads to a subsequent illusion of visual motion in the opposite direction. Previous findings have been mixed with regard to whether this visual illusion can be induced cross-modally by auditory stimuli. Based on research on multisensory perception demonstrating the profound influence auditory perception can have on the interpretation and perceived motion of visual stimuli, we hypothesized that exposure to auditory stimuli with strong directional motion cues should induce a visual motion aftereffect. Here, we demonstrate that horizontally moving auditory stimuli induced a significant visual motion aftereffect—an effect that was driven primarily by a change in visual motion perception following exposure to leftward moving auditory stimuli. This finding is consistent with the notion that visual and auditory motion perception rely on at least partially overlapping neural substrates.

Shallow and deep controls on lava lake surface motion at Kīlauea Volcano

Science.gov (United States)

Patrick, Matthew R.; Orr, Tim R.; Swanson, Don; Lev, Einat

2016-01-01

Lava lakes provide a rare window into magmatic behavior, and lake surface motion has been used to infer deeper properties of the magmatic system. At Halema'uma'u Crater, at the summit of Kīlauea Volcano, multidisciplinary observations for the past several years indicate that lava lake surface motion can be broadly divided into two regimes: 1) stable and 2) unstable. Stable behavior is driven by lava upwelling from deeper in the lake (presumably directly from the conduit) and is an intrinsic process that drives lava lake surface motion most of the time. This stable behavior can be interrupted by periods of unstable flow (often reversals) driven by spattering – a shallowly-rooted process often extrinsically triggered by small rockfalls from the crater wall. The bursting bubbles at spatter sources create void spaces and a localized surface depression which draws and consumes surrounding surface crust. Spattering is therefore a location of lava downwelling, not upwelling. Stable (i.e. deep, upwelling-driven) and unstable (i.e. shallow, spattering-driven) behavior often alternate through time, have characteristic surface velocities, flow directions and surface temperature regimes, and also correspond to changes in spattering intensity, outgassing rates, lava level and seismic tremor. These results highlight that several processes, originating at different depths, can control the motion of the lava lake surface, and long-term interdisciplinary monitoring is required to separate these influences. These observations indicate that lake surface motion is not always a reliable proxy for deeper lake or magmatic processes. From these observations, we suggest that shallow outgassing (spattering), not lake convection, drives the variations in lake motion reported at Erta 'Ale lava lake.

Maximum Principle for General Controlled Systems Driven by Fractional Brownian Motions

International Nuclear Information System (INIS)

Han Yuecai; Hu Yaozhong; Song Jian

2013-01-01

We obtain a maximum principle for stochastic control problem of general controlled stochastic differential systems driven by fractional Brownian motions (of Hurst parameter H>1/2). This maximum principle specifies a system of equations that the optimal control must satisfy (necessary condition for the optimal control). This system of equations consists of a backward stochastic differential equation driven by both fractional Brownian motions and the corresponding underlying standard Brownian motions. In addition to this backward equation, the maximum principle also involves the Malliavin derivatives. Our approach is to use conditioning and Malliavin calculus. To arrive at our maximum principle we need to develop some new results of stochastic analysis of the controlled systems driven by fractional Brownian motions via fractional calculus. Our approach of conditioning and Malliavin calculus is also applied to classical system driven by standard Brownian motions while the controller has only partial information. As a straightforward consequence, the classical maximum principle is also deduced in this more natural and simpler way.

DIRECT IMAGING IN THE HABITABLE ZONE AND THE PROBLEM OF ORBITAL MOTION

International Nuclear Information System (INIS)

Males, Jared R.; Skemer, Andrew J.; Close, Laird M.

2013-01-01

High contrast imaging searches for exoplanets have been conducted on 2.4-10 m telescopes, typically at H band (1.6 μm) and used exposure times of ∼1 hr to search for planets with semi-major axes of ∼> 10 AU. We are beginning to plan for surveys using extreme-AO systems on the next generation of 30 m class telescopes, where we hope to begin probing the habitable zones (HZs) of nearby stars. Here we highlight a heretofore ignorable problem in direct imaging: planets orbit their stars. Under the parameters of current surveys, orbital motion is negligible over the duration of a typical observation. However, this motion is not negligible when using large diameter telescopes to observe at relatively close stellar distances (1-10 pc), over the long exposure times (10-20 hr) necessary for direct detection of older planets in the HZ. We show that this motion will limit our achievable signal-to-noise ratio and degrade observational completeness. Even on current 8 m class telescopes, orbital motion will need to be accounted for in an attempt to detect HZ planets around the nearest Sun-like stars α Cen A and B, a binary system now known to harbor at least one planet. Here we derive some basic tools for analyzing this problem, and ultimately show that the prospects are good for de-orbiting a series of shorter exposures to correct for orbital motion.

Directed motion of a Brownian motor in a temperature gradient

Science.gov (United States)

Liu, Yibing; Nie, Wenjie; Lan, Yueheng

2017-05-01

Directed motion of mesoscopic systems in a non-equilibrium environment is of great interest to both scientists and engineers. Here, the translation and rotation of a Brownian motor is investigated under non-equilibrium conditions. An anomalous directed translation is found if the two heads of the Brownian motor are immersed in baths with different particle masses, which is hinted in the analytic computation and confirmed by the numerical simulation. Similar consideration is also used to find the directed movement in the single rotational and translational degree of freedom of the Brownian motor when residing in one thermal bath with a temperature gradient.

Low-latency wireless data transfer for motion control

NARCIS (Netherlands)

Boeij, de J.; Haazen, M.H.; Smulders, P.F.M.; Lomonova, E.A.

2009-01-01

This paper discusses a new approach for wireless motion control. Existing wireless techniques suffer from large closed loop delays of several milliseconds, which is unacceptable in precision motion systems. These large delays are mainly caused by the protocol used, since these are optimized for

Flexible and multi-directional piezoelectric energy harvester for self-powered human motion sensor

Science.gov (United States)

Kim, Min-Ook; Pyo, Soonjae; Oh, Yongkeun; Kang, Yunsung; Cho, Kyung-Ho; Choi, Jungwook; Kim, Jongbaeg

2018-03-01

A flexible piezoelectric strain energy harvester that is responsive to multi-directional input forces produced by various human motions is proposed. The structure of the harvester, which includes a polydimethylsiloxane (PDMS) bump, facilitates the effective conversion of strain energy, produced by input forces applied in random directions, into electrical energy. The structural design of the PDMS bump and frame as well as the slits in the piezoelectric polyvinylidene fluoride (PVDF) film provide mechanical flexibility and enhance the strain induced in the PVDF film under input forces applied at various angles. The amount and direction of the strain induced in PVDF can be changed by the direction of the applied force; thus, the generated output power can be varied. The measured maximum output peak voltage is 1.75, 1.29, and 0.98 V when an input force of 4 N (2 Hz) is applied at angles of 0°, 45°, and 90°, and the corresponding maximum output power is 0.064, 0.026, and 0.02 μW, respectively. Moreover, the harvester stably generates output voltage over 1.4 × 104 cycles. Thus, the proposed harvester successfully identifies and converts strain energy produced by multi-directional input forces by various human motions into electrical energy. We demonstrate the potential utility of the proposed flexible energy harvester as a self-powered human motion sensor for wireless healthcare systems.

New human-centered linear and nonlinear motion cueing algorithms for control of simulator motion systems

Science.gov (United States)

Telban, Robert J.

While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. To address this, new human-centered motion cueing algorithms were developed. A revised "optimal algorithm" uses time-invariant filters developed by optimal control, incorporating human vestibular system models. The "nonlinear algorithm" is a novel approach that is also formulated by optimal control, but can also be updated in real time. It incorporates a new integrated visual-vestibular perception model that includes both visual and vestibular sensation and the interaction between the stimuli. A time-varying control law requires the matrix Riccati equation to be solved in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. As a result of unsatisfactory sensation, an augmented turbulence cue was added to the vertical mode for both the optimal and nonlinear algorithms. The relative effectiveness of the algorithms, in simulating aircraft maneuvers, was assessed with an eleven-subject piloted performance test conducted on the NASA Langley Visual Motion Simulator (VMS). Two methods, the quasi-objective NASA Task Load Index (TLX), and power spectral density analysis of pilot control, were used to assess pilot workload. TLX analysis reveals, in most cases, less workload and variation among pilots with the nonlinear algorithm. Control input

Pitch Motion Stabilization by Propeller Speed Control Using Statistical Controller Design

DEFF Research Database (Denmark)

Nakatani, Toshihiko; Blanke, Mogens; Galeazzi, Roberto

2006-01-01

This paper describes dynamics analysis of a small training boat and a possibility of ship pitch stabilization by control of propeller speed. After upgrading the navigational system of an actual small training boat, in order to identify the model of the ship, the real data collected by sea trials...... were used for statistical analysis and system identification. This analysis shows that the pitching motion is indeed influenced by engine speed and it is suggested that there exists a possibility of reducing the pitching motion by properly controlling the engine throttle. Based on this observation...

Direct measurement of the ballistic motion of a freely floating colloid in Newtonian and viscoelastic fluids.

Science.gov (United States)

Hammond, Andrew P; Corwin, Eric I

2017-10-01

A thermal colloid suspended in a liquid will transition from a short-time ballistic motion to a long-time diffusive motion. However, the transition between ballistic and diffusive motion is highly dependent on the properties and structure of the particular liquid. We directly observe a free floating tracer particle's ballistic motion and its transition to the long-time regime in both a Newtonian fluid and a viscoelastic Maxwell fluid. We examine the motion of the free particle in a Newtonian fluid and demonstrate a high degree of agreement with the accepted Clercx-Schram model for motion in a dense fluid. Measurements of the functional form of the ballistic-to-diffusive transition provide direct measurements of the temperature, viscosity, and tracer radius. We likewise measure the motion in a viscoelastic Maxwell fluid and find a significant disagreement between the theoretical asymptotic behavior and our measured values of the microscopic properties of the fluid. We observe a greatly increased effective mass for a freely moving particle and a decreased plateau modulus.

Time-domain prefilter design for enhanced tracking and vibration suppression in machine motion control

Science.gov (United States)

Cole, Matthew O. T.; Shinonawanik, Praween; Wongratanaphisan, Theeraphong

2018-05-01

Structural flexibility can impact negatively on machine motion control systems by causing unmeasured positioning errors and vibration at locations where accurate motion is important for task execution. To compensate for these effects, command signal prefiltering may be applied. In this paper, a new FIR prefilter design method is described that combines finite-time vibration cancellation with dynamic compensation properties. The time-domain formulation exploits the relation between tracking error and the moment values of the prefilter impulse response function. Optimal design solutions for filters having minimum H2 norm are derived and evaluated. The control approach does not require additional actuation or sensing and can be effective even without complete and accurate models of the machine dynamics. Results from implementation and testing on an experimental high-speed manipulator having a Delta robot architecture with directionally compliant end-effector are presented. The results show the importance of prefilter moment values for tracking performance and confirm that the proposed method can achieve significant reductions in both peak and RMS tracking error, as well as settling time, for complex motion patterns.

DISTRIBUTED CONTROL ARCHITECTURE OF AN OMNI-DIRECTIONAL AUTONOMOUS GUIDED VEHICLE

Directory of Open Access Journals (Sweden)

N.S. Tlale

2012-01-01

Full Text Available

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

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

Wire Scanner Motion Control Card

CERN Document Server

Forde, S E

2006-01-01

Scientists require a certain beam quality produced by the accelerator rings at CERN. The discovery potential of LHC is given by the reachable luminosity at its interaction points. The luminosity is maximized by minimizing the beam size. Therefore an accurate beam size measurement is required for optimizing the luminosity. The wire scanner performs very accurate profile measurements, but as it can not be used at full intensity in the LHC ring, it is used for calibrating other profile monitors. As the current wire scanner system, which is used in the present CERN accelerators, has not been made for the required specification of the LHC, a new design of a wire scanner motion control card is part of the LHC wire scanner project. The main functions of this card are to control the wire scanner motion and to acquire the position of the wire. In case of further upgrades at a later stage, it is required to allow an easy update of the firmware, hence the programmable features of FPGAs will be used for this purpose. The...

Stirling engine power control and motion conversion mechanism

Science.gov (United States)

Marks, David T.

1983-01-01

A motion conversion device for converting between the reciprocating motion of the pistons in a Stirling engine and the rotating motion of its output shaft, and for changing the stroke and phase of the pistons, includes a lever pivoted at one end and having a cam follower at the other end. The piston rod engages the lever intermediate its ends and the cam follower engages a cam keyed to the output shaft. The lever pivot can be moved to change the length of the moment arm defined between the cam follower and the piston rod the change the piston stroke and force exerted on the cam, and the levers can be moved in opposite directions to change the phase between pistons.

Efficient control of mechatronic systems in dynamic motion tasks

Directory of Open Access Journals (Sweden)

Despotova Desislava

2018-01-01

Full Text Available Robots and powered exoskeletons have often complex and non-linear dynamics due to friction, elasticity, and changing load. The proposed study addresses various-type robots that have to perform dynamic point-to-point motion tasks (PTPMT. The performance demands are for faster motion, higher positioning accuracy, and lower energy consumption. With given motion task, it is of primary importance to study the structure and controllability of the corresponding controlled system. The following natural decentralized controllability condition is assumed: the signs of any control input and the corresponding output (the acceleration are the same, at least when the control input is at its maximum absolute value. Then we find explicit necessary and sufficient conditions on the control transfer matrix that can guarantee robust controllability in the face of arbitrary, but bounded disturbances. Further on, we propose a generic optimisation approach for control learning synthesis of various type robotic systems in PTPMT. Our procedure for iterative learning control (LC has the following main steps: (1 choose a set of appropriate test control functions; (2 define the most relevant input-output pairs; and (3 solve shooting equations and perform control parameter optimisation. We will give several examples to explain our controllability and optimisation concepts.

The plane motion control of the quadrocopter

Directory of Open Access Journals (Sweden)

A. N. Kanatnikov

2015-01-01

Full Text Available Among a large number of modern flying vehicles, the quadrocopter relates to unmanned aerial vehicles (UAV which are relatively cheap and easy to design. Quadrocopters are able to fly in bad weather, hang in the air for quite a long time, observe the objects and perform many other tasks. They have been applied in rescue operations, in agriculture, in the military and many other fields.For quadrocopters, the problems of path planning and control are relevant. These problems have many variants in which limited resources of modern UAV, possible obstacles, for instance, for flying in a cross-country terrain or in a city environment and weather conditions (particularly, wind conditions are taken into account. Many research studies are concerned with these problems and reflected in series of publications (note the interesting survey [1] and references therein. Various methods were used for the control synthesis for these vehicles: linear approximations [2], sliding mode control [3], the covering method [4] and so on.In the paper, a quadrocopter is considered as a rigid body. The kinematic and dynamic equations of the motion are analyzed. Two cases of motion are emphasized: a motion in a vertical plane and in a horizontal plane. The control is based on transferring of the affine system to the canonical form [5] and the nonlinear stabilization method [6].

A programmable motion phantom for quality assurance of motion management in radiotherapy

International Nuclear Information System (INIS)

Dunn, L.; Franich, R.D.; Kron, T.; Taylor, M.L.; Johnston, P.N.; McDermott, L.N.; Callahan, J.

2012-01-01

A commercially available motion phantom (QUASAR, Modus Medical) was modified for programmable motion control with the aim of reproducing patient respiratory motion in one dimension in both the anterior–posterior and superior–inferior directions, as well as, providing controllable breath-hold and sinusoidal patterns for the testing of radiotherapy gating systems. In order to simulate realistic patient motion, the DC motor was replaced by a stepper motor. A separate 'chest-wall' motion platform was also designed to accommodate a variety of surrogate marker systems. The platform employs a second stepper motor that allows for the decoupling of the chest-wall and insert motion. The platform's accuracy was tested by replicating patient traces recorded with the Varian real-time position management (RPM) system and comparing the motion platform's recorded motion trace with the original patient data. Six lung cancer patient traces recorded with the RPM system were uploaded to the motion platform's in-house control software and subsequently replicated through the phantom motion platform. The phantom's motion profile was recorded with the RPM system and compared to the original patient data. Sinusoidal and breath-hold patterns were simulated with the motion platform and recorded with the RPM system to verify the systems potential for routine quality assurance of commercial radiotherapy gating systems. There was good correlation between replicated and actual patient data (P 0.003). Mean differences between the location of maxima in replicated and patient data-sets for six patients amounted to 0.034 cm with the corresponding minima mean equal to 0.010 cm. The upgraded motion phantom was found to replicate patient motion accurately as well as provide useful test patterns to aid in the quality assurance of motion management methods and technologies.

Predictive piston motion control in a free-piston internal combustion engine

Energy Technology Data Exchange (ETDEWEB)

Mikalsen, R.; Jones, E.; Roskilly, A.P. [Sir Joseph Swan Institute for Energy Research, Newcastle University, Newcastle upon Tyne, NE1 7RU England (United Kingdom)

2010-05-15

A piston motion controller for a free-piston internal combustion engine is presented. To improve dynamic performance in the control of the piston motion and engine compression ratio, the controller response is determined from a prediction of engine top dead centre error rather than the measured value from the previous cycle. The proposed control approach showed superior performance compared with that of standard PI feedback control known from the literature due to a reduced control action time delay. The manipulation of fuel injection timing to reduce in-cylinder pressure peaks and cycle-to-cycle variations was also studied, indicating that with the piston motion estimation, the injection timing is a powerful control variable for this purpose. (author)

Pengenalan Isyarat Tangan Menggunakan Leap Motion Controller untuk Pertunjukan Boneka Tangan Virtual

OpenAIRE

Dzulkarnain, Iskandar; Sumpeno, Surya; Christyowidiasmoro, Christyowidiasmoro

2016-01-01

Leap Motion Controller memiliki keterbatasan dalam menangkap gerak isyarat tangan. Keterbatasan tersebut menyebabkan gerakan tangan model boneka virtual tidak seakurat gerakan tangan pelakon. Selain itu, konfigurasi bone model dimensi tiga untuk Leap Motion Controller berbeda dengan konfigurasi bone dimensi tiga pada umumnya. Oleh karena itu, dilakukan pengenalan isyarat tangan menggunakan Leap Motion Controller untuk pertunjukan boneka tangan virtual. Pengenalan isyarat tangan tersebut dilak...

Optimization of motion control laws for tether crawler or elevator systems

Science.gov (United States)

Swenson, Frank R.; Von Tiesenhausen, Georg

1988-01-01

Based on the proposal of a motion control law by Lorenzini (1987), a method is developed for optimizing motion control laws for tether crawler or elevator systems in terms of the performance measures of travel time, the smoothness of acceleration and deceleration, and the maximum values of velocity and acceleration. The Lorenzini motion control law, based on powers of the hyperbolic tangent function, is modified by the addition of a constant-velocity section, and this modified function is then optimized by parameter selections to minimize the peak acceleration value for a selected travel time or to minimize travel time for the selected peak values of velocity and acceleration. It is shown that the addition of a constant-velocity segment permits further optimization of the motion control law performance.

Do Motion Controllers Make Action Video Games Less Sedentary? A Randomized Experiment

Science.gov (United States)

Lyons, Elizabeth J.; Tate, Deborah F.; Ward, Dianne S.; Ribisl, Kurt M.; Bowling, J. Michael; Kalyanaraman, Sriram

2012-01-01

Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100) were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12). An interaction was found such that in one pair, motion control (mean [SD] 0.96 [0.20] kcal · kg−1 · hr−1) produced 0.10 kcal · kg−1 · hr−1 (95% confidence interval 0.03 to 0.17) greater energy expenditure than traditional control (0.86 [0.17] kcal · kg−1 · hr−1, P = .048). All games were sedentary. As currently implemented, motion control is unlikely to produce moderate intensity physical activity in action games. However, some games produce small but significant increases in energy expenditure, which may benefit health by decreasing sedentary behavior. PMID:22028959

Do Motion Controllers Make Action Video Games Less Sedentary? A Randomized Experiment

Directory of Open Access Journals (Sweden)

Elizabeth J. Lyons

2012-01-01

Full Text Available Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100 were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12. An interaction was found such that in one pair, motion control (mean [SD] 0.96 [0.20] kcal ⋅ kg-1 ⋅ hr-1 produced 0.10 kcal ⋅ kg-1 ⋅ hr-1 (95% confidence interval 0.03 to 0.17 greater energy expenditure than traditional control (0.86 [0.17] kcal ⋅ kg-1 ⋅ hr-1, P = .048. All games were sedentary. As currently implemented, motion control is unlikely to produce moderate intensity physical activity in action games. However, some games produce small but significant increases in energy expenditure, which may benefit health by decreasing sedentary behavior.

Do motion controllers make action video games less sedentary? A randomized experiment.

Science.gov (United States)

Lyons, Elizabeth J; Tate, Deborah F; Ward, Dianne S; Ribisl, Kurt M; Bowling, J Michael; Kalyanaraman, Sriram

2012-01-01

Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100) were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12). An interaction was found such that in one pair, motion control (mean [SD] 0.96 [0.20] kcal · kg(-1) · hr(-1)) produced 0.10 kcal · kg(-1) · hr(-1) (95% confidence interval 0.03 to 0.17) greater energy expenditure than traditional control (0.86 [0.17] kcal · kg(-1) · hr(-1), P = .048). All games were sedentary. As currently implemented, motion control is unlikely to produce moderate intensity physical activity in action games. However, some games produce small but significant increases in energy expenditure, which may benefit health by decreasing sedentary behavior.

Specification of EDITH motion control system

International Nuclear Information System (INIS)

Breitwieser, H.; Frank, A.; Holler, E.; Suess, U.; Leinemann, K.

1990-09-01

EDITH is an experimental device for in vessel handling at NET/ITER. The purpose of EDITH is: Testing of ABS (articulated boom system) components; testing and validation of remote handling procedures; testing and validation of ABS end-effectors; testing of ABS control system features and verification of control system concepts. This document, after describing the environment in which the control system is to operate, specifies architecture and functionality to be implemented by the EDITH motion control system software, thereby taking full reference to the control system specification for TARM, which was decided to be the base for the implementation. (orig.) [de

Self versus environment motion in postural control.

Directory of Open Access Journals (Sweden)

Kalpana Dokka

2010-02-01

Full Text Available To stabilize our position in space we use visual information as well as non-visual physical motion cues. However, visual cues can be ambiguous: visually perceived motion may be caused by self-movement, movement of the environment, or both. The nervous system must combine the ambiguous visual cues with noisy physical motion cues to resolve this ambiguity and control our body posture. Here we have developed a Bayesian model that formalizes how the nervous system could solve this problem. In this model, the nervous system combines the sensory cues to estimate the movement of the body. We analytically demonstrate that, as long as visual stimulation is fast in comparison to the uncertainty in our perception of body movement, the optimal strategy is to weight visually perceived movement velocities proportional to a power law. We find that this model accounts for the nonlinear influence of experimentally induced visual motion on human postural behavior both in our data and in previously published results.

Motion control for a walking companion robot with a novel human–robot interface

Directory of Open Access Journals (Sweden)

Yunqi Lv

2016-09-01

Full Text Available A walking companion robot is presented for rehabilitation from dyskinesia of lower limbs in this article. A new human–robot interface (HRI is designed which adopts one-axis force sensor and potentiometer connector to detect the motion of the user. To accompany in displacement and angle between the user and the robot precisely in real time, the common motions are classified into two elemental motion states. With distinction method of motion states, a classification scheme of motion control is adopted. The mathematical model-based control method is first introduced and the corresponding control systems are built. Due to the unavoidable deviation of the mathematical model-based control method, a force control method is proposed and the corresponding control systems are built. The corresponding simulations demonstrate that the efficiency of the two proposed control methods. The experimental data and paths of robot verify the two control methods and indicate that the force control method can better satisfy the user’s requirements.

Training of goal directed arm movements with motion interactive video games in children with cerebral palsy - a kinematic evaluation.

Science.gov (United States)

Sandlund, Marlene; Domellöf, Erik; Grip, Helena; Rönnqvist, Louise; Häger, Charlotte K

2014-10-01

The main aim of this study was to evaluate the quality of goal-directed arm movements in 15 children with cerebral palsy (CP) following four weeks of home-based training with motion interactive video games. A further aim was to investigate the applicability and characteristics of kinematic parameters in a virtual context in comparison to a physical context. Kinematics and kinetics were captured while the children performed arm movements directed towards both virtual and physical targets. The children's movement precision improved, their centre of pressure paths decreased, as did the variability in maximal shoulder angles when reaching for virtual objects. Transfer to a situation with physical targets was mainly indicated by increased movement smoothness. Training with motion interactive games seems to improve arm motor control in children with CP. The results highlight the importance of considering both the context and the task itself when investigating kinematic parameters.

The 3D Human Motion Control Through Refined Video Gesture Annotation

Science.gov (United States)

Jin, Yohan; Suk, Myunghoon; Prabhakaran, B.

In the beginning of computer and video game industry, simple game controllers consisting of buttons and joysticks were employed, but recently game consoles are replacing joystick buttons with novel interfaces such as the remote controllers with motion sensing technology on the Nintendo Wii [1] Especially video-based human computer interaction (HCI) technique has been applied to games, and the representative game is 'Eyetoy' on the Sony PlayStation 2. Video-based HCI technique has great benefit to release players from the intractable game controller. Moreover, in order to communicate between humans and computers, video-based HCI is very crucial since it is intuitive, easy to get, and inexpensive. On the one hand, extracting semantic low-level features from video human motion data is still a major challenge. The level of accuracy is really dependent on each subject's characteristic and environmental noises. Of late, people have been using 3D motion-capture data for visualizing real human motions in 3D space (e.g, 'Tiger Woods' in EA Sports, 'Angelina Jolie' in Bear-Wolf movie) and analyzing motions for specific performance (e.g, 'golf swing' and 'walking'). 3D motion-capture system ('VICON') generates a matrix for each motion clip. Here, a column is corresponding to a human's sub-body part and row represents time frames of data capture. Thus, we can extract sub-body part's motion only by selecting specific columns. Different from low-level feature values of video human motion, 3D human motion-capture data matrix are not pixel values, but is closer to human level of semantics.

Hand Motion-Based Remote Control Interface with Vibrotactile Feedback for Home Robots

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Juan Wu

2013-06-01

Full Text Available This paper presents the design and implementation of a hand-held interface system for the locomotion control of home robots. A handheld controller is proposed to implement hand motion recognition and hand motion-based robot control. The handheld controller can provide a ‘connect-and-play’ service for the users to control the home robot with visual and vibrotactile feedback. Six natural hand gestures are defined for navigating the home robots. A three-axis accelerometer is used to detect the hand motions of the user. The recorded acceleration data are analysed and classified to corresponding control commands according to their characteristic curves. A vibration motor is used to provide vibrotactile feedback to the user when an improper operation is performed. The performances of the proposed hand motion-based interface and the traditional keyboard and mouse interface have been compared in robot navigation experiments. The experimental results of home robot navigation show that the success rate of the handheld controller is 13.33% higher than the PC based controller. The precision of the handheld controller is 15.4% more than that of the PC and the execution time is 24.7% less than the PC based controller. This means that the proposed hand motion-based interface is more efficient and flexible.

Why do adults with dyslexia have poor global motion sensitivity?

Science.gov (United States)

Conlon, Elizabeth G; Lilleskaret, Gry; Wright, Craig M; Stuksrud, Anne

2013-01-01

Two experiments aimed to determine why adults with dyslexia have higher global motion thresholds than typically reading controls. In Experiment 1, the dot density and number of animation frames presented in the dot stimulus were manipulated because of findings that use of a high dot density can normalize coherence thresholds in individuals with dyslexia. Dot densities were 14.15 and 3.54 dots/deg(2). These were presented for five (84 ms) or eight (134 ms) frames. The dyslexia group had higher coherence thresholds in all conditions than controls. However, in the high dot density, long duration condition, both reader groups had the lowest thresholds indicating normal temporal recruitment. These results indicated that the dyslexia group could sample the additional signals dots over space and then integrate these with the same efficiency as controls. In Experiment 2, we determined whether briefly presenting a fully coherent prime moving in either the same or opposite direction of motion to a partially coherent test stimulus would systematically increase and decrease global motion thresholds in the reader groups. When the direction of motion in the prime and test was the same, global motion thresholds increased for both reader groups. The increase in coherence thresholds was significantly greater for the dyslexia group. When the motion of the prime and test were presented in opposite directions, coherence thresholds were reduced in both groups. No group threshold differences were found. We concluded that the global motion processing deficit found in adults with dyslexia can be explained by undersampling of the target motion signals. This might occur because of difficulties directing attention to the relevant motion signals in the random dot pattern, and not a specific difficulty integrating global motion signals. These effects are most likely to occur in the group with dyslexia when more complex computational processes are required to process global motion.

Sensing human hand motions for controlling dexterous robots

Science.gov (United States)

Marcus, Beth A.; Churchill, Philip J.; Little, Arthur D.

1988-01-01

The Dexterous Hand Master (DHM) system is designed to control dexterous robot hands such as the UTAH/MIT and Stanford/JPL hands. It is the first commercially available device which makes it possible to accurately and confortably track the complex motion of the human finger joints. The DHM is adaptable to a wide variety of human hand sizes and shapes, throughout their full range of motion.

Control Strategies for Guided Collective Motion

Science.gov (United States)

2015-02-27

J.K. Parrish , “Oscillator models and collective motion,” IEEE Control Systems Magzine, Vol. 27, 2007, pp. 89-105. [18] S. H. Strogatz , “From Kuramoto...Automatic Control, 54(2), 2009, pp. 353-357. [21] H. Hong and S. H. Strogatz , “Kuramoto Model of Coupled Oscillators with Positive and Negative...2013) provided similar results by utilizing a modified Kuramoto model ( Strogatz (2000)). Paley (2008) proposed a Lyapunov-based design methodology to

A Hybrid Scheme Motion Controller by Sliding Mode and Two-Degree-of-Freedom Controls to Minimize the Chattering

Directory of Open Access Journals (Sweden)

Chiu-Keng Lai

2014-01-01

Full Text Available Sliding mode control (SMC is rapped for the chattering due to high gain control. However, high gain control causes the system robust. For developing a system with robustness of SMC, a servo motor motion controller combining the two-degree-of-freedom (2DOF system and SMC is proposed. The discussed motion type is point-to-point control with the constraint of trapezoid velocity profile. SMC is designed to guide the motor motion to follow a predefined trail, and the inner 2DOF system is used to compensate the deterioration due to the adoption of load observer. The proposed hybrid system is realized on a PC-based motion controller, and the validness is verified by simulation and experimental results.

Stabilization of rotational motion with application to spacecraft attitude control

DEFF Research Database (Denmark)

Wisniewski, Rafal

2000-01-01

for global stabilization of a rotary motion. Along with a model of the system formulated in the Hamilton's canonical from the algorithm uses information about a required potential energy and a dissipation term. The control action is the sum of the gradient of the potential energy and the dissipation force......The objective of this paper is to develop a control scheme for stabilization of a hamiltonian system. The method generalizes the results available in the literature on motion control in the Euclidean space to an arbitrary differrential manifol equipped with a metric. This modification is essencial...... on a Riemannian manifold. The Lyapnov stability theory is adapted and reformulated to fit to the new framework of Riemannian manifolds. Toillustrate the results a spacecraft attitude control problem is considered. Firstly, a global canonical representation for the spacecraft motion is found, then three spacecraft...

Stabilization of rotational motion with application to spacecraft attitude control

DEFF Research Database (Denmark)

Wisniewski, Rafal

2001-01-01

for global stabilization of a rotary motion. Along with a model of the system formulated in the Hamilton's canonical from the algorithm uses information about a required potential energy and a dissipation term. The control action is the sum of the gradient of the potential energy and the dissipation force......The objective of this paper is to develop a control scheme for stabilization of a hamiltonian system. The method generalizes the results available in the literature on motion control in the Euclidean space to an arbitrary differrential manifol equipped with a metric. This modification is essencial...... on a Riemannian manifold. The Lyapnov stability theory is adapted and reformulated to fit to the new framework of Riemannian manifolds. Toillustrate the results a spacecraft attitude control problem is considered. Firstly, a global canonical representation for the spacecraft motion is found, then three spacecraft...

Derivation of the Boltzmann Equation for Financial Brownian Motion: Direct Observation of the Collective Motion of High-Frequency Traders

Science.gov (United States)

Kanazawa, Kiyoshi; Sueshige, Takumi; Takayasu, Hideki; Takayasu, Misako

2018-03-01

A microscopic model is established for financial Brownian motion from the direct observation of the dynamics of high-frequency traders (HFTs) in a foreign exchange market. Furthermore, a theoretical framework parallel to molecular kinetic theory is developed for the systematic description of the financial market from microscopic dynamics of HFTs. We report first on a microscopic empirical law of traders' trend-following behavior by tracking the trajectories of all individuals, which quantifies the collective motion of HFTs but has not been captured in conventional order-book models. We next introduce the corresponding microscopic model of HFTs and present its theoretical solution paralleling molecular kinetic theory: Boltzmann-like and Langevin-like equations are derived from the microscopic dynamics via the Bogoliubov-Born-Green-Kirkwood-Yvon hierarchy. Our model is the first microscopic model that has been directly validated through data analysis of the microscopic dynamics, exhibiting quantitative agreements with mesoscopic and macroscopic empirical results.

Validation of the Leap Motion Controller using markered motion capture technology.

Science.gov (United States)

Smeragliuolo, Anna H; Hill, N Jeremy; Disla, Luis; Putrino, David

2016-06-14

The Leap Motion Controller (LMC) is a low-cost, markerless motion capture device that tracks hand, wrist and forearm position. Integration of this technology into healthcare applications has begun to occur rapidly, making validation of the LMC׳s data output an important research goal. Here, we perform a detailed evaluation of the kinematic data output from the LMC, and validate this output against gold-standard, markered motion capture technology. We instructed subjects to perform three clinically-relevant wrist (flexion/extension, radial/ulnar deviation) and forearm (pronation/supination) movements. The movements were simultaneously tracked using both the LMC and a marker-based motion capture system from Motion Analysis Corporation (MAC). Adjusting for known inconsistencies in the LMC sampling frequency, we compared simultaneously acquired LMC and MAC data by performing Pearson׳s correlation (r) and root mean square error (RMSE). Wrist flexion/extension and radial/ulnar deviation showed good overall agreement (r=0.95; RMSE=11.6°, and r=0.92; RMSE=12.4°, respectively) with the MAC system. However, when tracking forearm pronation/supination, there were serious inconsistencies in reported joint angles (r=0.79; RMSE=38.4°). Hand posture significantly influenced the quality of wrist deviation (P<0.005) and forearm supination/pronation (P<0.001), but not wrist flexion/extension (P=0.29). We conclude that the LMC is capable of providing data that are clinically meaningful for wrist flexion/extension, and perhaps wrist deviation. It cannot yet return clinically meaningful data for measuring forearm pronation/supination. Future studies should continue to validate the LMC as updated versions of their software are developed. Copyright © 2016 Elsevier Ltd. All rights reserved.

Exciton induced directed motion of unconstrained atoms in an ultracold gas

Science.gov (United States)

Leonhardt, K.; Wüster, S.; Rost, J. M.

2017-03-01

We demonstrate that through localised Rydberg excitation in a three-dimensional cold atom cloud atomic motion can be rendered directed and nearly confined to a plane, without spatial constraints for the motion of individual atoms. This enables creation and observation of non-adiabatic electronic Rydberg dynamics in atoms accelerated by dipole-dipole interactions under natural conditions. Using the full l = 0, 1 m=0,+/- 1 angular momentum state space, our simulations show that conical intersection crossings are clearly evident, both in atomic position information and excited state spectra of the Rydberg system. Hence, flexible Rydberg aggregates suggest themselves for probing quantum chemical effects in experiments on length scales much inflated as compared to a standard molecular situation.

Binocular eye movement control and motion perception: what is being tracked?

Science.gov (United States)

van der Steen, Johannes; Dits, Joyce

2012-10-19

We investigated under what conditions humans can make independent slow phase eye movements. The ability to make independent movements of the two eyes generally is attributed to few specialized lateral eyed animal species, for example chameleons. In our study, we showed that humans also can move the eyes in different directions. To maintain binocular retinal correspondence independent slow phase movements of each eye are produced. We used the scleral search coil method to measure binocular eye movements in response to dichoptically viewed visual stimuli oscillating in orthogonal direction. Correlated stimuli led to orthogonal slow eye movements, while the binocularly perceived motion was the vector sum of the motion presented to each eye. The importance of binocular fusion on independency of the movements of the two eyes was investigated with anti-correlated stimuli. The perceived global motion pattern of anti-correlated dichoptic stimuli was perceived as an oblique oscillatory motion, as well as resulted in a conjugate oblique motion of the eyes. We propose that the ability to make independent slow phase eye movements in humans is used to maintain binocular retinal correspondence. Eye-of-origin and binocular information are used during the processing of binocular visual information, and it is decided at an early stage whether binocular or monocular motion information and independent slow phase eye movements of each eye are produced during binocular tracking.

Wrist range of motion and motion frequency during toy and game play with a joint-specific controller specially designed to provide neuromuscular therapy: A proof of concept study in typically developing children.

Science.gov (United States)

Crisco, Joseph J; Schwartz, Joel B; Wilcox, Bethany; Brideau, Holly; Basseches, Benjamin; Kerman, Karen

2015-08-20

Upper extremities affected by hemiplegic cerebral palsy (CP) and other neuromuscular disorders have been demonstrated to benefit from therapy, and the greater the duration of the therapy, the greater the benefit. A great motivator for participating in and extending the duration of therapy with children is play. Our focus is on active motion therapy of the wrist and forearm. In this study we examine the wrist motions associated with playing with two toys and three computer games controlled by a specially-designed play controller. Twenty children (ages 5-11) with no diagnosis of a muscular disorder were recruited. The play controller was fitted to the wrist and forearm of each child and used to measure and log wrist flexion and extension. Play activity and enjoyment were quantified by average wrist range of motion (ROM), motion frequency measures, and a discrete visual scale. We found significant differences in the average wrist ROM and motion frequency among the toys and games, yet there were no differences in the level of enjoyment across all toys and games, which was high. These findings indicate which toys and games may elicit the greater number of goal-directed movements, and lay the foundation for our long-term goal to develop and evaluate innovative motion-specific play controllers that are engaging rehabilitative devices for enhancing therapy and promoting neural plasticity and functional recovery in children with CP. Copyright © 2015 Elsevier Ltd. All rights reserved.

Robust motion control of oscillatory-base manipulators h∞-control and sliding-mode-control-based approaches

CERN Document Server

Toda, Masayoshi

2016-01-01

This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals, and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researche...

High Precision Motion Control System for the Two-Stage Light Gas Gun at the Dynamic Compression Sector

Science.gov (United States)

Zdanowicz, E.; Guarino, V.; Konrad, C.; Williams, B.; Capatina, D.; D'Amico, K.; Arganbright, N.; Zimmerman, K.; Turneaure, S.; Gupta, Y. M.

2017-06-01

The Dynamic Compression Sector (DCS) at the Advanced Photon Source (APS), located at Argonne National Laboratory (ANL), has a diverse set of dynamic compression drivers to obtain time resolved x-ray data in single event, dynamic compression experiments. Because the APS x-ray beam direction is fixed, each driver at DCS must have the capability to move through a large range of linear and angular motions with high precision to accommodate a wide variety of scientific needs. Particularly challenging was the design and implementation of the motion control system for the two-stage light gas gun, which rests on a 26' long structure and weighs over 2 tons. The target must be precisely positioned in the x-ray beam while remaining perpendicular to the gun barrel axis to ensure one-dimensional loading of samples. To accommodate these requirements, the entire structure can pivot through 60° of angular motion and move 10's of inches along four independent linear directions with 0.01° and 10 μm resolution, respectively. This presentation will provide details of how this system was constructed, how it is controlled, and provide examples of the wide range of x-ray/sample geometries that can be accommodated. Work supported by DOE/NNSA.

Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy

Directory of Open Access Journals (Sweden)

Miguel Velazquez

2016-06-01

Full Text Available This paper presents balancing, velocity and motion control of a self-balancing vehicle. A cascade controller is implemented for both balancing control and angular velocity control. This controller is tested in simulations using a proposed mathematical model of the system. Motion control is achieved based on the kinematics of the robot. Control hardware is designed and integrated to implement the proposed controllers. Pitch is kept under 1° from the equilibrium position with no external disturbances. The linear cascade control is able to handle slight changes in the system dynamics, such as in the centre of mass and the slope on an inclined surface.

Differential contribution of visual and auditory information to accurately predict the direction and rotational motion of a visual stimulus.

Science.gov (United States)

Park, Seoung Hoon; Kim, Seonjin; Kwon, MinHyuk; Christou, Evangelos A

2016-03-01

Vision and auditory information are critical for perception and to enhance the ability of an individual to respond accurately to a stimulus. However, it is unknown whether visual and auditory information contribute differentially to identify the direction and rotational motion of the stimulus. The purpose of this study was to determine the ability of an individual to accurately predict the direction and rotational motion of the stimulus based on visual and auditory information. In this study, we recruited 9 expert table-tennis players and used table-tennis service as our experimental model. Participants watched recorded services with different levels of visual and auditory information. The goal was to anticipate the direction of the service (left or right) and the rotational motion of service (topspin, sidespin, or cut). We recorded their responses and quantified the following outcomes: (i) directional accuracy and (ii) rotational motion accuracy. The response accuracy was the accurate predictions relative to the total number of trials. The ability of the participants to predict the direction of the service accurately increased with additional visual information but not with auditory information. In contrast, the ability of the participants to predict the rotational motion of the service accurately increased with the addition of auditory information to visual information but not with additional visual information alone. In conclusion, this finding demonstrates that visual information enhances the ability of an individual to accurately predict the direction of the stimulus, whereas additional auditory information enhances the ability of an individual to accurately predict the rotational motion of stimulus.

Decoding conjunctions of direction-of-motion and binocular disparity from human visual cortex.

Science.gov (United States)

Seymour, Kiley J; Clifford, Colin W G

2012-05-01

Motion and binocular disparity are two features in our environment that share a common correspondence problem. Decades of psychophysical research dedicated to understanding stereopsis suggest that these features interact early in human visual processing to disambiguate depth. Single-unit recordings in the monkey also provide evidence for the joint encoding of motion and disparity across much of the dorsal visual stream. Here, we used functional MRI and multivariate pattern analysis to examine where in the human brain conjunctions of motion and disparity are encoded. Subjects sequentially viewed two stimuli that could be distinguished only by their conjunctions of motion and disparity. Specifically, each stimulus contained the same feature information (leftward and rightward motion and crossed and uncrossed disparity) but differed exclusively in the way these features were paired. Our results revealed that a linear classifier could accurately decode which stimulus a subject was viewing based on voxel activation patterns throughout the dorsal visual areas and as early as V2. This decoding success was conditional on some voxels being individually sensitive to the unique conjunctions comprising each stimulus, thus a classifier could not rely on independent information about motion and binocular disparity to distinguish these conjunctions. This study expands on evidence that disparity and motion interact at many levels of human visual processing, particularly within the dorsal stream. It also lends support to the idea that stereopsis is subserved by early mechanisms also tuned to direction of motion.

Hummingbirds control hovering flight by stabilizing visual motion.

Science.gov (United States)

Goller, Benjamin; Altshuler, Douglas L

2014-12-23

Relatively little is known about how sensory information is used for controlling flight in birds. A powerful method is to immerse an animal in a dynamic virtual reality environment to examine behavioral responses. Here, we investigated the role of vision during free-flight hovering in hummingbirds to determine how optic flow--image movement across the retina--is used to control body position. We filmed hummingbirds hovering in front of a projection screen with the prediction that projecting moving patterns would disrupt hovering stability but stationary patterns would allow the hummingbird to stabilize position. When hovering in the presence of moving gratings and spirals, hummingbirds lost positional stability and responded to the specific orientation of the moving visual stimulus. There was no loss of stability with stationary versions of the same stimulus patterns. When exposed to a single stimulus many times or to a weakened stimulus that combined a moving spiral with a stationary checkerboard, the response to looming motion declined. However, even minimal visual motion was sufficient to cause a loss of positional stability despite prominent stationary features. Collectively, these experiments demonstrate that hummingbirds control hovering position by stabilizing motions in their visual field. The high sensitivity and persistence of this disruptive response is surprising, given that the hummingbird brain is highly specialized for sensory processing and spatial mapping, providing other potential mechanisms for controlling position.

Real-time motion analysis reveals cell directionality as an indicator of breast cancer progression.

Directory of Open Access Journals (Sweden)

Michael C Weiger

Full Text Available Cancer cells alter their migratory properties during tumor progression to invade surrounding tissues and metastasize to distant sites. However, it remains unclear how migratory behaviors differ between tumor cells of different malignancy and whether these migratory behaviors can be utilized to assess the malignant potential of tumor cells. Here, we analyzed the migratory behaviors of cell lines representing different stages of breast cancer progression using conventional migration assays or time-lapse imaging and particle image velocimetry (PIV to capture migration dynamics. We find that the number of migrating cells in transwell assays, and the distance and speed of migration in unconstrained 2D assays, show no correlation with malignant potential. However, the directionality of cell motion during 2D migration nicely distinguishes benign and tumorigenic cell lines, with tumorigenic cell lines harboring less directed, more random motion. Furthermore, the migratory behaviors of epithelial sheets observed under basal conditions and in response to stimulation with epidermal growth factor (EGF or lysophosphatitic acid (LPA are distinct for each cell line with regard to cell speed, directionality, and spatiotemporal motion patterns. Surprisingly, treatment with LPA promotes a more cohesive, directional sheet movement in lung colony forming MCF10CA1a cells compared to basal conditions or EGF stimulation, implying that the LPA signaling pathway may alter the invasive potential of MCF10CA1a cells. Together, our findings identify cell directionality as a promising indicator for assessing the tumorigenic potential of breast cancer cell lines and show that LPA induces more cohesive motility in a subset of metastatic breast cancer cells.

Action Video Games Improve Direction Discrimination of Parafoveal Translational Global Motion but Not Reaction Times.

Science.gov (United States)

Pavan, Andrea; Boyce, Matthew; Ghin, Filippo

2016-10-01

Playing action video games enhances visual motion perception. However, there is psychophysical evidence that action video games do not improve motion sensitivity for translational global moving patterns presented in fovea. This study investigates global motion perception in action video game players and compares their performance to that of non-action video game players and non-video game players. Stimuli were random dot kinematograms presented in the parafovea. Observers discriminated the motion direction of a target random dot kinematogram presented in one of the four visual quadrants. Action video game players showed lower motion coherence thresholds than the other groups. However, when the task was performed at threshold, we did not find differences between groups in terms of distributions of reaction times. These results suggest that action video games improve visual motion sensitivity in the near periphery of the visual field, rather than speed response. © The Author(s) 2016.

FPGA Implementation of Real-Time Ethernet for Motion Control

Directory of Open Access Journals (Sweden)

Chen Youdong

2013-01-01

Full Text Available This paper provides an applicable implementation of real-time Ethernet named CASNET, which modifies the Ethernet medium access control (MAC to achieve the real-time requirement for motion control. CASNET is the communication protocol used for motion control system. Verilog hardware description language (VHDL has been used in the MAC logic design. The designed MAC serves as one of the intellectual properties (IPs and is applicable to various industrial controllers. The interface of the physical layer is RJ45. The other layers have been implemented by using C programs. The real-time Ethernet has been implemented by using field programmable gate array (FPGA technology and the proposed solution has been tested through the cycle time, synchronization accuracy, and Wireshark testing.

Development of excavator training simulator using leap motion controller

Science.gov (United States)

Fahmi, F.; Nainggolan, F.; Andayani, U.; Siregar, B.

2018-03-01

Excavator is a heavy machinery that is used for many industries purposes. Controlling the excavator is not easy. Its operator has to be trained well in many skills to make sure it is safe, effective, and efficient while using the excavator. In this research, we proposed a virtual reality excavator simulator supported by a device called Leap Motion Controller that supports finger and hand motions as an input. This prototype will be developed than in the virtual reality environment to give a more real sensing to the user.

Wireless control system for two-axis linear oscillating motion applying CBR technology

Science.gov (United States)

Kuzyakov, O. N.; Andreeva, M. A.

2018-03-01

The paper presents the aspects of elaborating a movement control system. The system is to implement determination of movement characteristics of the object controlled, which performs an oscillating linear motion in a two-axis direction. The system has an electronic-optical principle of action: light receivers are attached to a controlled object, and a laser light emitter is attached to a static construction. While the object performs movement along the construction, the light emitter signal is registered by light receivers, based on which determination of the object position and characteristic of its movement are performed. An algorithm of system implementation is elaborated. Signal processing is performed on the basis of the case-based reasoning method. The system is to be used in machine-building industry in controlling relative displacement of the dynamic object or its assembly.

Leap Motion Device Used to Control a Real Anthropomorphic Gripper

Directory of Open Access Journals (Sweden)

Ionel Staretu

2016-06-01

Full Text Available This paper presents for the first time the use of the Leap Motion device to control an anthropomorphic gripper with five fingers. First, a description of the Leap Motion device is presented, highlighting its main functional characteristics, followed by testing of its use for capturing the movements of a human hand's fingers in different configurations. Next, the HandCommander soft module and the Interface Controller application are described. The HandCommander is a software module created to facilitate interaction between a human hand and the GraspIT virtual environment, and the Interface Controller application is required to send motion data to the virtual environment and to test the communication protocol. For the test, a prototype of an anthropomorphic gripper with five fingers was made, including a proper hardware system of command and control, which is briefly presented in this paper. Following the creation of the prototype, the command system performance test was conducted under real conditions, evaluating the recognition efficiency of the objects to be gripped and the efficiency of the command and control strategies for the gripping process. The gripping test is exemplified by the gripping of an object, such as a screw spanner. It was found that the command system, both in terms of capturing human hand gestures with the Leap Motion device and effective object gripping, is operational. Suggestive figures are presented as examples.

Effects of walker gender and observer gender on biological motion walking direction discrimination.

Science.gov (United States)

Yang, Xiaoying; Cai, Peng; Jiang, Yi

2014-09-01

The ability to recognize the movements of other biological entities, such as whether a person is walking toward you, is essential for survival and social interaction. Previous studies have shown that the visual system is particularly sensitive to approaching biological motion. In this study, we examined whether the gender of walkers and observers influenced the walking direction discrimination of approaching point-light walkers in fine granularity. The observers were presented a walker who walked in different directions and were asked to quickly judge the walking direction (left or right). The results showed that the observers demonstrated worse direction discrimination when the walker was depicted as male than when the walker was depicted as female, probably because the observers tended to perceive the male walkers as walking straight ahead. Intriguingly, male observers performed better than female observers at judging the walking directions of female walkers but not those of male walkers, a result indicating perceptual advantage with evolutionary significance. These findings provide strong evidence that the gender of walkers and observers modulates biological motion perception and that an adaptive perceptual mechanism exists in the visual system to facilitate the survival of social organisms. © 2014 The Institute of Psychology, Chinese Academy of Sciences and Wiley Publishing Asia Pty Ltd.

Jerk derivative feedforward control for motion systems

NARCIS (Netherlands)

Boerlage, M.L.G.; Tousain, R.L.; Steinbuch, M.

2004-01-01

This work discusses reference trajectory relevant model based feedforward design. For motion systems which contain at least one rigid body mode and which are subject to reference trajectories with mostly low frequency energy, the proposed feedforward controller improves tracking performance

Measurements and simulation of controlled beamfront motion in the Laser Controlled Collective Accelerator

International Nuclear Information System (INIS)

Yao, R.L.; Destler, W.W.; Striffler, C.D.; Rodgers, J.; Scgalov, Z.

1989-01-01

In the Laser Controlled Collective Accelerator, an intense electron beam is injected at a current above the vacuum space charge limit into an initially evacuated drift tube. A plasma channel, produced by time-sequenced, multiple laser beam ionization of a solid target on the drift tube wall, provides the necessary neutralization to allow for effective beam propagation. By controlling the rate of production of the plasma channel as a function of time down the drift tube, control of the electron beamfront can be achieved. Recent experimental measurements of controlled beamfront motion in this configuration are presented, along with results of ion acceleration experiments conducted using two different accelerating gradients. These results are compared with numerical simulations of the system in which both controlled beamfront motion and ion acceleration is observed consistent with both design expectations and experimental results. 5 refs., 6 figs

Control of self-motion in dynamic fluids: fish do it differently from bees.

Science.gov (United States)

Scholtyssek, Christine; Dacke, Marie; Kröger, Ronald; Baird, Emily

2014-05-01

To detect and avoid collisions, animals need to perceive and control the distance and the speed with which they are moving relative to obstacles. This is especially challenging for swimming and flying animals that must control movement in a dynamic fluid without reference from physical contact to the ground. Flying animals primarily rely on optic flow to control flight speed and distance to obstacles. Here, we investigate whether swimming animals use similar strategies for self-motion control to flying animals by directly comparing the trajectories of zebrafish (Danio rerio) and bumblebees (Bombus terrestris) moving through the same experimental tunnel. While moving through the tunnel, black and white patterns produced (i) strong horizontal optic flow cues on both walls, (ii) weak horizontal optic flow cues on both walls and (iii) strong optic flow cues on one wall and weak optic flow cues on the other. We find that the mean speed of zebrafish does not depend on the amount of optic flow perceived from the walls. We further show that zebrafish, unlike bumblebees, move closer to the wall that provides the strongest visual feedback. This unexpected preference for strong optic flow cues may reflect an adaptation for self-motion control in water or in environments where visibility is limited. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Why do adults with dyslexia have poor global motion sensitivity?

Directory of Open Access Journals (Sweden)

Elizabeth eConlon

2013-12-01

Full Text Available Two experiments aimed to determine why adults with dyslexia have higher global motion thresholds than typically reading controls. In Experiment 1, the dot density and number of animation frames presented in the dot stimulus were manipulated because of findings that use of a high dot density can normalise coherence thresholds in individuals with dyslexia. Dot densities were 14.15 dots/deg2 and 3.54 dots/deg2. These were presented for five (84ms or eight (134ms frames. The dyslexia group had higher coherence thresholds in all conditions than controls. However, in the high dot density, long duration condition, both reader groups had the lowest thresholds indicating normal temporal recruitment. These results indicated that the dyslexia group could sample the additional signals dots over space and then integrate these with the same efficiency as controls. In Experiment 2, we determined whether briefly presenting a fully coherent prime moving in either the same or opposite direction of motion to a partially coherent test stimulus would systematically increase and decrease global motion thresholds in the reader groups. When the direction of motion in the prime and test was the same, global motion thresholds increased for both reader groups. The increase in coherence thresholds was significantly greater for the dyslexia group. When the motion of the prime and test were presented in opposite directions, coherence thresholds were reduced in both groups. No group threshold differences were found. We concluded that the global motion processing deficit found in adults with dyslexia can be explained by undersampling of the target motion signals. This might occur because of difficulties directing attention to the relevant motion signals in the random dot pattern, and not a specific difficulty integrating global motion signals. These effects are most likely to occur in the group with dyslexia when more complex computational processes are required to process

Direct numerical simulation of 3D particle motion in an evaporating liquid film

International Nuclear Information System (INIS)

Hwang, Ho Chan; Son, Gi Hun

2016-01-01

A direct numerical simulation method is developed for 3D particle motion in liquid film evaporation. The liquid-gas and fluid-solid interfaces are tracked by a sharp-interface Level-set (LS) method, which includes the effects of evaporation, contact line and solid particles. The LS method is validated through simulation of the interaction between two particles falling in a single-phase fluid. The LS based DNS method is applied to computation of the particle motion in liquid film evaporation to investigate the particle-interface and particle-particle interactions

Behavioral methods of alleviating motion sickness: effectiveness of controlled breathing and a music audiotape.

Science.gov (United States)

Yen Pik Sang, Fleur D; Billar, Jessica P; Golding, John F; Gresty, Michael A

2003-01-01

Behavioral countermeasures for motion sickness would be advantageous because of the side effects of antiemetic drugs, but few alternative treatments are available. The objective of this study was to compare the effectiveness of controlling breathing and listening to a music audiotape designed to reduce motion sickness symptoms, on increasing tolerance to motion-induced nausea. Twenty-four healthy subjects were exposed to nauseogenic Coriolis stimulation on a rotating turntable under three conditions: whilst focusing on controlling breathing; listening to a music audiotape; or without intervention (control). The three conditions were performed by each subject according to a replicated factorial design at 1-week intervals at the same time of day. Ratings of motion sickness were obtained every 30 seconds. Once a level of mild nausea was reached subjects commenced controlling breathing or listened to the music audiotape. Motion was stopped after the onset of moderate nausea. Mean (+/- SD) motion exposure time in minutes tolerated before the onset of moderate nausea was significantly longer (p music (10.4 +/- 5.6 min) compared with control (9.2 +/- 5.9 min). Both controlling breathing and the music audiotape provided significant protection against motion sickness and with similar effectiveness. These nonpharmacologic countermeasures are only half as effective as standard doses of anti-motion sickness drugs, such as oral scopolamine; however, they are easy to implement and free of side effects.

An optimal control strategy for two-dimensional motion camouflage with non-holonimic constraints.

Science.gov (United States)

Rañó, Iñaki

2012-07-01

Motion camouflage is a stealth behaviour observed both in hover-flies and in dragonflies. Existing controllers for mimicking motion camouflage generate this behaviour on an empirical basis or without considering the kinematic motion restrictions present in animal trajectories. This study summarises our formal contributions to solve the generation of motion camouflage as a non-linear optimal control problem. The dynamics of the system capture the kinematic restrictions to motion of the agents, while the performance index ensures camouflage trajectories. An extensive set of simulations support the technique, and a novel analysis of the obtained trajectories contributes to our understanding of possible mechanisms to obtain sensor based motion camouflage, for instance, in mobile robots.

Extension of the Method of Direct Separation of Motions for Problems of Oscillating Action on Dynamical Systems

DEFF Research Database (Denmark)

Blekhman, Iliya I.; Sorokin, Vladislav

2016-01-01

A general approach to study oscillating action on nonlinear dynamical systems is developed. It implies a transition from initial governing equations of motion to much more simple equations describing only the main slow component of motions (the vibro-transformed dynamics equations). The approach...... is named as the Oscillatory Strobodynamics, since motions are perceived as under a stroboscopic light. The vibro-transformed dynamics equations comprise terms that represent the averaged effect of the oscillating action. The method of direct separation of motions (MDSM) appears to be an efficient...

Research on NC motion controller based on SOPC technology

Science.gov (United States)

Jiang, Tingbiao; Meng, Biao

2006-11-01

With the rapid development of the digitization and informationization, the application of numerical control technology in the manufacturing industry becomes more and more important. However, the conventional numerical control system usually has some shortcomings such as the poor in system openness, character of real-time, cutability and reconfiguration. In order to solve these problems, this paper investigates the development prospect and advantage of the application in numerical control area with system-on-a-Programmable-Chip (SOPC) technology, and puts forward to a research program approach to the NC controller based on SOPC technology. Utilizing the characteristic of SOPC technology, we integrate high density logic device FPGA, memory SRAM, and embedded processor ARM into a single programmable logic device. We also combine the 32-bit RISC processor with high computing capability of the complicated algorithm with the FPGA device with strong motivable reconfiguration logic control ability. With these steps, we can greatly resolve the defect described in above existing numerical control systems. For the concrete implementation method, we use FPGA chip embedded with ARM hard nuclear processor to construct the control core of the motion controller. We also design the peripheral circuit of the controller according to the requirements of actual control functions, transplant real-time operating system into ARM, design the driver of the peripheral assisted chip, develop the application program to control and configuration of FPGA, design IP core of logic algorithm for various NC motion control to configured it into FPGA. The whole control system uses the concept of modular and structured design to develop hardware and software system. Thus the NC motion controller with the advantage of easily tailoring, highly opening, reconfigurable, and expandable can be implemented.

Orbital and angular motion construction for low thrust interplanetary flight

Science.gov (United States)

Yelnikov, R. V.; Mashtakov, Y. V.; Ovchinnikov, M. Yu.; Tkachev, S. S.

2016-11-01

Low thrust interplanetary flight is considered. Firstly, the fuel-optimal control is found. Then the angular motion is synthesized. This motion provides the thruster tracking of the required by optimal control direction. And, finally, reaction wheel control law for tracking this angular motion is proposed and implemented. The numerical example is given and total operation time for thrusters is found. Disturbances from solar pressure, thrust eccentricity, inaccuracy of reaction wheels installation and errors of inertia tensor are taken into account.

Analysis of the Motion Control Methods for Stratospheric Balloon-Borne Gondola Platform

International Nuclear Information System (INIS)

Wang, H H; Yuan, Z H; Wu, J

2006-01-01

At present, gondola platform is one of the stratospheric balloon-borne platforms being in research focus at home and overseas. Comparing to other stratospheric balloon-borne platforms, such as airship platform, gondola platform has advantages of higher stability, rapid in motion regulation and lower energy cost but disadvantages of less supporting capacity and be incapable of fixation. While all platforms have the same goal of keeping them at accurate angle and right pose for the requirements of instruments and objects installed in the platforms, when platforms rotate round the ground level perpendicular. That is accomplishing motion control. But, platform control system has factors of low damper, excessive and uncertain disturbances by the reason of its being hung over balloon in the air, it is hard to achieve the desired control precision because platform is ease to deviate its benchmark motion. Thus, in the controlling procedure in order to get higher precision, it is crucial to perceive the platform's swing synchronously and rapidly, and restrain the influence of disturbances effectively, keep the platform's pose steadily. Furthermore, while the platform in the air regard control center in the ground as reference object, it is ultimate to select a appropriate reference frame and work out the coordinates and implement the adjustment by the PC104 controller. This paper introduces the methods of the motion control based on stratospheric balloon-borne gondola platform. Firstly, this paper compares the characteristic of the flywheel and CMG and specifies the key methods of obtaining two significant states which are 'orientation stability' state and 'orientation tracking' state for platform motion control procedure using CMG as the control actuator. These two states reduce the deviation amplitude of rotation and swing of gondola's motion relative to original motion due to stratospheric intense atmosphere disturbance. We define it as the first procedure. In next

Analysis of the Motion Control Methods for Stratospheric Balloon-Borne Gondola Platform

Science.gov (United States)

Wang, H. H.; Yuan, Z. H.; Wu, J.

2006-10-01

At present, gondola platform is one of the stratospheric balloon-borne platforms being in research focus at home and overseas. Comparing to other stratospheric balloon-borne platforms, such as airship platform, gondola platform has advantages of higher stability, rapid in motion regulation and lower energy cost but disadvantages of less supporting capacity and be incapable of fixation. While all platforms have the same goal of keeping them at accurate angle and right pose for the requirements of instruments and objects installed in the platforms, when platforms rotate round the ground level perpendicular. That is accomplishing motion control. But, platform control system has factors of low damper, excessive and uncertain disturbances by the reason of its being hung over balloon in the air, it is hard to achieve the desired control precision because platform is ease to deviate its benchmark motion. Thus, in the controlling procedure in order to get higher precision, it is crucial to perceive the platform's swing synchronously and rapidly, and restrain the influence of disturbances effectively, keep the platform's pose steadily. Furthermore, while the platform in the air regard control center in the ground as reference object, it is ultimate to select a appropriate reference frame and work out the coordinates and implement the adjustment by the PC104 controller. This paper introduces the methods of the motion control based on stratospheric balloon-borne gondola platform. Firstly, this paper compares the characteristic of the flywheel and CMG and specifies the key methods of obtaining two significant states which are 'orientation stability' state and 'orientation tracking' state for platform motion control procedure using CMG as the control actuator. These two states reduce the deviation amplitude of rotation and swing of gondola's motion relative to original motion due to stratospheric intense atmosphere disturbance. We define it as the first procedure. In next

Effects of auditory information on self-motion perception during simultaneous presentation of visual shearing motion

Science.gov (United States)

Tanahashi, Shigehito; Ashihara, Kaoru; Ujike, Hiroyasu

2015-01-01

Recent studies have found that self-motion perception induced by simultaneous presentation of visual and auditory motion is facilitated when the directions of visual and auditory motion stimuli are identical. They did not, however, examine possible contributions of auditory motion information for determining direction of self-motion perception. To examine this, a visual stimulus projected on a hemisphere screen and an auditory stimulus presented through headphones were presented separately or simultaneously, depending on experimental conditions. The participant continuously indicated the direction and strength of self-motion during the 130-s experimental trial. When the visual stimulus with a horizontal shearing rotation and the auditory stimulus with a horizontal one-directional rotation were presented simultaneously, the duration and strength of self-motion perceived in the opposite direction of the auditory rotation stimulus were significantly longer and stronger than those perceived in the same direction of the auditory rotation stimulus. However, the auditory stimulus alone could not sufficiently induce self-motion perception, and if it did, its direction was not consistent within each experimental trial. We concluded that auditory motion information can determine perceived direction of self-motion during simultaneous presentation of visual and auditory motion information, at least when visual stimuli moved in opposing directions (around the yaw-axis). We speculate that the contribution of auditory information depends on the plausibility and information balance of visual and auditory information. PMID:26113828

POSTURAL CONTROL IN HEALTHY YOUNG ADULTS WITH AND WITHOUT CHRONIC MOTION SENSITIVITY

Directory of Open Access Journals (Sweden)

Alyahya D

2016-02-01

Full Text Available Background: Postural control requires complex processing of peripheral sensory inputs from the visual, somatosensory and vestibular systems. Motion sensitivity and decreased postural control are influenced by visual-vestibular conflicts.The purpose of this study was to measure the difference between the postural control of healthy adults with and without history of sub-clinical chronic motion sensitivity using a computerized dynamic posturography in a virtual reality environment. Sub-clinical chronic motion sensitivity was operationally defined as a history of avoiding activities causing dizziness, nausea, imbalance, and/or blurred vision without having a related medical diagnosis. Methods: Twenty healthy adults between 22 and 33 years of age participated in the study. Eleven subjects had sub-clinical chronic motion sensitivity and 9 subjects did not. Postural control was measured in both groups using the Bertec Balance Advantage-Dynamic Computerized Dynamic Posturography with Immersion Virtual Reality (CDP-IVR. The CDP-IVR reports an over-all equilibrium score based on subjects’ center of gravity displacement and postural sway while immersed in a virtual reality environment. Subjects were tested on stable (condition 1 and unstable (condition2 platform conditions. Results: There was no significant difference between the two groups in terms of mean age, height, weight, body mass index in kg/m2, postural control scores for conditions 2, and average (p>0.05. However, significant differences were observed in mean postural control for condition 1 between groups (p=0.03. Conclusions: Results of this study suggest that healthy young adults without chronic sub-clinical motion sensitivity have better postural control than those with chronic sub-clinical motion sensitivity. Further investigation is warranted to explore wider age ranges with larger samples sizes as well as intervention strategies to improve postural control.

Analysis of the accuracy and robustness of the leap motion controller.

Science.gov (United States)

Weichert, Frank; Bachmann, Daniel; Rudak, Bartholomäus; Fisseler, Denis

2013-05-14

The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2 mm has been obtained for static setups and of 1.2 mm for dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction.

Analysis of the Accuracy and Robustness of the Leap Motion Controller

OpenAIRE

Weichert, Frank; Bachmann, Daniel; Rudak, Bartholomäus; Fisseler, Denis

2013-01-01

The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pe...

Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

Directory of Open Access Journals (Sweden)

Tianliang Liu

2016-05-01

Full Text Available When applied to some tasks, such as payload handling, assembling, repairing and so on, the two arms of a humanoid robot will form a closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult. In this paper, we present three types of resolved motion control methods for a humanoid robot during coordinated manipulation. They are, respectively, position-level, velocity-level and acceleration-level resolved motion control methods. The desired pose, velocity and acceleration of each end-effector are then resolved according to the desired motion of the payload and the constraints on the closed-chain system without consideration of the internal force. Corresponding to the three cases above, the joint variables of each arm are then calculated using the inverse kinematic equations, at position-level, velocity-level or acceleration-level. Finally, a dynamic modelling and simulation platform is established based on ADAMS and Matlab software. The proposed methods are verified by typical cases. The simulation results show that the proposed control strategy can realize the dual-arm coordinated operation and the internal force of the closed chain during the operation is controlled in a reasonable range at the same time.

Nonlinear Model Predictive Control of a Cable-Robot-Based Motion Simulator

DEFF Research Database (Denmark)

Katliar, Mikhail; Fischer, Joerg; Frison, Gianluca

2017-01-01

In this paper we present the implementation of a model-predictive controller (MPC) for real-time control of a cable-robot-based motion simulator. The controller computes control inputs such that a desired acceleration and angular velocity at a defined point in simulator's cabin are tracked while...... satisfying constraints imposed by working space and allowed cable forces of the robot. In order to fully use the simulator capabilities, we propose an approach that includes the motion platform actuation in the MPC model. The tracking performance and computation time of the algorithm are investigated...

Analysis of Offshore Knuckle Boom Crane - Part Two: Motion Control

Directory of Open Access Journals (Sweden)

Morten K. Bak

2013-10-01

Full Text Available In this paper design of electro-hydraulic motion control systems for offshore knuckle boom cranes is discussed. The influence of the control valve bandwidth along with the ramp time for the control signal are investigated both analytically with simplified system models and numerically with an experimentally verified crane model. The results of both types of investigations are related to general design rules for selection of control valves and ramp times and the relevance of these design rules is discussed. Generally, they are useful but may be too conservative for offshore knuckle boom cranes. However, as demonstrated in the paper, the only proper way to determine this is to evaluate the motion control system design by means of simulation.

Modeling and identification for robot motion control

NARCIS (Netherlands)

Kostic, D.; Jager, de A.G.; Steinbuch, M.; Kurfess, T.R.

2004-01-01

This chapter deals with the problems of robot modelling and identification for high-performance model-based motion control. A derivation of robot kinematic and dynamic models was explained. Modelling of friction effects was also discussed. Use of a writing task to establish correctness of the models

Development of an Embedded Solar Tracking System with LabVIEW Motion Control

International Nuclear Information System (INIS)

Oh, Seung Jin; Hyun, Jun Ho; Oh, Won Jong; Kim, Yeong Min; Lee, Yoon Joon; Chun, Won Gee

2010-01-01

Motion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device such as a hydraulic pump, linear actuator, or an electric motor. The motion control is widely used in the packaging, printing, textile, semiconductor production, and power plants. National Instruments LabVIEW is a graphical programming language that has its roots in automation control and data acquisition. Its graphical representation, similar to a process flow diagram, was created to provide an intuitive programming environment for scientist and engineers. Crystal River Nuclear Plant engineers developed automated testing system of nuclear plant control modules in an aging nuclear power plant using LabVIEW to improve performance and reliability and reduce cost. In this study, an embedded two-axis solar tracking system was developed using LabVIEW motion control module

Motion control in double-walled carbon nanotube systems using a Stone-Thrower-Wales defect cluster

International Nuclear Information System (INIS)

Liu Ping; Zhang Yongwei

2010-01-01

The ability to control the motion of a single molecule will have an important impact in nano-mechanical systems. Multi-walled carbon nanotube systems, which have extremely low intertube friction and strong motion confinement, can form the basis for mechanically based motion control. We devise two molecular motion control units based on double-walled carbon nanotubes embedded with a Stone-Thrower-Wales defect cluster, and perform molecular dynamics simulations to determine the characteristics of these two control units. We show that one of the molecular control units is able to perform a logic operation on one logic input and produce three logic outputs, while the other is able to produce two logic outputs. Potential applications of the motion control units include molecular switches, shuttles and mechanically based logic devices.

Real-time high-speed motion blur compensation system based on back-and-forth motion control of galvanometer mirror.

Science.gov (United States)

Hayakawa, Tomohiko; Watanabe, Takanoshin; Ishikawa, Masatoshi

2015-12-14

We developed a novel real-time motion blur compensation system for the blur caused by high-speed one-dimensional motion between a camera and a target. The system consists of a galvanometer mirror and a high-speed color camera, without the need for any additional sensors. We controlled the galvanometer mirror with continuous back-and-forth oscillating motion synchronized to a high-speed camera. The angular speed of the mirror is given in real time within 10 ms based on the concept of background tracking and rapid raw Bayer block matching. Experiments demonstrated that our system captures motion-invariant images of objects moving at speeds up to 30 km/h.

Analysis of the Accuracy and Robustness of the Leap Motion Controller

Directory of Open Access Journals (Sweden)

Denis Fisseler

2013-05-01

Full Text Available The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2mmhas been obtained for static setups and of 1.2mmfor dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction.

Enhancement of vortex induced forces and motion through surface roughness control

Science.gov (United States)

Bernitsas, Michael M [Saline, MI; Raghavan, Kamaldev [Houston, TX

2011-11-01

Roughness is added to the surface of a bluff body in a relative motion with respect to a fluid. The amount, size, and distribution of roughness on the body surface is controlled passively or actively to modify the flow around the body and subsequently the Vortex Induced Forces and Motion (VIFM). The added roughness, when designed and implemented appropriately, affects in a predetermined way the boundary layer, the separation of the boundary layer, the level of turbulence, the wake, the drag and lift forces, and consequently the Vortex Induced Motion (VIM), and the fluid-structure interaction. The goal of surface roughness control is to increase Vortex Induced Forces and Motion. Enhancement is needed in such applications as harnessing of clean and renewable energy from ocean/river currents using the ocean energy converter VIVACE (Vortex Induced Vibration for Aquatic Clean Energy).

Experimentally supported control design for a direct drive robot

NARCIS (Netherlands)

Kostic, D.; Jager, de A.G.; Steinbuch, M.

2002-01-01

We promote the idea of an experimentally supported control design as a successful way to achieve accurate tracking of reference robot motions, under disturbance conditions and given the uncertainties arising from modeling errors. The Hinf robust control theory is used for design of motion

BWR ATWS mitigation by Fine Motion Control Rod

International Nuclear Information System (INIS)

Rohatgi, U.S.; Cheng, H.S.; Khan, H.; Mallen, A.; Diamond, D.

1994-01-01

Two main methods of ATWS mitigation in a SBWR are: fine Motion control Rods (FMCRD) and Boron injection via the Standby Liquid control System (SLCS). This study has demonstrated that the use of FMCRD along with feedwater runback mitigated the conditions due to reactivity insertion and possible ATWS in a BWR which is similar to SBWR

Is Diaphragm Motion a Good Surrogate for Liver Tumor Motion?

Energy Technology Data Exchange (ETDEWEB)

Yang, Juan [Department of Radiation Oncology, Duke University Medical Center, Durham, North Carolina (United States); School of Information Science and Engineering, Shandong University, Jinan, Shandong (China); Cai, Jing [Department of Radiation Oncology, Duke University Medical Center, Durham, North Carolina (United States); Wang, Hongjun [School of Information Science and Engineering, Shandong University, Jinan, Shandong (China); Chang, Zheng; Czito, Brian G. [Department of Radiation Oncology, Duke University Medical Center, Durham, North Carolina (United States); Bashir, Mustafa R. [Department of Radiology, Duke University Medical Center, Durham, North Carolina (United States); Palta, Manisha [Department of Radiation Oncology, Duke University Medical Center, Durham, North Carolina (United States); Yin, Fang-Fang, E-mail: fangfang.yin@duke.edu [Department of Radiation Oncology, Duke University Medical Center, Durham, North Carolina (United States)

2014-11-15

Purpose: To evaluate the relationship between liver tumor motion and diaphragm motion. Methods and Materials: Fourteen patients with hepatocellular carcinoma (10 of 14) or liver metastases (4 of 14) undergoing radiation therapy were included in this study. All patients underwent single-slice cine–magnetic resonance imaging simulations across the center of the tumor in 3 orthogonal planes. Tumor and diaphragm motion trajectories in the superior–inferior (SI), anterior–posterior (AP), and medial–lateral (ML) directions were obtained using an in-house-developed normalized cross-correlation–based tracking technique. Agreement between the tumor and diaphragm motion was assessed by calculating phase difference percentage, intraclass correlation coefficient, and Bland-Altman analysis (Diff). The distance between the tumor and tracked diaphragm area was analyzed to understand its impact on the correlation between the 2 motions. Results: Of all patients, the mean (±standard deviation) phase difference percentage values were 7.1% ± 1.1%, 4.5% ± 0.5%, and 17.5% ± 4.5% in the SI, AP, and ML directions, respectively. The mean intraclass correlation coefficient values were 0.98 ± 0.02, 0.97 ± 0.02, and 0.08 ± 0.06 in the SI, AP, and ML directions, respectively. The mean Diff values were 2.8 ± 1.4 mm, 2.4 ± 1.1 mm, and 2.2 ± 0.5 mm in the SI, AP, and ML directions, respectively. Tumor and diaphragm motions had high concordance when the distance between the tumor and tracked diaphragm area was small. Conclusions: This study showed that liver tumor motion had good correlation with diaphragm motion in the SI and AP directions, indicating diaphragm motion in the SI and AP directions could potentially be used as a reliable surrogate for liver tumor motion.

Analytical one parameter method for PID motion controller settings

NARCIS (Netherlands)

van Dijk, Johannes; Aarts, Ronald G.K.M.

2012-01-01

In this paper analytical expressions for PID-controllers settings for electromechanical motion systems are presented. It will be shown that by an adequate frequency domain oriented parametrization, the parameters of a PID-controller are analytically dependent on one variable only, the cross-over

Design and Simulation of a PID Controller for Motion Control Systems

Science.gov (United States)

Hassan Abdullahi, Zakariyya; Danzomo, Bashir Ahmed; Suleiman Abdullahi, Zainab

2018-04-01

Motion control system plays important role in many industrial applications among which are in robot system, missile launching, positioning systems etc. However, the performance requirement for these applications in terms of high accuracy, high speed, insignificant or no overshoot and robustness have generated continuous challenges in the field of motion control system design and implementation. To compensate this challenge, a PID controller was design using mathematical model of a DC motor based on classical root-locus approach. The reason for adopting root locus design is to remodel the closed-loop response by putting the closed-loop poles of the system at desired points. Adding poles and zeros to the initial open-loop transfer function through the controller provide a way to transform the root locus in order to place the closed-loop poles at the required points. This process can also be used for discrete-time models. The Advantages of root locus over other methods is that, it gives the better way of pinpointing the parameters and can easily predict the fulfilment of the whole system. The controller performance was simulated using MATLAB code and a reasonable degree of accuracy was obtained. Implementation of the proposed model was conducted using-Simulink and the result obtained shows that the PID controller met the transient performance specifications with both settling time and overshoot less than 0.1s and 5% respectively. In terms of steady state error, the PID controller gave good response for both step input and ramp.

Infrared wireless data transfer for real-time motion control

NARCIS (Netherlands)

Gajdusek, M.; Overboom, T.T.; Damen, A.A.H.; Bosch, van den P.P.J.

2009-01-01

In this paper several wireless solution are compared for their suitability for real-time control of a fast motion system. From the comparison, Very Fast Infrared (VFIR) communication link has been found to be an attractive solution for presented wirelessly controlled manipulator. Because standard

Reduction of vortex induced forces and motion through surface roughness control

Science.gov (United States)

Bernitsas, Michael M; Raghavan, Kamaldev

2014-04-01

Roughness is added to the surface of a bluff body in a relative motion with respect to a fluid. The amount, size, and distribution of roughness on the body surface is controlled passively or actively to modify the flow around the body and subsequently the Vortex Induced Forces and Motion (VIFM). The added roughness, when designed and implemented appropriately, affects in a predetermined way the boundary layer, the separation of the boundary layer, the level of turbulence, the wake, the drag and lift forces, and consequently the Vortex Induced Motion (VIM), and the fluid-structure interaction. The goal of surface roughness control is to decrease/suppress Vortex Induced Forces and Motion. Suppression is required when fluid-structure interaction becomes destructive as in VIM of flexible cylinders or rigid cylinders on elastic support, such as underwater pipelines, marine risers, tubes in heat exchangers, nuclear fuel rods, cooling towers, SPAR offshore platforms.

Determine Earthquake Rupture Directivity Using Taiwan TSMIP Strong Motion Waveforms

Science.gov (United States)

Chang, Kaiwen; Chi, Wu-Cheng; Lai, Ying-Ju; Gung, YuanCheng

2013-04-01

Inverting seismic waveforms for the finite fault source parameters is important for studying the physics of earthquake rupture processes. It is also significant to image seismogenic structures in urban areas. Here we analyze the finite-source process and test for the causative fault plane using the accelerograms recorded by the Taiwan Strong-Motion Instrumentation Program (TSMIP) stations. The point source parameters for the mainshock and aftershocks were first obtained by complete waveform moment tensor inversions. We then use the seismograms generated by the aftershocks as empirical Green's functions (EGFs) to retrieve the apparent source time functions (ASTFs) of near-field stations using projected Landweber deconvolution approach. The method for identifying the fault plane relies on the spatial patterns of the apparent source time function durations which depend on the angle between rupture direction and the take-off angle and azimuth of the ray. These derived duration patterns then are compared with the theoretical patterns, which are functions of the following parameters, including focal depth, epicentral distance, average crustal 1D velocity, fault plane attitude, and rupture direction on the fault plane. As a result, the ASTFs derived from EGFs can be used to infer the ruptured fault plane and the rupture direction. Finally we used part of the catalogs to study important seismogenic structures in the area near Chiayi, Taiwan, where a damaging earthquake has occurred about a century ago. The preliminary results show a strike-slip earthquake on 22 October 1999 (Mw 5.6) has ruptured unilaterally toward SSW on a sub-vertical fault. The procedure developed from this study can be applied to other strong motion waveforms recorded from other earthquakes to better understand their kinematic source parameters.

Motion control of the Twente humanoid head

NARCIS (Netherlands)

Visser, L.C.; Carloni, Raffaella; Stramigioli, Stefano

2009-01-01

In this work, we present the design and the realization of the motion control algorithm implemented in the Twente hu- manoid head, a seven degrees of freedom (dof) robotic sys- tem. The aim of the project is to have a humanoid head that can serve as a research platform for human-machine interac-

Direct reconstruction of parametric images for brain PET with event-by-event motion correction: evaluation in two tracers across count levels

Science.gov (United States)

Germino, Mary; Gallezot, Jean-Dominque; Yan, Jianhua; Carson, Richard E.

2017-07-01

Parametric images for dynamic positron emission tomography (PET) are typically generated by an indirect method, i.e. reconstructing a time series of emission images, then fitting a kinetic model to each voxel time activity curve. Alternatively, ‘direct reconstruction’, incorporates the kinetic model into the reconstruction algorithm itself, directly producing parametric images from projection data. Direct reconstruction has been shown to achieve parametric images with lower standard error than the indirect method. Here, we present direct reconstruction for brain PET using event-by-event motion correction of list-mode data, applied to two tracers. Event-by-event motion correction was implemented for direct reconstruction in the Parametric Motion-compensation OSEM List-mode Algorithm for Resolution-recovery reconstruction. The direct implementation was tested on simulated and human datasets with tracers [11C]AFM (serotonin transporter) and [11C]UCB-J (synaptic density), which follow the 1-tissue compartment model. Rigid head motion was tracked with the Vicra system. Parametric images of K 1 and distribution volume (V T  =  K 1/k 2) were compared to those generated by the indirect method by regional coefficient of variation (CoV). Performance across count levels was assessed using sub-sampled datasets. For simulated and real datasets at high counts, the two methods estimated K 1 and V T with comparable accuracy. At lower count levels, the direct method was substantially more robust to outliers than the indirect method. Compared to the indirect method, direct reconstruction reduced regional K 1 CoV by 35-48% (simulated dataset), 39-43% ([11C]AFM dataset) and 30-36% ([11C]UCB-J dataset) across count levels (averaged over regions at matched iteration); V T CoV was reduced by 51-58%, 54-60% and 30-46%, respectively. Motion correction played an important role in the dataset with larger motion: correction increased regional V T by 51% on average in the [11C

MotionFlow: Visual Abstraction and Aggregation of Sequential Patterns in Human Motion Tracking Data.

Science.gov (United States)

Jang, Sujin; Elmqvist, Niklas; Ramani, Karthik

2016-01-01

Pattern analysis of human motions, which is useful in many research areas, requires understanding and comparison of different styles of motion patterns. However, working with human motion tracking data to support such analysis poses great challenges. In this paper, we propose MotionFlow, a visual analytics system that provides an effective overview of various motion patterns based on an interactive flow visualization. This visualization formulates a motion sequence as transitions between static poses, and aggregates these sequences into a tree diagram to construct a set of motion patterns. The system also allows the users to directly reflect the context of data and their perception of pose similarities in generating representative pose states. We provide local and global controls over the partition-based clustering process. To support the users in organizing unstructured motion data into pattern groups, we designed a set of interactions that enables searching for similar motion sequences from the data, detailed exploration of data subsets, and creating and modifying the group of motion patterns. To evaluate the usability of MotionFlow, we conducted a user study with six researchers with expertise in gesture-based interaction design. They used MotionFlow to explore and organize unstructured motion tracking data. Results show that the researchers were able to easily learn how to use MotionFlow, and the system effectively supported their pattern analysis activities, including leveraging their perception and domain knowledge.

Motion control system of MAX IV Laboratory soft x-ray beamlines

International Nuclear Information System (INIS)

Sjöblom, Peter; Lindberg, Mirjam; Forsberg, Johan; Persson, Andreas G.; Urpelainen, Samuli; Såthe, Conny

2016-01-01

At the MAX IV Laboratory, five new soft x-ray beamlines are under development. The first is Species and it will be used to develop and set the standard of the control system, which will be common across the facility. All motion axes at MAX IV will be motorized using stepper motors steered by the IcePAP motion controller and a mixture of absolute and incremental encoders following a predefined coordinate system. The control system software is built in Tango and uses the Python-based Sardana framework. The user controls the entire beamline through a synoptic overview and Sardana is used to run the scans.

Motion control system of MAX IV Laboratory soft x-ray beamlines

Energy Technology Data Exchange (ETDEWEB)

Sjöblom, Peter, E-mail: peter.sjoblom@maxlab.lu.se; Lindberg, Mirjam, E-mail: mirjam.lindberg@maxlab.lu.se; Forsberg, Johan, E-mail: johan.forsberg@maxlab.lu.se; Persson, Andreas G., E-mail: andreas-g.persson@maxlab.lu.se; Urpelainen, Samuli, E-mail: samuli.urpelainen@maxlab.lu.se; Såthe, Conny, E-mail: conny.sathe@maxlab.lu.se [MAX IV Laboratory, Photongatan 2, 225 92 Lund (Sweden)

2016-07-27

At the MAX IV Laboratory, five new soft x-ray beamlines are under development. The first is Species and it will be used to develop and set the standard of the control system, which will be common across the facility. All motion axes at MAX IV will be motorized using stepper motors steered by the IcePAP motion controller and a mixture of absolute and incremental encoders following a predefined coordinate system. The control system software is built in Tango and uses the Python-based Sardana framework. The user controls the entire beamline through a synoptic overview and Sardana is used to run the scans.

Modification of hemiplegic compensatory gait pattern by symmetry-based motion controller of HAL.

Science.gov (United States)

Kawamoto, Hiroaki; Kadone, Hideki; Sakurai, Takeru; Sankai, Yoshiyuki

2015-01-01

As one of several characteristics of hemiplegic patients after stroke, compensatory gait caused by affected limb is often seen. The purpose of this research is to apply a symmetry-based controller of a wearable type lower limb robot, Hybrid Assistive Limb (HAL) to hemiplegic patients with compensatory gait, and to investigate improvement of gait symmetry. The controller is designed respectively for swing phase and support phase according to characteristics of hemiplegic gait pattern. The controller during swing phase stores the motion of the unaffected limb and then provides motion support on the affected limb during the subsequent swing using the stored pattern to realize symmetric gait based on spontaneous limb swing. Moreover, the controller during support phase provides motion to extend hip and knee joints to support wearer's body. Clinical tests were conducted in order to assess the modification of gait symmetry. Our case study involved participation of one chronic stroke patient who performs abnormally-compensatory gait for both of the affected and unaffected limbs. As a result, the patient's gait symmetry was improved by providing motion support during the swing phase on the affected side and motion constraint during the support phase on the unaffected side. The study showed promising basis for the effectiveness of the controller for the future clinical study.

PID motion control tuning rules in a damping injection framework

NARCIS (Netherlands)

Tadele, T.S.; de Vries, Theodorus J.A.; Stramigioli, Stefano

2013-01-01

This paper presents a general design approach for a performance based tuning of a damping injection framework impedance controller by using insights from PID motion control tuning rules. The damping injection framework impedance controller is suitable for human friendly robots as it enhances safety

SU-E-J-115: Correlation of Displacement Vector Fields Calculated by Deformable Image Registration Algorithms with Motion Parameters of CT Images with Well-Defined Targets and Controlled-Motion

Energy Technology Data Exchange (ETDEWEB)

Jaskowiak, J; Ahmad, S; Ali, I [University of Oklahoma Health Sciences Center, Oklahoma City, OK (United States); Alsbou, N [Ohio Northern University, Ada, OH (United States)

2015-06-15

Purpose: To investigate correlation of displacement vector fields (DVF) calculated by deformable image registration algorithms with motion parameters in helical axial and cone-beam CT images with motion artifacts. Methods: A mobile thorax phantom with well-known targets with different sizes that were made from water-equivalent material and inserted in foam to simulate lung lesions. The thorax phantom was imaged with helical, axial and cone-beam CT. The phantom was moved with a cyclic motion with different motion amplitudes and frequencies along the superior-inferior direction. Different deformable image registration algorithms including demons, fast demons, Horn-Shunck and iterative-optical-flow from the DIRART software were used to deform CT images for the phantom with different motion patterns. The CT images of the mobile phantom were deformed to CT images of the stationary phantom. Results: The values of displacement vectors calculated by deformable image registration algorithm correlated strongly with motion amplitude where large displacement vectors were calculated for CT images with large motion amplitudes. For example, the maximal displacement vectors were nearly equal to the motion amplitudes (5mm, 10mm or 20mm) at interfaces between the mobile targets lung tissue, while the minimal displacement vectors were nearly equal to negative the motion amplitudes. The maximal and minimal displacement vectors matched with edges of the blurred targets along the Z-axis (motion-direction), while DVF’s were small in the other directions. This indicates that the blurred edges by phantom motion were shifted largely to match with the actual target edge. These shifts were nearly equal to the motion amplitude. Conclusions: The DVF from deformable-image registration algorithms correlated well with motion amplitude of well-defined mobile targets. This can be used to extract motion parameters such as amplitude. However, as motion amplitudes increased, image artifacts increased

Direct and indirect measures of speech articulator motions using low power EM sensors

International Nuclear Information System (INIS)

Barnes, T; Burnett, G; Gable, T; Holzrichter, J F; Ng, L

1999-01-01

Low power Electromagnetic (EM) Wave sensors can measure general properties of human speech articulator motions, as speech is produced. See Holzrichter, Burnett, Ng, and Lea, J.Acoust.Soc.Am. 103 (1) 622 (1998). Experiments have demonstrated extremely accurate pitch measurements ( and lt; 1 Hz per pitch cycle) and accurate onset of voiced speech. Recent measurements of pressure-induced tracheal motions enable very good spectra and amplitude estimates of a voiced excitation function. The use of the measured excitation functions and pitch synchronous processing enable the determination of each pitch cycle of an accurate transfer function and, indirectly, of the corresponding articulator motions. In addition, direct measurements have been made of EM wave reflections from articulator interfaces, including jaw, tongue, and palate, simultaneously with acoustic and glottal open/close signals. While several types of EM sensors are suitable for speech articulator measurements, the homodyne sensor has been found to provide good spatial and temporal resolution for several applications

Development of an FPGA-Based Motion Control IC for Caving Machine

Directory of Open Access Journals (Sweden)

Chiu-Keng Lai

2014-03-01

Full Text Available Since the Field Programmable Gate Arrays (FPGAs with high density are available nowadays, systems with complex functions can thus be realized by FPGA in a single chip while they are traditionally implemented by several individual chips. In this research, the control of stepping motor drives as well as motion controller is integrated and implemented on Altera Cyclone III FPGA; the resulting system is evaluated by applying it to a 3-axis caving machine which is driven by stepping motors. Finally, the experimental results of current regulation and motion control integrated in FPGA IC are shown to prove the validness.

Pengenalan Isyarat Tangan Menggunakan Leap Motion Controller untuk Pertunjukan Boneka Tangan Virtual

Directory of Open Access Journals (Sweden)

Iskandar Dzulkarnain

2017-01-01

Full Text Available Leap Motion Controller memiliki keterbatasan dalam menangkap gerak isyarat tangan. Keterbatasan tersebut menyebabkan gerakan tangan model boneka virtual tidak seakurat gerakan tangan pelakon. Selain itu, konfigurasi bone model dimensi tiga untuk Leap Motion Controller berbeda dengan konfigurasi bone dimensi tiga pada umumnya. Oleh karena itu, dilakukan pengenalan isyarat tangan menggunakan Leap Motion Controller untuk pertunjukan boneka tangan virtual. Pengenalan isyarat tangan tersebut dilakukan dengan memetakan hasil penjejakan tangan dari Leap Motion Controller ke dalam model prefab tangan Leap SDK. Setelah berhasil dipetakan, konfigurasi bone dari model prefab tangan Leap SDK diadaptasi ke dalam model boneka tangan virtual. Adaptasi tersebut dilakukan dengan mengatur posisi dan orientasi bone pada model dimensi tiga boneka tangan. Setelah posisi dan orientasi bone yang sesuai ditemukan, model dimensi tiga boneka tangan diuji menirukan gerakan boneka tangan asli. Pengujian boneka tangan virtual pada sembarang orang dilakukan untuk mengetahui tingkat kesinkronan gerak mulut atas dan mulut bawah boneka tangan virtual. Dari pengujian sembarang orang, didapatkan hasil 50% setuju dan 5,6% sangat setuju gerak mulut atas sinkron dengan gerak tangan. Sedangkan untuk gerak mulut bawah sinkron dengan gerak tangan didapatkan 16,7% setuju dan 11,1% sangat setuju.

Energy efficient motion control of the electric bus on route

Science.gov (United States)

Kotiev, G. O.; Butarovich, D. O.; Kositsyn, B. B.

2018-02-01

At present, the urgent problem is the reduction of energy costs of urban motor transport. The article proposes a method of solving this problem by developing an energy-efficient law governing the movement of an electric bus along a city route. To solve this problem, an algorithm is developed based on the dynamic programming method. The proposed method allows you to take into account the constraints imposed on the phase coordinates, control action, as well as on the time of the route. In the course of solving the problem, the model of rectilinear motion of an electric bus on a horizontal reference surface is considered, taking into account the assumptions that allow it to be adapted for the implementation of the method. For the formation of a control action in the equations of motion dynamics, an algorithm for changing the traction / braking torque on the wheels of an electric bus is considered, depending on the magnitude of the control parameter and the speed of motion. An optimal phase trajectory was obtained on a selected section of the road for the prototype of an electric bus. The article presents the comparison of simulation results obtained with the optimal energy efficient control law with the results obtained by a test driver. The comparison proved feasibility of the energy efficient control law for the automobile city electric transport.

INTERACTIVE MOTION PLATFORMS AND VIRTUAL REALITY FOR VEHICLE SIMULATORS

Directory of Open Access Journals (Sweden)

Evžen Thöndel

2017-12-01

Full Text Available Interactive motion platforms are intended for vehicle simulators, where the direct interaction of the human body is used for controlling the simulated vehicle (e.g. bicycle, motorbike or other sports vehicles. The second use of interactive motion platforms is for entertainment purposes or fitness. The development of interactive motion platforms reacts to recent calls in the simulation industry to provide a device, which further enhances the virtual reality experience, especially with connection to the new and very fast growing business in virtual reality glasses. The paper looks at the design and control of an interactive motion platform with two degrees of freedom to be used in virtual reality applications. The paper provides the description of the control methods and new problems related to the virtual reality sickness are discussed here.

A novel directional asymmetric sampling search algorithm for fast block-matching motion estimation

Science.gov (United States)

Li, Yue-e.; Wang, Qiang

2011-11-01

This paper proposes a novel directional asymmetric sampling search (DASS) algorithm for video compression. Making full use of the error information (block distortions) of the search patterns, eight different direction search patterns are designed for various situations. The strategy of local sampling search is employed for the search of big-motion vector. In order to further speed up the search, early termination strategy is adopted in procedure of DASS. Compared to conventional fast algorithms, the proposed method has the most satisfactory PSNR values for all test sequences.

Direct numerical simulation of turbulent channel flow with spanwise alternatively distributed strips control

Science.gov (United States)

Ni, Weidan; Lu, Lipeng; Fang, Jian; Moulinec, Charles; Yao, Yufeng

2018-05-01

The effect of spanwise alternatively distributed strips (SADS) control on turbulent flow in a plane channel has been studied by direct numerical simulations to investigate the characteristics of large-scale streamwise vortices (LSSVs) induced by small-scale active wall actuation, and their potential in suppressing flow separation. SADS control is realized by alternatively arranging out-of-phase control (OPC) and in-phase control (IPC) wall actuations on the lower channel wall surface, in the spanwise direction. It is found that the coherent structures are suppressed or enhanced alternatively by OPC or IPC, respectively, leading to the formation of a vertical shear layer, which is responsible for the LSSVs’ presence. Large-scale low-speed region can also be observed above the OPC strips, which resemble large-scale low-speed streaks. LSSVs are found to be in a statistically-converged steady state and their cores are located between two neighboring OPC and IPC strips. Their motions contribute significantly to the momentum transport in the wall-normal and spanwise directions, demonstrating their potential ability to suppress flow separation.

Self-motion perception: assessment by real-time computer-generated animations

Science.gov (United States)

Parker, D. E.; Phillips, J. O.

2001-01-01

We report a new procedure for assessing complex self-motion perception. In three experiments, subjects manipulated a 6 degree-of-freedom magnetic-field tracker which controlled the motion of a virtual avatar so that its motion corresponded to the subjects' perceived self-motion. The real-time animation created by this procedure was stored using a virtual video recorder for subsequent analysis. Combined real and illusory self-motion and vestibulo-ocular reflex eye movements were evoked by cross-coupled angular accelerations produced by roll and pitch head movements during passive yaw rotation in a chair. Contrary to previous reports, illusory self-motion did not correspond to expectations based on semicircular canal stimulation. Illusory pitch head-motion directions were as predicted for only 37% of trials; whereas, slow-phase eye movements were in the predicted direction for 98% of the trials. The real-time computer-generated animations procedure permits use of naive, untrained subjects who lack a vocabulary for reporting motion perception and is applicable to basic self-motion perception studies, evaluation of motion simulators, assessment of balance disorders and so on.

Stepping-Motion Motor-Control Subsystem For Testing Bearings

Science.gov (United States)

Powers, Charles E.

1992-01-01

Control subsystem closed-loop angular-position-control system causing motor and bearing under test to undergo any of variety of continuous or stepping motions. Also used to test bearing-and-motor assemblies, motors, angular-position sensors including rotating shafts, and like. Monitoring subsystem gathers data used to evaluate performance of bearing or other article under test. Monitoring subsystem described in article, "Monitoring Subsystem For Testing Bearings" (GSC-13432).

IT-tool Concept for Design and Intelligent Motion Control

DEFF Research Database (Denmark)

Conrad, Finn; Hansen, Poul Erik; Sørensen, Torben

2000-01-01

The paper presents results obtained from a Danish mechatronic research program focusing on intelligent motion control as well as results from the Esprit project SWING on IT-tools for rapid prototyping of fluid power components and systems. A mechatronic test facility with digital controllers for ....... Furthermore, a developed IT-tool concept for controller and system design utilising the ISO 10303 STEP Standard is proposed....

Differences in kinematic control of ankle joint motions in people with chronic ankle instability.

Science.gov (United States)

Kipp, Kristof; Palmieri-Smith, Riann M

2013-06-01

People with chronic ankle instability display different ankle joint motions compared to healthy people. The purpose of this study was to investigate the strategies used to control ankle joint motions between a group of people with chronic ankle instability and a group of healthy, matched controls. Kinematic data were collected from 11 people with chronic ankle instability and 11 matched control subjects as they performed a single-leg land-and-cut maneuver. Three-dimensional ankle joint angles were calculated from 100 ms before, to 200 ms after landing. Kinematic control of the three rotational ankle joint degrees of freedom was investigated by simultaneously examining the three-dimensional co-variation of plantarflexion/dorsiflexion, toe-in/toe-out rotation, and inversion/eversion motions with principal component analysis. Group differences in the variance proportions of the first two principal components indicated that the angular co-variation between ankle joint motions was more linear in the control group, but more planar in the chronic ankle instability group. Frontal and transverse plane motions, in particular, contributed to the group differences in the linearity and planarity of angular co-variation. People with chronic ankle instability use a different kinematic control strategy to coordinate ankle joint motions during a single-leg landing task. Compared to the healthy group, the chronic ankle instability group's control strategy appeared to be more complex and involved joint-specific contributions that would tend to predispose this group to recurring episodes of instability. Copyright © 2013 Elsevier Ltd. All rights reserved.

Analysis of motion of the three wheeled mobile platform

Directory of Open Access Journals (Sweden)

Jaskot Anna

2018-01-01

Full Text Available The work is dedicated to the designing motion of the three wheeled mobile platform under the unsteady conditions. In this paper the results of the analysis based on the dynamics model of the three wheeled mobile robot, with two rear wheels and one front wheel has been included The prototype has been developed by the author's construction assumptions that is useful to realize the motion of the platform in a various configurations of wheel drives, including control of the active forces and the direction of their settings while driving. Friction forces, in longitudinal and in the transverse directions, are considered in the proposed model. Relation between friction and active forces are also included. The motion parameters of the mobile platform has been determined by adopting classical approach of mechanics. The formulated initial problem of platform motion has been solved numerically using the Runge-Kutta method of the fourth order. Results of motion analysis with motion parameters values are determined and sample results are presented.

Impaired working memory for visual motion direction in schizophrenia: Absence of recency effects and association with psychopathology.

Science.gov (United States)

Stäblein, Michael; Sieprath, Lore; Knöchel, Christian; Landertinger, Axel; Schmied, Claudia; Ghinea, Denisa; Mayer, Jutta S; Bittner, Robert A; Reif, Andreas; Oertel-Knöchel, Viola

2016-09-01

Working memory (WM) impairments are a prominent neurocognitive symptom in schizophrenia (SZ) and include deficits in memory for serial order and abnormalities in serial position effects (i.e., primacy and recency effects). Former studies predominantly focused on investigating these deficits applying verbal or static visual stimuli, but little is known about WM processes that involve dynamic visual movements. We examined WM for visual motion directions, its susceptibility to distraction and the effect of serial positioning. Twenty-three patients with paranoid SZ and 23 healthy control subjects (HC) took part in the study. We conducted an adapted Sternberg-type recognition paradigm: three random dot kinematograms (RDKs) that depicted coherent visual motion were used as stimuli and a distractor stimulus was incorporated into the task. SZ patients performed significantly worse in the WM visual motion task, when a distractor stimulus was presented. While HC showed a recency effect for later RDKs, the effect was absent in SZ patients. WM deficits were associated with more severe psychopathological symptoms, poor visual and verbal learning, and a longer duration of illness. Furthermore, SZ patients showed impairments in several other neurocognitive domains. Findings suggest that early WM processing of visual motion is susceptible to interruption and that WM impairments are associated with clinical symptoms in SZ. The absence of a recency effect is discussed in respect of 3 theoretical approaches-impaired WM for serial order information, abnormalities in early visual representations (i.e., masking effects), and deficits in later visual processing (i.e., attentional blink effect). (PsycINFO Database Record (c) 2016 APA, all rights reserved).

Using Unconstrained Tongue Motion as an Alternative Control Mechanism for Wheeled Mobility

OpenAIRE

Huo, Xueliang; Ghovanloo, Maysam

2009-01-01

Tongue drive system (TDS) is a tongue-operated, minimally invasive, unobtrusive, noncontact, and wireless assistive technology that infers users’ intentions by detecting and classifying their voluntary tongue motions, and translating them to user-defined commands. We have developed customized interface circuitry between an external TDS (eTDS) prototype and a commercial powered wheelchair (PWC) as well as three control strategies to evaluate the tongue motion as an alternative control input fo...

STcontrol and NEWPORT Motion Controller Model ESP 301 Device

CERN Document Server

Kapanadze, Giorgi

2015-01-01

Pixel detectors are used to detect particle tracks in LHC experiments. This kind of detectors are built with silicon semiconductor diodes. Ionizing particles create charge in the diode and the reverse bias voltage creates electric field in the diode which causes effective charge collection by the drift of electrons [1]. One of the main parameter of tracker detectors is efficiency. The efficiency as a function of position in the pixel matrix can be evaluated by scanning the matrix with red and infrared lasers. It is important to know what is happening between pixels in terms of efficiency. We perform these measurements to test new type of pixel detectors for the LHC future upgrade in 2023. New type of detectors are needed because the radiation level will be much higher [2]. For the measurements we need to control a stage motion controller (NEWPORT Motion Controller Model ESP 301) with the existing software STcontrol, which is used for readout data from pixel detectors and to control other devices like the lase...

A single theoretical framework for circular features processing in humans: orientation and direction of motion compared

Directory of Open Access Journals (Sweden)

Tzvetomir eTzvetanov

2012-05-01

Full Text Available Common computational principles underly processing of various visual features in the cortex. They are considered to create similar patterns of contextual modulations in behavioral studies for different features as orientation and direction of motion. Here, I studied the possibility that a single theoretical framework, implemented in different visual areas, of circular feature coding and processing could explain these similarities in observations. Stimuli were created that allowed direct comparison of the contextual effects on orientation and motion direction with two different psychophysical probes: changes in weak and strong signal perception. One unique simplified theoretical model of circular feature coding including only inhibitory interactions, and decoding through standard vector average, successfully predicted the similarities in the two domains, while different feature population characteristics explained well the differences in modulation on both experimental probes. These results demonstrate how a single computational principle underlies processing of various features across the cortices.

Research and development of a control system for multi axis cooperative motion based on PMAC

Science.gov (United States)

Guo, Xiao-xiao; Dong, Deng-feng; Zhou, Wei-hu

2017-10-01

Based on Programmable Multi-axes Controller (PMAC), a design of a multi axis motion control system for the simulator of spatial targets' dynamic optical properties is proposed. According to analysis the properties of spatial targets' simulator motion control system, using IPC as the main control layer, TurboPMAC2 as the control layer to meet coordinated motion control, data acquisition and analog output. A simulator using 5 servomotors which is connected with speed reducers to drive the output axis was implemented to simulate the motion of both the sun and the space target. Based on PMAC using PID and a notch filter algorithm, negative feedback, the speed and acceleration feed forward algorithm to satisfy the axis' requirements of the good stability and high precision at low speeds. In the actual system, it shows that the velocity precision is higher than 0.04 s ° and the precision of repetitive positioning is better than 0.006° when each axis is at a low-speed. Besides, the system achieves the control function of multi axis coordinated motion. The design provides an important technical support for detecting spatial targets, also promoting the theoretical research.

Single molecules of the bacterial actin MreB undergo directed treadmilling motion in Caulobacter crescentus.

Science.gov (United States)

Kim, So Yeon; Gitai, Zemer; Kinkhabwala, Anika; Shapiro, Lucy; Moerner, W E

2006-07-18

The actin cytoskeleton represents a key regulator of multiple essential cellular functions in both eukaryotes and prokaryotes. In eukaryotes, these functions depend on the orchestrated dynamics of actin filament assembly and disassembly. However, the dynamics of the bacterial actin homolog MreB have yet to be examined in vivo. In this study, we observed the motion of single fluorescent MreB-yellow fluorescent protein fusions in living Caulobacter cells in a background of unlabeled MreB. With time-lapse imaging, polymerized MreB [filamentous MreB (fMreB)] and unpolymerized MreB [globular MreB (gMreB)] monomers could be distinguished: gMreB showed fast motion that was characteristic of Brownian diffusion, whereas the labeled molecules in fMreB displayed slow, directed motion. This directional movement of labeled MreB in the growing polymer provides an indication that, like actin, MreB monomers treadmill through MreB filaments by preferential polymerization at one filament end and depolymerization at the other filament end. From these data, we extract several characteristics of single MreB filaments, including that they are, on average, much shorter than the cell length and that the direction of their polarized assembly seems to be independent of the overall cellular polarity. Thus, MreB, like actin, exhibits treadmilling behavior in vivo, and the long MreB structures that have been visualized in multiple bacterial species seem to represent bundles of short filaments that lack a uniform global polarity.

Efficient direct yaw moment control: tyre slip power loss minimisation for four-independent wheel drive vehicle

Science.gov (United States)

Kobayashi, Takao; Katsuyama, Etsuo; Sugiura, Hideki; Ono, Eiichi; Yamamoto, Masaki

2018-05-01

This paper proposes an efficient direct yaw moment control (DYC) capable of minimising tyre slip power loss on contact patches for a four-independent wheel drive vehicle. Simulations identified a significant power loss reduction with a direct yaw moment due to a change in steer characteristics during acceleration or deceleration while turning. Simultaneously, the vehicle motion can be stabilised. As a result, the proposed control method can ensure compatibility between vehicle dynamics performance and energy efficiency. This paper also describes the results of a full-vehicle simulation that was conducted to examine the effectiveness of the proposed DYC.

The Application of Euler-Lagrange Method of Optimization for Electromechanical Motion Control

Directory of Open Access Journals (Sweden)

Cristian VASILACHE

2000-12-01

Full Text Available Industrial and non-industrial processes such as production plans, robots, pumps, compressors, home applications, transportation of people and goods etc., require some kinds of motion control. The main functions of electromechanical drives are to adjust these processes by controlling the torque, speed or position. The objective of this paper is to perform the control of motion while minimizing power losses, that is ∫Ri2dt, in process conversion of electrical energy to mechanical energy. The optimal control laws for our problem is find using the Euler - Lagrange principle. We consider three types of controlled drives: torque, speed and position. Each of them has different control laws. By implementation of these controls with Borland C++ and Matlab environment, substantial energy savings are obtained.

Direct adaptive control of a PUMA 560 industrial robot

Science.gov (United States)

Seraji, Homayoun; Lee, Thomas; Delpech, Michel

1989-01-01

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Open loop thanks to direct torque control (DTC). Motor control without feedback loop; Open loop dank direkter Drehmomentregelung (DTC). Hochwertige Motorregelung ohne Rueckfuehrung

Energy Technology Data Exchange (ETDEWEB)

Link, Michael [ABB Automation Products GmbH, Ladenburg (Germany)

2009-07-01

Servo drives are used in various applications. The range of applications is huge and thus also requirements to the drive system. Mainly, a fast torque and speed control is required. This is the domaine of direct torque control (DTC). In many applications DTC can meet this challenge to control the motor with full torque at zero speed. The servo converter based on DTC technology provides a control concept for synchronous and asynchronous motors for both closed loop and open loop control. DTC controlled drives support the whole range from open loop up to high performance motion control applications. (orig.)

WE-G-18C-06: Is Diaphragm Motion a Good Surrogate for Liver Tumor Motion?

Energy Technology Data Exchange (ETDEWEB)

Yang, J [Department of Radiation Oncology, Duke University Medical Center, Durham, NC (United States); School of Information Science and Engineering, Shandong University, Jinan, Shandong (China); Cai, J; Zheng, C; Czito, B; Palta, M; Yin, F [Department of Radiation Oncology, Duke University Medical Center, Durham, NC (United States); Wang, H [School of Information Science and Engineering, Shandong University, Jinan, Shandong (China); Bashir, M [Department of Radiology, Duke University Medical Center, Durham, NC (United States)

2014-06-15

Purpose: To investigate whether diaphragm motion is a good surrogate for liver tumor motion by comparing their motion trajectories obtained from cine-MRI. Methods: Fourteen patients with hepatocellular carcinoma (10/14) or liver metastases (4/14) undergoing radiation therapy were included in this study. All patients underwent single-slice 2D cine-MRI simulations across the center of the tumor in three orthogonal planes. Tumor and diaphragm motion trajectories in the superior-inferior (SI), anteriorposterior (AP), and medial-lateral (ML) directions were obtained using the normalized cross-correlation based tracking technique. Agreement between tumor and diaphragm motions was assessed by calculating the phase difference percentage (PDP), intra-class correlation coefficient (ICC), Bland-Altman analysis (Diffs) and paired t-test. The distance (D) between tumor and tracked diaphragm area was analyzed to understand its impact on the correlation between tumor and diaphragm motions. Results: Of all patients, the means (±standard deviations) of PDP were 7.1 (±1.1)%, 4.5 (±0.5)% and 17.5 (±4.5)% in the SI, AP and ML directions, respectively. The means of ICC were 0.98 (±0.02), 0.97 (±0.02), and 0.08 (±0.06) in the SI, AP and ML directions, respectively. The Diffs were 2.8 (±1.4) mm, 2.4 (±1.1) mm, and 2.2 (±0.5) mm in the SI, AP and ML directions, respectively. The p-values derived from the paired t-test were < 0.02 in SI and AP directions, whereas were > 0.58 in ML direction primarily due to the small motion in ML direction. Tumor and diaphragmatic motion had high concordance when the distance between the tumor and tracked diaphragm areas was small. Conclusion: Preliminary results showed that liver tumor motion had good correlations with diaphragm motion in the SI and AP directions, indicating diaphragm motion in the SI and AP directions could potentially be a reliable surrogate for liver tumor motion. NIH (1R21CA165384-01A1), Golfers Against Cancer (GAC

Analysis of macroscopic and microscopic rotating motions in rotating jets: A direct numerical simulation

Directory of Open Access Journals (Sweden)

Xingtuan Yang

2015-05-01

Full Text Available A direct numerical simulation study of the characteristics of macroscopic and microscopic rotating motions in swirling jets confined in a rectangular flow domain is carried out. The different structures of vortex cores for different swirl levels are illustrated. It is found that the vortex cores of low swirl flows are of regular cylindrical-helix patterns, whereas those of the high swirl flows are characterized by the formation of the bubble-type vortex breakdown followed by the radiant processing vortex cores. The results of mean velocity fields show the general procedures of vortex origination. Moreover, the effects of macroscopic and microscopic rotating motions with respect to the mean and fluctuation fields of the swirling flows are evaluated. The microscopic rotating effects, especially the effects with respect to the turbulent fluctuation motion, are increasingly intermittent with the increase in the swirl levels. In contrast, the maximum value of the probability density functions with respect to the macroscopic rotating effects of the fluctuation motion occurs at moderate swirl levels since the macroscopic rotating effects are attenuated by the formation of the bubble vortex breakdown with a region of stagnant fluids at supercritical swirl levels.

Manipulation and controlled amplification of Brownian motion of microcantilever sensors

International Nuclear Information System (INIS)

Mehta, Adosh; Cherian, Suman; Hedden, David; Thundat, Thomas

2001-01-01

Microcantilevers, such as those used in atomic force microscopy, undergo Brownian motion due to mechanical thermal noise. The root mean square amplitude of the Brownian motion of a cantilever typically ranges from 0.01--0.1 nm, which limits its use in practical applications. Here we describe a technique by which the Brownian amplitude and the Q factor in air and water can be amplified by three and two orders of magnitude, respectively. This technique is similar to a positive feedback oscillator, wherein the Brownian motion of the vibrating cantilever controls the frequency output of the oscillator. This technique can be exploited to improve sensitivity of microcantilever-based chemical and biological sensors, especially for sensors in liquid environments

Complex motion of a vehicle through a series of signals controlled by power-law phase

Science.gov (United States)

Nagatani, Takashi

2017-07-01

We study the dynamic motion of a vehicle moving through the series of traffic signals controlled by the position-dependent phase of power law. All signals are controlled by both cycle time and position-dependent phase. The dynamic model of the vehicular motion is described in terms of the nonlinear map. The vehicular motion varies in a complex manner by varying cycle time for various values of the power of the position-dependent phase. The vehicle displays the periodic motion with a long cycle for the integer power of the phase, while the vehicular motion exhibits the very complex behavior for the non-integer power of the phase.

Autogenic-Feedback Training for the Control of Space Motion Sickness

Science.gov (United States)

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

1994-01-01

This paper presents case-studies of 9 shuttle crewmembers (prime and alternates) and one U.S. Navy F-18 pilot, as they participated in all preflight training and testing activities in support of a life sciences flight experiment aboard Spacelab-J, and Spacelab-3. The primary objective of the flight experiment was to determine if Autogenic-feedback training (AFT), a physiological self-regulation training technique would be an effective treatment for motion sickness and space motion sickness in these crewmembers. Additional objectives of this study involved the examining human physiological responses to motion sickness on Earth and in space, as well as developing predictive criteria for susceptibility to space motion sickness based on ground-based data. Comparisons of these crewmembers are made to a larger set of subjects from previous experiments (treatment and "test-only" controls subjects). This paper describes all preflight methods, results and proposed changes for future tests.

Prospective motion correction with volumetric navigators (vNavs) reduces the bias and variance in brain morphometry induced by subject motion.

Science.gov (United States)

Tisdall, M Dylan; Reuter, Martin; Qureshi, Abid; Buckner, Randy L; Fischl, Bruce; van der Kouwe, André J W

2016-02-15

Recent work has demonstrated that subject motion produces systematic biases in the metrics computed by widely used morphometry software packages, even when the motion is too small to produce noticeable image artifacts. In the common situation where the control population exhibits different behaviors in the scanner when compared to the experimental population, these systematic measurement biases may produce significant confounds for between-group analyses, leading to erroneous conclusions about group differences. While previous work has shown that prospective motion correction can improve perceived image quality, here we demonstrate that, in healthy subjects performing a variety of directed motions, the use of the volumetric navigator (vNav) prospective motion correction system significantly reduces the motion-induced bias and variance in morphometry. Copyright © 2015 Elsevier Inc. All rights reserved.

Integrals of Motion for Discrete-Time Optimal Control Problems

OpenAIRE

Torres, Delfim F. M.

2003-01-01

We obtain a discrete time analog of E. Noether's theorem in Optimal Control, asserting that integrals of motion associated to the discrete time Pontryagin Maximum Principle can be computed from the quasi-invariance properties of the discrete time Lagrangian and discrete time control system. As corollaries, results for first-order and higher-order discrete problems of the calculus of variations are obtained.

Evaluation of the leap motion controller as a new contact-free pointing device.

Science.gov (United States)

Bachmann, Daniel; Weichert, Frank; Rinkenauer, Gerhard

2014-12-24

This paper presents a Fitts' law-based analysis of the user's performance in selection tasks with the Leap Motion Controller compared with a standard mouse device. The Leap Motion Controller (LMC) is a new contact-free input system for gesture-based human-computer interaction with declared sub-millimeter accuracy. Up to this point, there has hardly been any systematic evaluation of this new system available. With an error rate of 7.8% for the LMC and 2.8% for the mouse device, movement times twice as large as for a mouse device and high overall effort ratings, the Leap Motion Controller's performance as an input device for everyday generic computer pointing tasks is rather limited, at least with regard to the selection recognition provided by the LMC.

Vision based motion control for a humanoid head

NARCIS (Netherlands)

Visser, L.C.; Carloni, Raffaella; Stramigioli, Stefano

2009-01-01

This paper describes the design of a motion control algorithm for a humanoid robotic head, which consists of a neck with four degrees of freedom and two eyes (a stereo pair system) that tilt on a common axis and rotate sideways freely. The kinematic and dynamic properties of the head are analyzed

Structural motion engineering

CERN Document Server

Connor, Jerome

2014-01-01

This innovative volume provides a systematic treatment of the basic concepts and computational procedures for structural motion design and engineering for civil installations. The authors illustrate the application of motion control to a wide spectrum of buildings through many examples. Topics covered include optimal stiffness distributions for building-type structures, the role of damping in controlling motion, tuned mass dampers, base isolation systems, linear control, and nonlinear control. The book's primary objective is the satisfaction of motion-related design requirements, such as restrictions on displacement and acceleration. The book is ideal for practicing engineers and graduate students. This book also: ·         Broadens practitioners' understanding of structural motion control, the enabling technology for motion-based design ·         Provides readers the tools to satisfy requirements of modern, ultra-high strength materials that lack corresponding stiffness, where the motion re...

Passive motion paradigm: an alternative to optimal control.

Science.gov (United States)

Mohan, Vishwanathan; Morasso, Pietro

2011-01-01

IN THE LAST YEARS, OPTIMAL CONTROL THEORY (OCT) HAS EMERGED AS THE LEADING APPROACH FOR INVESTIGATING NEURAL CONTROL OF MOVEMENT AND MOTOR COGNITION FOR TWO COMPLEMENTARY RESEARCH LINES: behavioral neuroscience and humanoid robotics. In both cases, there are general problems that need to be addressed, such as the "degrees of freedom (DoFs) problem," the common core of production, observation, reasoning, and learning of "actions." OCT, directly derived from engineering design techniques of control systems quantifies task goals as "cost functions" and uses the sophisticated formal tools of optimal control to obtain desired behavior (and predictions). We propose an alternative "softer" approach passive motion paradigm (PMP) that we believe is closer to the biomechanics and cybernetics of action. The basic idea is that actions (overt as well as covert) are the consequences of an internal simulation process that "animates" the body schema with the attractor dynamics of force fields induced by the goal and task-specific constraints. This internal simulation offers the brain a way to dynamically link motor redundancy with task-oriented constraints "at runtime," hence solving the "DoFs problem" without explicit kinematic inversion and cost function computation. We argue that the function of such computational machinery is not only restricted to shaping motor output during action execution but also to provide the self with information on the feasibility, consequence, understanding and meaning of "potential actions." In this sense, taking into account recent developments in neuroscience (motor imagery, simulation theory of covert actions, mirror neuron system) and in embodied robotics, PMP offers a novel framework for understanding motor cognition that goes beyond the engineering control paradigm provided by OCT. Therefore, the paper is at the same time a review of the PMP rationale, as a computational theory, and a perspective presentation of how to develop it for designing

Passive Motion Paradigm: an alternative to Optimal Control

Directory of Open Access Journals (Sweden)

Vishwanathan eMohan

2011-12-01

Full Text Available In the last years, optimal control theory (OCT has emerged as the leading approach for investigating neural control of movement and motor cognition for two complementary research lines: behavioural neuroscience and humanoid robotics. In both cases, there are general problems that need to be addressed, such as the ‘degrees of freedom problem’, the common core of production, observation, reasoning, and learning of ‘actions’. OCT, directly derived from engineering design techniques of control systems quantifies task goals as ‘cost functions’ and uses the sophisticated formal tools of optimal control to obtain desired behaviour (and predictions. We propose an alternative ‘softer’ approach (PMP: Passive Motion Paradigm that we believe is closer to the biomechanics and cybernetics of action. The basic idea is that actions (overt and overt are the consequences of an internal simulation process that ‘animates’ the body schema with the attractor dynamics of force fields induced by the goal and task specific constraints. This internal simulation offers the brain a way to dynamically link motor redundancy with task oriented constraints ‘at runtime’, hence solving the ‘degrees of freedom problem’ without explicit kinematic inversion and cost function computation. We argue that the function of such computational machinery is not only to shape motor output during action execution but also to provide the self with information on the feasibility, consequence, understanding and meaning of ‘potential actions’. In this sense, taking into account recent developments in neuroscience (motor imagery, simulation theory, mirror neurons and in embodied robotics, PMP offers a novel framework for understanding motor cognition that goes beyond the engineering control paradigm provided by OCT. Therefore, the paper is at the same time a review of the PMP rationale, as a computational theory, and a perspective presentation of how to develop it

Direct aperture optimization of breast IMRT and the dosimetric impact of respiration motion

International Nuclear Information System (INIS)

Zhang Guowei; Jiang Ziping; Shepard, David; Zhang Bin; Yu, Cedric

2006-01-01

We have studied the application of direct aperture optimization (DAO) as an inverse planning tool for breast IMRT. Additionally, we have analysed the impact of respiratory motion on the quality of the delivered dose distribution. From this analysis, we have developed guidelines for balancing the desire for a high-quality optimized plan with the need to create a plan that will not degrade significantly in the presence of respiratory motion. For a DAO optimized breast IMRT plan, the tangential fields incorporate a flash field to cover the range of respiratory motion. The inverse planning algorithm then optimizes the shapes and weights of additional segments that are delivered in combination with the open fields. IMRT plans were generated using DAO with the relative weights of the open segments varied from 0% to 95%. To assess the impact of breathing motion, the dose distribution for the optimized IMRT plan was recalculated with the isocentre sampled from a predefined distribution in a Monte Carlo convolution/superposition dose engine with the breast simulated as a rigid object. The motion amplitudes applied in this study ranged from 0.5 to 2.0 cm. For a range of weighting levels assigned to the open field, comparisons were made between the static plans and the plans recalculated with motion. For the static plans, we found that uniform dose distributions could be generated with relative weights for the open segments equal to and below 80% and unacceptable levels of underdosage were observed with the weights larger than 80%. When simulated breathing motion was incorporated into the dose calculation, we observed a loss in dose uniformity as the weight of the open field was decreased to below 65%. More quantitatively, for each 1% decrease in the weight, the per cent volume of the target covered by at least 95% of the prescribed dose decreased by approximately 0.10% and 0.16% for motion amplitudes equal to 1.5 cm and 2.0 cm, respectively. When taking into account the

Deficient motion-defined and texture-defined figure-ground segregation in amblyopic children.

Science.gov (United States)

Wang, Jane; Ho, Cindy S; Giaschi, Deborah E

2007-01-01

Motion-defined form deficits in the fellow eye and the amblyopic eye of children with amblyopia implicate possible direction-selective motion processing or static figure-ground segregation deficits. Deficient motion-defined form perception in the fellow eye of amblyopic children may not be fully accounted for by a general motion processing deficit. This study investigates the contribution of figure-ground segregation deficits to the motion-defined form perception deficits in amblyopia. Performances of 6 amblyopic children (5 anisometropic, 1 anisostrabismic) and 32 control children with normal vision were assessed on motion-defined form, texture-defined form, and global motion tasks. Performance on motion-defined and texture-defined form tasks was significantly worse in amblyopic children than in control children. Performance on global motion tasks was not significantly different between the 2 groups. Faulty figure-ground segregation mechanisms are likely responsible for the observed motion-defined form perception deficits in amblyopia.

Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

Directory of Open Access Journals (Sweden)

Eduardo Izaguirre

2011-09-01

Full Text Available This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experiment's results demonstrate the great performance of the proposed control scheme in industrial motion tracking application.

Modification of Motion Perception and Manual Control Following Short-Durations Spaceflight

Science.gov (United States)

Wood, S. J.; Vanya, R. D.; Esteves, J. T.; Rupert, A. H.; Clement, G.

2011-01-01

Adaptive changes during space flight in how the brain integrates vestibular cues with other sensory information can lead to impaired movement coordination and spatial disorientation following G-transitions. This ESA-NASA study was designed to examine both the physiological basis and operational implications for disorientation and tilt-translation disturbances following short-duration spaceflights. The goals of this study were to (1) examine the effects of stimulus frequency on adaptive changes in motion perception during passive tilt and translation motion, (2) quantify decrements in manual control of tilt motion, and (3) evaluate vibrotactile feedback as a sensorimotor countermeasure.

Autogenic Feedback Training Exercise: Controlling Physiological Responses to Mitigate Motion Sickness

Science.gov (United States)

Walton, Nia; Spencer, Telissa; Cowings, Patricia; Toscano, William B.

2018-01-01

During space travel approximately 50 of the crew experience symptoms of motion sickness that can range from mild forms of nausea or dizziness to severe malaise and vomiting1. Developing an effective treatment for these symptoms has become a priority of the National Aeronautics and Space Administration (NASA). Autogenic-Feedback Training Exercise (AFTE) is a nonpharmacological countermeasure for mitigating motion sickness. It involves training subjects to control physiological responses in high stress environments2. The primary goal of this experiment is to evaluate the effectiveness of AFTE for increasing tolerance to motion sickness in high stress environments.

Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

Science.gov (United States)

Wood, S. J.; Rupert, A. H.; Vanya, R. D.; Esteves, J. T.; Clement, G.

2011-01-01

We hypothesize that adaptive changes in how inertial cues from the vestibular system are integrated with other sensory information leads to perceptual disturbances and impaired manual control following transitions between gravity environments. The primary goals of this ongoing post-flight investigation are to quantify decrements in manual control of tilt motion following short-duration spaceflight and to evaluate vibrotactile feedback of tilt as a sensorimotor countermeasure. METHODS. Data is currently being collected on 9 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s, body axis, thereby eliciting canal reflexes without concordant otolith or visual cues. A simple 4 tactor system was implemented to provide feedback when tilt position exceeded predetermined levels in either device. Closed-loop nulling tasks are performed during random tilt steps or sum-of-sines (TTS only) with and without vibrotactile feedback of chair position. RESULTS. On landing day the manual control performance without vibrotactile feedback was reduced by >30% based on the gain or the amount of tilt disturbance successfully nulled. Manual control performance tended to return to baseline levels within 1-2 days following landing. Root-mean-square position error and tilt velocity were significantly reduced with vibrotactile feedback. CONCLUSIONS. These preliminary results are consistent with our hypothesis that adaptive changes in vestibular processing corresponds to reduced manual control performance following G-transitions. A simple vibrotactile prosthesis improves the ability to null out tilt motion within a limited range of motion disturbances.

Dynamics and control of Lorentz-augmented spacecraft relative motion

CERN Document Server

Yan, Ye; Yang, Yueneng

2017-01-01

This book develops a dynamical model of the orbital motion of Lorentz spacecraft in both unperturbed and J2-perturbed environments. It explicitly discusses three kinds of typical space missions involving relative orbital control: spacecraft hovering, rendezvous, and formation flying. Subsequently, it puts forward designs for both open-loop and closed-loop control schemes propelled or augmented by the geomagnetic Lorentz force. These control schemes are entirely novel and represent a significantly departure from previous approaches.

Pros and cons of rotating ground motion records to fault-normal/parallel directions for response history analysis of buildings

Science.gov (United States)

Kalkan, Erol; Kwong, Neal S.

2014-01-01

According to the regulatory building codes in the United States (e.g., 2010 California Building Code), at least two horizontal ground motion components are required for three-dimensional (3D) response history analysis (RHA) of building structures. For sites within 5 km of an active fault, these records should be rotated to fault-normal/fault-parallel (FN/FP) directions, and two RHAs should be performed separately (when FN and then FP are aligned with the transverse direction of the structural axes). It is assumed that this approach will lead to two sets of responses that envelope the range of possible responses over all nonredundant rotation angles. This assumption is examined here, for the first time, using a 3D computer model of a six-story reinforced-concrete instrumented building subjected to an ensemble of bidirectional near-fault ground motions. Peak values of engineering demand parameters (EDPs) were computed for rotation angles ranging from 0 through 180° to quantify the difference between peak values of EDPs over all rotation angles and those due to FN/FP direction rotated motions. It is demonstrated that rotating ground motions to FN/FP directions (1) does not always lead to the maximum responses over all angles, (2) does not always envelope the range of possible responses, and (3) does not provide maximum responses for all EDPs simultaneously even if it provides a maximum response for a specific EDP.

Design of a linear-motion dual-stage actuation system for precision control

International Nuclear Information System (INIS)

Dong, W; Tang, J; ElDeeb, Y

2009-01-01

Actuators with high linear-motion speed, high positioning resolution and a long motion stroke are needed in many precision machining systems. In some current systems, voice coil motors (VCMs) are implemented for servo control. While the voice coil motors may provide the long motion stroke needed in many applications, the main obstacle that hinders the improvement of the machining accuracy and efficiency is their limited bandwidth. To fundamentally solve this issue, we propose to develop a dual-stage actuation system that consists of a voice coil motor that covers the coarse motion, and a piezoelectric stack actuator that induces the fine motion, thus enhancing the positioning accuracy. The focus of this present research is the mechatronics design and synthesis of the new actuation system. In particular, a flexure hinge based mechanism is developed to provide a motion guide and preload to the piezoelectric stack actuator that is serially connected to the voice coil motor. This mechanism is built upon parallel plane flexure hinges. A series of numerical and experimental studies are carried out to facilitate the system design and the model identification. The effectiveness of the proposed system is demonstrated through open-loop studies and preliminary closed-loop control practice. While the primary goal of this particular design is aimed at enhancing optical lens machining, the concept and approach outlined are generic and can be extended to a variety of applications

Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

Directory of Open Access Journals (Sweden)

Xingjian Wang

2017-10-01

Full Text Available Moving towards the more electric aircraft (MEA, a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA into primary flight control. In the hybrid actuation system (HAS, an electro-hydraulic servo actuator (EHSA and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA.

Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

Science.gov (United States)

Liao, Rui; Shi, Cun; Wang, Shaoping

2017-01-01

Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA. PMID:29068392

Repetitive motion planning and control of redundant robot manipulators

CERN Document Server

Zhang, Yunong

2013-01-01

Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

Optimal control of a programmed motion of a rigid spacecraft using redundant kinematics parameterizations

International Nuclear Information System (INIS)

El-Gohary, Awad

2005-01-01

This paper considers the problem of optimal controlling of a programmed motion of a rigid spacecraft. Given a cost of the spacecraft as a quadratic function of state and control variables we seek for optimal control laws as functions of the state variables and the angle of programmed rotation that minimize this cost and asymptotically stabilize the required programmed motion. The stabilizing properties of the proposed controllers are proved using the optimal Liapunov techniques. Numerical simulation study is presented

Perceptual learning of motion direction discrimination with suppressed and unsuppressed MT in humans: an fMRI study.

Directory of Open Access Journals (Sweden)

Benjamin Thompson

Full Text Available The middle temporal area of the extrastriate visual cortex (area MT is integral to motion perception and is thought to play a key role in the perceptual learning of motion tasks. We have previously found, however, that perceptual learning of a motion discrimination task is possible even when the training stimulus contains locally balanced, motion opponent signals that putatively suppress the response of MT. Assuming at least partial suppression of MT, possible explanations for this learning are that 1 training made MT more responsive by reducing motion opponency, 2 MT remained suppressed and alternative visual areas such as V1 enabled learning and/or 3 suppression of MT increased with training, possibly to reduce noise. Here we used fMRI to test these possibilities. We first confirmed that the motion opponent stimulus did indeed suppress the BOLD response within hMT+ compared to an almost identical stimulus without locally balanced motion signals. We then trained participants on motion opponent or non-opponent stimuli. Training with the motion opponent stimulus reduced the BOLD response within hMT+ and greater reductions in BOLD response were correlated with greater amounts of learning. The opposite relationship between BOLD and behaviour was found at V1 for the group trained on the motion-opponent stimulus and at both V1 and hMT+ for the group trained on the non-opponent motion stimulus. As the average response of many cells within MT to motion opponent stimuli is the same as their response to non-directional flickering noise, the reduced activation of hMT+ after training may reflect noise reduction.

Shoulder Dynamic Control Ratio and Rotation Range of Motion in Female Junior Elite Handball Players and Controls.

Science.gov (United States)

van Cingel, Robert; Habets, Bas; Willemsen, Linn; Staal, Bart

2018-03-01

To compare glenohumeral range of motion and shoulder rotator muscle strength in healthy female junior elite handball players and controls. Cross-sectional case-control study. Sports medical center. Forty elite female handball players and 30 controls active in nonoverhead sports participated in this study. Passive external rotator (ER), internal rotator (IR), and total range of motion (TROM) of the dominant and nondominant arm were examined with a goniometer. An isokinetic dynamometer was used to evaluate concentric and eccentric rotator muscle strength at 60 and 120 degrees/s with dynamic control ratio (DCR = ERecc:IRcon) as the main outcome parameter. Except for the ER range of motion in the nondominant arm, no significant differences were found between groups for IR, ER of the dominant arm, and the TROM. Within the handball group, the side-to-side difference for IR of the dominant arm was -1.4 degrees. The ER and the TROM of the dominant arm were significantly larger, 6.3 and 4.9 degrees, respectively. For both groups, the DCR values were above 1 and no significant differences were found between the dominant and nondominant arm. The DCR values in the handball group were significantly lower than in the control group. Based on the adopted definitions for muscle imbalance, glenohumeral internal range of motion deficit and TROM deficit our elite female handball players seem not at risk for shoulder injuries. Prospective studies are needed to support the belief that a DCR below 1 places the shoulder at risk for injury.

Three-directional motion compensation-based novel-look-up-table for video hologram generation of three-dimensional objects freely maneuvering in space.

Science.gov (United States)

Dong, Xiao-Bin; Kim, Seung-Cheol; Kim, Eun-Soo

2014-07-14

A new three-directional motion compensation-based novel-look-up-table (3DMC-NLUT) based on its shift-invariance and thin-lens properties, is proposed for video hologram generation of three-dimensional (3-D) objects moving with large depth variations in space. The input 3-D video frames are grouped into a set of eight in sequence, where the first and remaining seven frames in each set become the reference frame (RF) and general frames (GFs), respectively. Hence, each 3-D video frame is segmented into a set of depth-sliced object images (DOIs). Then x, y, and z-directional motion vectors are estimated from blocks and DOIs between the RF and each of the GFs, respectively. With these motion vectors, object motions in space are compensated. Then, only the difference images between the 3-directionally motion-compensated RF and each of the GFs are applied to the NLUT for hologram calculation. Experimental results reveal that the average number of calculated object points and the average calculation time of the proposed method have been reduced compared to those of the conventional NLUT, TR-NLUT and MPEG-NLUT by 38.14%, 69.48%, and 67.41% and 35.30%, 66.39%, and 64.46%, respectively.

Control of humanoid robot motions with impacts : numerical experiments with reference spreading control

NARCIS (Netherlands)

Rijnen, M.W.L.M.; De Mooij, E.B.C.; Traversaro, S.; Nori, F.; Van De Wouw, N.; Saccon, A.; Nijmeijer, H.

2017-01-01

This work explores the stabilization of desired dynamic motion tasks involving hard impacts at non-negligible speed for humanoid robots. To this end, a so-called reference spreading hybrid control law is designed showing promising results in simulation. The simulations are performed employing a

Three axis electronic flight motion simulator real time control system design and implementation.

Science.gov (United States)

Gao, Zhiyuan; Miao, Zhonghua; Wang, Xuyong; Wang, Xiaohua

2014-12-01

A three axis electronic flight motion simulator is reported in this paper including the modelling, the controller design as well as the hardware implementation. This flight motion simulator could be used for inertial navigation test and high precision inertial navigation system with good dynamic and static performances. A real time control system is designed, several control system implementation problems were solved including time unification with parallel port interrupt, high speed finding-zero method of rotary inductosyn, zero-crossing management with continuous rotary, etc. Tests were carried out to show the effectiveness of the proposed real time control system.

Three axis electronic flight motion simulator real time control system design and implementation

Energy Technology Data Exchange (ETDEWEB)

Gao, Zhiyuan; Miao, Zhonghua, E-mail: zhonghua-miao@163.com; Wang, Xiaohua [School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200072 (China); Wang, Xuyong [School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)

2014-12-15

A three axis electronic flight motion simulator is reported in this paper including the modelling, the controller design as well as the hardware implementation. This flight motion simulator could be used for inertial navigation test and high precision inertial navigation system with good dynamic and static performances. A real time control system is designed, several control system implementation problems were solved including time unification with parallel port interrupt, high speed finding-zero method of rotary inductosyn, zero-crossing management with continuous rotary, etc. Tests were carried out to show the effectiveness of the proposed real time control system.

Feedback attitude sliding mode regulation control of spacecraft using arm motion

Science.gov (United States)

Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

2013-09-01

The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

A Randomized Controlled Trial of Lorazepam to Reduce Liver Motion in Patients Receiving Upper Abdominal Radiation Therapy

Energy Technology Data Exchange (ETDEWEB)

Tsang, Derek S.; Voncken, Francine E.M.; Tse, Regina V. [Princess Margaret Cancer Centre, University Health Network, Department of Radiation Oncology, University of Toronto, Toronto (Canada); Sykes, Jenna [Department of Biostatistics, Princess Margaret Cancer Centre, University Health Network, Toronto (Canada); Wong, Rebecca K.S.; Dinniwell, Rob E.; Kim, John; Ringash, Jolie; Brierley, James D.; Cummings, Bernard J.; Brade, Anthony [Princess Margaret Cancer Centre, University Health Network, Department of Radiation Oncology, University of Toronto, Toronto (Canada); Dawson, Laura A., E-mail: laura.dawson@rmp.uhn.on.ca [Princess Margaret Cancer Centre, University Health Network, Department of Radiation Oncology, University of Toronto, Toronto (Canada)

2013-12-01

Purpose: Reduction of respiratory motion is desirable to reduce the volume of normal tissues irradiated, to improve concordance of planned and delivered doses, and to improve image guided radiation therapy (IGRT). We hypothesized that pretreatment lorazepam would lead to a measurable reduction of liver motion. Methods and Materials: Thirty-three patients receiving upper abdominal IGRT were recruited to a double-blinded randomized controlled crossover trial. Patients were randomized to 1 of 2 study arms: arm 1 received lorazepam 2 mg by mouth on day 1, followed by placebo 4 to 8 days later; arm 2 received placebo on day 1, followed by lorazepam 4 to 8 days later. After tablet ingestion and daily radiation therapy, amplitude of liver motion was measured on both study days. The primary outcomes were reduction in craniocaudal (CC) liver motion using 4-dimensional kV cone beam computed tomography (CBCT) and the proportion of patients with liver motion ≤5 mm. Secondary endpoints included motion measured with cine magnetic resonance imaging and kV fluoroscopy. Results: Mean relative and absolute reduction in CC amplitude with lorazepam was 21% and 2.5 mm respectively (95% confidence interval [CI] 1.1-3.9, P=.001), as assessed with CBCT. Reduction in CC amplitude to ≤5 mm residual liver motion was seen in 13% (95% CI 1%-25%) of patients receiving lorazepam (vs 10% receiving placebo, P=NS); 65% (95% CI 48%-81%) had reduction in residual CC liver motion to ≤10 mm (vs 52% with placebo, P=NS). Patients with large respiratory movement and patients who took lorazepam ≥60 minutes before imaging had greater reductions in liver CC motion. Mean reductions in liver CC amplitude on magnetic resonance imaging and fluoroscopy were nonsignificant. Conclusions: Lorazepam reduces liver motion in the CC direction; however, average magnitude of reduction is small, and most patients have residual motion >5 mm.

Asynchronous machines. Direct torque control; Machines asynchrones. Commande par controle direct de couple

Energy Technology Data Exchange (ETDEWEB)

Fornel, B. de [Institut National Polytechnique, 31 - Toulouse (France)

2006-05-15

The asynchronous machine, with its low cost and robustness, is today the most widely used motor to make speed variators. However, its main drawback is that the same current generates both the magnetic flux and the torque, and thus any torque variation creates a flux variation. Such a coupling gives to the asynchronous machine a nonlinear behaviour which makes its control much more complex. The direct self control (DSC) method has been developed to improve the low efficiency of the scalar control method and for the specific railway drive application. The direct torque control (DTC) method is derived from the DSC method but corresponds to other type of applications. The DSC and DTC algorithms for asynchronous motors are presented in this article: 1 - direct control of the stator flux (DSC): principle, flux control, torque control, switching frequency of the inverter, speed estimation; 2 - direct torque control (DTC): principle, electromagnetic torque derivative, signals shape and switching frequency, some results, DTC speed variator without speed sensor, DTC application to multi-machine multi-converter systems; 3 - conclusion. (J.S.)

3D Ground-Motion Simulations for Magnitude 9 Earthquakes on the Cascadia Megathrust: Sedimentary Basin Amplification, Rupture Directivity, and Ground-Motion Variability

Science.gov (United States)

Frankel, A. D.; Wirth, E. A.; Marafi, N.; Vidale, J. E.; Stephenson, W. J.

2017-12-01

We have produced broadband (0-10 Hz) synthetic seismograms for Mw 9 earthquakes on the Cascadia subduction zone by combining synthetics from 3D finite-difference simulations at low frequencies (≤ 1 Hz) and stochastic synthetics at high frequencies (≥ 1 Hz). These synthetic ground motions are being used to evaluate building response, liquefaction, and landslides, as part of the M9 Project of the University of Washington, in collaboration with the U.S. Geological Survey. The kinematic rupture model is composed of high stress drop sub-events with Mw 8, similar to those observed in the Mw 9.0 Tohoku, Japan and Mw 8.8 Maule, Chile earthquakes, superimposed on large background slip with lower slip velocities. The 3D velocity model is based on active and passive-source seismic tomography studies, seismic refraction and reflection surveys, and geologic constraints. The Seattle basin portion of the model has been validated by simulating ground motions from local earthquakes. We have completed 50 3D simulations of Mw 9 earthquakes using a variety of hypocenters, slip distributions, sub-event locations, down-dip limits of rupture, and other parameters. For sites not in deep sedimentary basins, the response spectra of the synthetics for 0.1-6.0 s are similar, on average, to the values from the BC Hydro ground motion prediction equations (GMPE). For periods of 7-10 s, the synthetic response spectra exceed these GMPE, partially due to the shallow dip of the plate interface. We find large amplification factors of 2-5 for response spectra at periods of 1-10 s for locations in the Seattle and Tacoma basins, relative to sites outside the basins. This amplification depends on the direction of incoming waves and rupture directivity. The basin amplification is caused by surface waves generated at basin edges from incoming S-waves, as well as amplification and focusing of S-waves and surface waves by the 3D basin structure. The inter-event standard deviation of response spectral

Effects of visual motion consistent or inconsistent with gravity on postural sway.

Science.gov (United States)

Balestrucci, Priscilla; Daprati, Elena; Lacquaniti, Francesco; Maffei, Vincenzo

2017-07-01

Vision plays an important role in postural control, and visual perception of the gravity-defined vertical helps maintaining upright stance. In addition, the influence of the gravity field on objects' motion is known to provide a reference for motor and non-motor behavior. However, the role of dynamic visual cues related to gravity in the control of postural balance has been little investigated. In order to understand whether visual cues about gravitational acceleration are relevant for postural control, we assessed the relation between postural sway and visual motion congruent or incongruent with gravity acceleration. Postural sway of 44 healthy volunteers was recorded by means of force platforms while they watched virtual targets moving in different directions and with different accelerations. Small but significant differences emerged in sway parameters with respect to the characteristics of target motion. Namely, for vertically accelerated targets, gravitational motion (GM) was associated with smaller oscillations of the center of pressure than anti-GM. The present findings support the hypothesis that not only static, but also dynamic visual cues about direction and magnitude of the gravitational field are relevant for balance control during upright stance.

Proportional lumbar spine inter-vertebral motion patterns: a comparison of patients with chronic, non-specific low back pain and healthy controls.

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Mellor, Fiona E; Thomas, Peter W; Thompson, Paul; Breen, Alan C

2014-10-01

Identifying biomechanical subgroups in chronic, non-specific low back pain (CNSLBP) populations from inter-vertebral displacements has proven elusive. Quantitative fluoroscopy (QF) has excellent repeatability and provides continuous standardised inter-vertebral kinematic data from fluoroscopic sequences allowing assessment of mid-range motion. The aim of this study was to determine whether proportional continuous IV rotational patterns were different in patients and controls. A secondary aim was to update the repeatability of QF measurement of range of motion (RoM) for inter-vertebral (IV) rotation. Fluoroscopic sequences were recorded of passive, recumbent coronal and sagittal motion, which was controlled for range and velocity. Segments L2-5 in 40 primary care CNSLBP patients and 40 matched controls were compared. Patients also completed the von Korff Chronic Pain Grade and Roland and Morris Disability Questionnaire. Sequences were processed using automated image tracking algorithms to extract continuous inter-vertebral rotation data. These were converted to continuous proportional ranges of rotation (PR). The continuous proportional range variances were calculated for each direction and combined to produce a single variable representing their fluctuation (CPRV). Inter- and intra-rater repeatability were also calculated for the maximum IV-RoM measurements obtained during controlled trunk motion to provide an updated indication of the reliability and agreement of QF for measuring spine kinematics. CPRV was significantly higher in patients (0.011 vs. 0.008, Mann-Whitney two-sided p = 0.008), implying a mechanical subgroup. Receiver operating characteristic curve analysis found its sensitivity and specificity to be 0.78 % (60-90) and 0.55 % (37-73), respectively (area under the curve 0.672). CPRV was not correlated with pain severity or disability. The repeatability of maximum inter-vertebral range was excellent, but range was only significantly greater in patients

Experimental investigation of a moving averaging algorithm for motion perpendicular to the leaf travel direction in dynamic MLC target tracking

Energy Technology Data Exchange (ETDEWEB)

Yoon, Jai-Woong; Sawant, Amit; Suh, Yelin; Cho, Byung-Chul; Suh, Tae-Suk; Keall, Paul [Department of Biomedical Engineering, College of Medicine, Catholic University of Korea, Seoul, Korea 131-700 and Research Institute of Biomedical Engineering, Catholic University of Korea, Seoul, 131-700 (Korea, Republic of); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States) and Department of Radiation Oncology, Asan Medical Center, Seoul, 138-736 (Korea, Republic of); Department of Biomedical Engineering, College of Medicine, Catholic University of Korea, Seoul, 131-700 and Research Institute of Biomedical Engineering, Catholic University of Korea, Seoul, 131-700 (Korea, Republic of); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States) and Radiation Physics Laboratory, Sydney Medical School, University of Sydney, 2006 (Australia)

2011-07-15

Purpose: In dynamic multileaf collimator (MLC) motion tracking with complex intensity-modulated radiation therapy (IMRT) fields, target motion perpendicular to the MLC leaf travel direction can cause beam holds, which increase beam delivery time by up to a factor of 4. As a means to balance delivery efficiency and accuracy, a moving average algorithm was incorporated into a dynamic MLC motion tracking system (i.e., moving average tracking) to account for target motion perpendicular to the MLC leaf travel direction. The experimental investigation of the moving average algorithm compared with real-time tracking and no compensation beam delivery is described. Methods: The properties of the moving average algorithm were measured and compared with those of real-time tracking (dynamic MLC motion tracking accounting for both target motion parallel and perpendicular to the leaf travel direction) and no compensation beam delivery. The algorithm was investigated using a synthetic motion trace with a baseline drift and four patient-measured 3D tumor motion traces representing regular and irregular motions with varying baseline drifts. Each motion trace was reproduced by a moving platform. The delivery efficiency, geometric accuracy, and dosimetric accuracy were evaluated for conformal, step-and-shoot IMRT, and dynamic sliding window IMRT treatment plans using the synthetic and patient motion traces. The dosimetric accuracy was quantified via a {gamma}-test with a 3%/3 mm criterion. Results: The delivery efficiency ranged from 89 to 100% for moving average tracking, 26%-100% for real-time tracking, and 100% (by definition) for no compensation. The root-mean-square geometric error ranged from 3.2 to 4.0 mm for moving average tracking, 0.7-1.1 mm for real-time tracking, and 3.7-7.2 mm for no compensation. The percentage of dosimetric points failing the {gamma}-test ranged from 4 to 30% for moving average tracking, 0%-23% for real-time tracking, and 10%-47% for no compensation

Experimental investigation of a moving averaging algorithm for motion perpendicular to the leaf travel direction in dynamic MLC target tracking.

Science.gov (United States)

Yoon, Jai-Woong; Sawant, Amit; Suh, Yelin; Cho, Byung-Chul; Suh, Tae-Suk; Keall, Paul

2011-07-01

In dynamic multileaf collimator (MLC) motion tracking with complex intensity-modulated radiation therapy (IMRT) fields, target motion perpendicular to the MLC leaf travel direction can cause beam holds, which increase beam delivery time by up to a factor of 4. As a means to balance delivery efficiency and accuracy, a moving average algorithm was incorporated into a dynamic MLC motion tracking system (i.e., moving average tracking) to account for target motion perpendicular to the MLC leaf travel direction. The experimental investigation of the moving average algorithm compared with real-time tracking and no compensation beam delivery is described. The properties of the moving average algorithm were measured and compared with those of real-time tracking (dynamic MLC motion tracking accounting for both target motion parallel and perpendicular to the leaf travel direction) and no compensation beam delivery. The algorithm was investigated using a synthetic motion trace with a baseline drift and four patient-measured 3D tumor motion traces representing regular and irregular motions with varying baseline drifts. Each motion trace was reproduced by a moving platform. The delivery efficiency, geometric accuracy, and dosimetric accuracy were evaluated for conformal, step-and-shoot IMRT, and dynamic sliding window IMRT treatment plans using the synthetic and patient motion traces. The dosimetric accuracy was quantified via a tgamma-test with a 3%/3 mm criterion. The delivery efficiency ranged from 89 to 100% for moving average tracking, 26%-100% for real-time tracking, and 100% (by definition) for no compensation. The root-mean-square geometric error ranged from 3.2 to 4.0 mm for moving average tracking, 0.7-1.1 mm for real-time tracking, and 3.7-7.2 mm for no compensation. The percentage of dosimetric points failing the gamma-test ranged from 4 to 30% for moving average tracking, 0%-23% for real-time tracking, and 10%-47% for no compensation. The delivery efficiency of

Advanced motion control for next-generation precision mechatronics: Challenges for control, identification, and learning

NARCIS (Netherlands)

Oomen, Tom

2017-01-01

Manufacturing equipment and scientific instruments, including wafer scanners, printers, microscopes, and medical imaging scanners, require accurate and fast motions. Increasing requirements necessitate enhanced control performance. The aim of this paper is to identify several challenges for advanced

The impact of respiratory motion and active breathing control on the displacement of target area in patients with gastric cancer treated with post-operative radiotherapy

International Nuclear Information System (INIS)

Yu Xiaoli; Zhang Zhen; Gu Weilie; Hu Weigang; Zhu Ji; Cai Gang; Li Guichao; He Shaoqin

2010-01-01

Objective: To assess the impact of respiratory motion on the displacement of target area and to analyze the discrimination between free breathing and active breathing control (ABC) in patients with gastric cancer treated with post-operative radiotherapy. Methods: From January 2005 to November 2006, 22 patients with post-operatively confirmed gastric cancer were enrolled in this study. All diseases were T 3 / N +, staging II - IV. Patients were CT scanned and treated by radiation with the use of ABC. Image J software was used in image processing, motion measurement and data analysis. Surgical clips were implanted as fiducial marks in the tumor bed and lymphatic drainage area. The motion range of each clip was measured in the resultant-projection image. Motions of the clips in superior-inferior (S-I), right-left (R-L) and anterior-posterior (A-P) directions were determined from fluoroscopy movies obtained in the treatment position. Results: The motion ranges in S-I, R-L and A-P directions were 11.1 mam, 1.9 mm and 2.5 mm (F = 85.15, P = 0. 000) under free breathing, with 2.2 mm, 1.1 mm and 1.7 nun under ABC (F = 17.64, P = 0. 000), and the reduction of motion ranges was significant in both S-I and A-P directions (t = 4.36, P = 0. 000;t = 3.73,P = 0.000). When compared with under free-breathing, the motion ranges under ABC were kept unchanged in the same breathing phase of the same treatment fraction, while significant increased in different breathing phase in all three directions (t = - 4.36, P = 0. 000; t = - 3.52, P = 0.000; t =-3.79, P = 0. 000), with a numerical value of 3.7 mm, 1.6 mm and 2.8 mm, respectively (F = 19.46, P = 0. 000) . With ABC between different treatment fractions , the maximum displacements were 2.7 mm, 1.7 mm and 2.5 mm for the centre of the clip cluster (F =4.07,P =0. 019), and were 4.6 mm, 3.1 mm and 4.2 mm for the clips (F =5.17 ,P =0.007). The motion ranges were significant increased in all the three directions (t = - 4.09, P=0.000 ; t =-4

Two-pulse laser control of nuclear and electronic motion

DEFF Research Database (Denmark)

Grønager, Michael; Henriksen, Niels Engholm

1997-01-01

We discuss an explicitly time-dependent two-pulse laser scheme for controlling where nuclei and electrons are going in unimolecular reactions. We focus on electronic motion and show, with HD+ as an example, that one can find non-stationary states where the electron (with some probability...

Linear motion device and method for inserting and withdrawing control rods

International Nuclear Information System (INIS)

Smith, J. E.

1984-01-01

A linear motion device, more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core, is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism

A Pursuit Theory Account for the Perception of Common Motion in Motion Parallax.

Science.gov (United States)

Ratzlaff, Michael; Nawrot, Mark

2016-09-01

The visual system uses an extraretinal pursuit eye movement signal to disambiguate the perception of depth from motion parallax. Visual motion in the same direction as the pursuit is perceived nearer in depth while visual motion in the opposite direction as pursuit is perceived farther in depth. This explanation of depth sign applies to either an allocentric frame of reference centered on the fixation point or an egocentric frame of reference centered on the observer. A related problem is that of depth order when two stimuli have a common direction of motion. The first psychophysical study determined whether perception of egocentric depth order is adequately explained by a model employing an allocentric framework, especially when the motion parallax stimuli have common rather than divergent motion. A second study determined whether a reversal in perceived depth order, produced by a reduction in pursuit velocity, is also explained by this model employing this allocentric framework. The results show than an allocentric model can explain both the egocentric perception of depth order with common motion and the perceptual depth order reversal created by a reduction in pursuit velocity. We conclude that an egocentric model is not the only explanation for perceived depth order in these common motion conditions. © The Author(s) 2016.

Coordinated Control of Wave Energy Converters Subject to Motion Constraints

Directory of Open Access Journals (Sweden)

Liguo Wang

2016-06-01

Full Text Available In this paper, a generic coordinated control method for wave energy converters is proposed, and the constraints on motion amplitudes and the hydrodynamic interaction between converters are considered. The objective of the control problem is to maximize the energy converted from ocean waves, and this is achieved by coordinating the power take-off (PTO damping of each wave energy converter in the frequency domain in each sea state. In a case study, a wave energy farm consisting of four converters based on the concept developed by Uppsala University is studied. In the solution, motion constraints, including constraints on the amplitudes of displacement and velocity, are included. Twelve months of sea states, based on measured wave data at the Lysekil test site on the Swedish west coast, are used in the simulation to evaluate the performance of the wave energy farm using the new method. Results from the new coordinated control method and traditional control method are compared, indicating that the coordinated control of wave energy converters is an effective way to improve the energy production of wave energy farm in harmonic waves.

Directional topographic site response at Tarzana observed in aftershocks of the 1994 Northridge, California, earthquake: Implications for mainshock motions

Science.gov (United States)

Spudich, P.; Hellweg, M.; Lee, W.H.K.

1996-01-01

The Northridge earthquake caused 1.78 g acceleration in the east-west direction at a site in Tarzana, California, located about 6 km south of the mainshock epicenter. The accelerograph was located atop a hill about 15-m high, 500-m long, and 130-m wide, striking about N78??E. During the aftershock sequence, a temporary array of 21 three-component geophones was deployed in six radial lines centered on the accelerograph, with an average sensor spacing of 35 m. Station COO was located about 2 m from the accelerograph. We inverted aftershock spectra to obtain average relative site response at each station as a function of direction of ground motion. We identified a 3.2-Hz resonance that is a transverse oscillation of the hill (a directional topographic effect). The top/base amplification ratio at 3.2 Hz is about 4.5 for horizontal ground motions oriented approximately perpendicular to the long axis of the hill and about 2 for motions parallel to the hill. This resonance is seen most strongly within 50 m of COO. Other resonant frequencies were also observed. A strong lateral variation in attenuation, probably associated with a fault, caused substantially lower motion at frequencies above 6 Hz at the east end of the hill. There may be some additional scattered waves associated with the fault zone and seen at both the base and top of the hill, causing particle motions (not spectral ratios) at the top of the hill to be rotated about 20?? away from the direction transverse to the hill. The resonant frequency, but not the amplitude, of our observed topographic resonance agrees well with theory, even for such a low hill. Comparisons of our observations with theoretical results indicate that the 3D shape of the hill and its internal structure are important factors affecting its response. The strong transverse resonance of the hill does not account for the large east-west mainshock motions. Assuming linear soil response, mainshock east-west motions at the Tarzana accelerograph

Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

Science.gov (United States)

Xu, Bing; Cheng, Min

2018-06-01

This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

Modeling of the motion of automobile elastic wheel in real-time for creation of wheeled vehicles motion control electronic systems

Science.gov (United States)

Balakina, E. V.; Zotov, N. M.; Fedin, A. P.

2018-02-01

Modeling of the motion of the elastic wheel of the vehicle in real-time is used in the tasks of constructing different models in the creation of wheeled vehicles motion control electronic systems, in the creation of automobile stand-simulators etc. The accuracy and the reliability of simulation of the parameters of the wheel motion in real-time when rolling with a slip within the given road conditions are determined not only by the choice of the model, but also by the inaccuracy and instability of the numerical calculation. It is established that the inaccuracy and instability of the calculation depend on the size of the step of integration and the numerical method being used. The analysis of these inaccuracy and instability when wheel rolling with a slip was made and recommendations for reducing them were developed. It is established that the total allowable range of steps of integration is 0.001.0.005 s; the strongest instability is manifested in the calculation of the angular and linear accelerations of the wheel; the weakest instability is manifested in the calculation of the translational velocity of the wheel and moving of the center of the wheel; the instability is less at large values of slip angle and on more slippery surfaces. A new method of the average acceleration is suggested, which allows to significantly reduce (up to 100%) the manifesting of instability of the solution in the calculation of all parameters of motion of the elastic wheel for different braking conditions and for the entire range of steps of integration. The results of research can be applied to the selection of control algorithms in vehicles motion control electronic systems and in the testing stand-simulators

Contrast thresholds for component motion with full and poor attention.

Science.gov (United States)

Tsuchiya, Naotsugu; Braun, Jochen

2007-02-12

We compare luminance-contrast-masking thresholds for fully and poorly attended stimuli, controlling attention with a demanding concurrent task. We use dynamic displays composed of discrete spatiotemporal wavelets, comparing three conditions ("single," "parallel," and "random"). In contrast to static displays, we do not find that attention modulates the "dipper" regime for masks of low luminance contrast. Nor does attention alter direction-selective masking by multiple wavelets moving in random directions, a condition designed to isolate effects on component motion. However, direction-selective masking by multiple wavelets moving in parallel is significantly reduced by attention. As the latter condition is expected to excite both component and pattern motion mechanisms, this implies that attention may alter the visual representation of pattern motion. In addition, attention exhibits its well-known effect of reducing lateral masking between nearby spatiotemporal wavelets.

The influence of motion control shoes on the running gait of mature and young females.

Science.gov (United States)

Lilley, Kim; Stiles, Vicky; Dixon, Sharon

2013-03-01

This study compared the running gait of mature and young females, and investigated the effect of a motion control shoe. First, it was hypothesised that in a neutral shoe, mature females would display significantly greater rearfoot eversion, knee internal rotation and external adductor moments when compared to a younger group. Secondly, the motion control shoe would reduce rearfoot eversion and knee internal rotation in both groups. Thirdly it was hypothesised that the motion control shoe would increase knee external adductor moment, through an increase in knee varus and moment arm. 15 mature (40-60 years) and 15 young (18-25 years) females performed 10 running trials at 3.5ms(-1)±5% over a force platform. Two shoes were tested, the Adidas Supernova Glide (neutral), and the Adidas Supernova Sequence (motion control). Ankle and knee joint dynamics were analysed for the right leg, and the mean of ten trials was calculated. Joint moments were calculated using inverse dynamics. In the neutral condition, mature females presented greater peak rearfoot eversion, knee internal rotation, and external adductor moments than young females (p<0.05). A motion control shoe significantly reduced peak rearfoot eversion and knee internal rotation among both groups (p<0.05). No between shoe differences in knee external adductor moment were observed. A motion control shoe is recommended to reduce risk of injury associated with rearfoot eversion and knee internal rotation in mature females. However since the knee external adductor moment is a variable commonly associated with medial knee loading it is suggested that alternative design features are required to influence this moment. Copyright © 2012 Elsevier B.V. All rights reserved.

A methodology for controlling motion and constraint forces in holonomically constrained systems

International Nuclear Information System (INIS)

Sapio, Vincent De; Srinivasa, Narayan

2015-01-01

Holonomic constraints are ubiquitous in multibody systems. We present an approach to effectively address the control of holonomically constrained systems using a novel decomposition of task, constraint, and posture space. In addition to providing a natural approach for motion control in the presence of constraints, this scheme also allows for concurrent specification of desired constraint forces, given sufficient actuation. It does this by exposing both motion coordinates and constraint forces within the control formalism, allowing for substantial flexibility in control synthesis. Implementations are presented based on a partitioning of the constraint forces into controlled and uncontrolled subsets, as well as a specification of implicit conditions on the constraint forces. A number of examples demonstrate the practical efficacy of the approach. Finally, a system-level methodology for constraint management during robot interactions with the environment is presented

A methodology for controlling motion and constraint forces in holonomically constrained systems

Energy Technology Data Exchange (ETDEWEB)

Sapio, Vincent De, E-mail: vdesapio@hrl.com; Srinivasa, Narayan, E-mail: nsrinivasa@hrl.com [HRL Laboratories, LLC, Information and Systems Sciences Laboratory (United States)

2015-02-15

Holonomic constraints are ubiquitous in multibody systems. We present an approach to effectively address the control of holonomically constrained systems using a novel decomposition of task, constraint, and posture space. In addition to providing a natural approach for motion control in the presence of constraints, this scheme also allows for concurrent specification of desired constraint forces, given sufficient actuation. It does this by exposing both motion coordinates and constraint forces within the control formalism, allowing for substantial flexibility in control synthesis. Implementations are presented based on a partitioning of the constraint forces into controlled and uncontrolled subsets, as well as a specification of implicit conditions on the constraint forces. A number of examples demonstrate the practical efficacy of the approach. Finally, a system-level methodology for constraint management during robot interactions with the environment is presented.

Motion planning and synchronized control of the dental arch generator of the tooth-arrangement robot.

Science.gov (United States)

Jiang, Jin-Gang; Zhang, Yong-De

2013-03-01

The traditional, manual method of reproducing the dental arch form is prone to numerous random errors caused by human factors. The purpose of this study was to investigate the automatic acquisition of the dental arch and implement the motion planning and synchronized control of the dental arch generator of the multi-manipulator tooth-arrangement robot for use in full denture manufacture. First, the mathematical model of the dental arch generator was derived. Then the kinematics and control point position of the dental arch generator of the tooth arrangement robot were calculated and motion planning of each control point was analysed. A hardware control scheme is presented, based on the industrial personal computer and control card PC6401. In order to gain single-axis, precise control of the dental arch generator, we studied the control pulse realization of high-resolution timing. Real-time, closed-loop, synchronous control was applied to the dental arch generator. Experimental control of the dental arch generator and preliminary tooth arrangement were gained by using the multi-manipulator tooth-arrangement robotic system. The dental arch generator can automatically generate a dental arch to fit a patient according to the patient's arch parameters. Repeated positioning accuracy is 0.12 mm for the slipways that drive the dental arch generator. The maximum value of single-point error is 1.83 mm, while the arc-width direction (x axis) is -33.29 mm. A novel system that generates the dental arch has been developed. The traditional method of manually determining the dental arch may soon be replaced by a robot to assist in generating a more individual dental arch. The system can be used to fabricate full dentures and bend orthodontic wires. Copyright © 2012 John Wiley & Sons, Ltd.

The direct, not V1-mediated, functional influence between the thalamus and middle temporal complex in the human brain is modulated by the speed of visual motion.

Science.gov (United States)

Gaglianese, A; Costagli, M; Ueno, K; Ricciardi, E; Bernardi, G; Pietrini, P; Cheng, K

2015-01-22

The main visual pathway that conveys motion information to the middle temporal complex (hMT+) originates from the primary visual cortex (V1), which, in turn, receives spatial and temporal features of the perceived stimuli from the lateral geniculate nucleus (LGN). In addition, visual motion information reaches hMT+ directly from the thalamus, bypassing the V1, through a direct pathway. We aimed at elucidating whether this direct route between LGN and hMT+ represents a 'fast lane' reserved to high-speed motion, as proposed previously, or it is merely involved in processing motion information irrespective of speeds. We evaluated functional magnetic resonance imaging (fMRI) responses elicited by moving visual stimuli and applied connectivity analyses to investigate the effect of motion speed on the causal influence between LGN and hMT+, independent of V1, using the Conditional Granger Causality (CGC) in the presence of slow and fast visual stimuli. Our results showed that at least part of the visual motion information from LGN reaches hMT+, bypassing V1, in response to both slow and fast motion speeds of the perceived stimuli. We also investigated whether motion speeds have different effects on the connections between LGN and functional subdivisions within hMT+: direct connections between LGN and MT-proper carry mainly slow motion information, while connections between LGN and MST carry mainly fast motion information. The existence of a parallel pathway that connects the LGN directly to hMT+ in response to both slow and fast speeds may explain why MT and MST can still respond in the presence of V1 lesions. Copyright © 2014 IBRO. Published by Elsevier Ltd. All rights reserved.

Evaluation of control rod motion simulator research reactors

International Nuclear Information System (INIS)

Sanda

2010-01-01

Motion simulator has been carried out testing of the reactor control rod using a servomotor. Reactor control rod motion at any point should be in the right position, one of the motors that can move in a precise and correct the servo motor. To ensure that the servo motor to move in accordance with the desired program, then the servomotor function test for motor work to ensure the performance of the appliance. Tests carried out on meshes stress disorder, the load is stable within a certain period and travel time safety control rod up and down, travel time regulating control rods up and down and travel time compensation control rods up and down. In testing the breakdown voltage Vout nets at 24 V, 6.5 A with 12 Ω load deviation obtained V0 = V1 = 0.1% and 0.65% and for the stability of the load in a certain time deviation V = 0.7125%, next to the breakdown voltage Vout nets at 12V, 4.2 A with a 6 Ω load deviation obtained V0 = V1 = 0.275% and 1.158% for the stability of the load in a certain time deviation V = 1.463% and the net-voltage noise nets on Vout 24 V, 4.5 A with 12 Ω load deviation obtained V0 = V1 = 0.196% and 0.496% and for the stability of the load in a certain time deviation V = 0.3625%. While the travel time of a safety control rod up and down, up and down the regulator and compensation rise and fall showed a steady linear graph. The results show that the performance of the servo motor is very stable with the working area below the tolerance limit, it is 5% - 10%. (author)

Marker-Free Human Motion Capture

DEFF Research Database (Denmark)

Grest, Daniel

Human Motion Capture is a widely used technique to obtain motion data for animation of virtual characters. Commercial optical motion capture systems are marker-based. This book is about marker-free motion capture and its possibilities to acquire motion from a single viewing direction. The focus...

Forward flight of swallowtail butterfly with simple flapping motion

Energy Technology Data Exchange (ETDEWEB)

Tanaka, Hiroto [School of Engineering and Applied Sciences, Harvard University, 60 Oxford Street, Cambridge, MA 02138 (United States); Shimoyama, Isao, E-mail: isao@i.u-tokyo.ac.j [Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656 (Japan)

2010-06-15

Unlike other flying insects, the wing motion of swallowtail butterflies is basically limited to flapping because their fore wings partly overlap their hind wings, structurally restricting the feathering needed for active control of aerodynamic force. Hence, it can be hypothesized that the flight of swallowtail butterflies is realized with simple flapping, requiring little feedback control of the feathering angle. To verify this hypothesis, we fabricated an artificial butterfly mimicking the wing motion and wing shape of a swallowtail butterfly and analyzed its flights using images taken with a high-speed video camera. The results demonstrated that stable forward flight could be realized without active feathering or feedback control of the wing motion. During the flights, the artificial butterfly's body moved up and down passively in synchronization with the flapping, and the artificial butterfly followed an undulating flight trajectory like an actual swallowtail butterfly. Without feedback control of the wing motion, the body movement is directly affected by change of aerodynamic force due to the wing deformation; the degree of deformation was determined by the wing venation. Unlike a veinless wing, a mimic wing with veins generated a much higher lift coefficient during the flapping flight than in a steady flow due to the large body motion.

Forward flight of swallowtail butterfly with simple flapping motion

International Nuclear Information System (INIS)

Tanaka, Hiroto; Shimoyama, Isao

2010-01-01

Unlike other flying insects, the wing motion of swallowtail butterflies is basically limited to flapping because their fore wings partly overlap their hind wings, structurally restricting the feathering needed for active control of aerodynamic force. Hence, it can be hypothesized that the flight of swallowtail butterflies is realized with simple flapping, requiring little feedback control of the feathering angle. To verify this hypothesis, we fabricated an artificial butterfly mimicking the wing motion and wing shape of a swallowtail butterfly and analyzed its flights using images taken with a high-speed video camera. The results demonstrated that stable forward flight could be realized without active feathering or feedback control of the wing motion. During the flights, the artificial butterfly's body moved up and down passively in synchronization with the flapping, and the artificial butterfly followed an undulating flight trajectory like an actual swallowtail butterfly. Without feedback control of the wing motion, the body movement is directly affected by change of aerodynamic force due to the wing deformation; the degree of deformation was determined by the wing venation. Unlike a veinless wing, a mimic wing with veins generated a much higher lift coefficient during the flapping flight than in a steady flow due to the large body motion.

Development of visual motion perception for prospective control: Brain and behavioural studies in infants

Directory of Open Access Journals (Sweden)

Seth B. Agyei

2016-02-01

Full Text Available During infancy, smart perceptual mechanisms develop allowing infants to judge time-space motion dynamics more efficiently with age and locomotor experience. This emerging capacity may be vital to enable preparedness for upcoming events and to be able to navigate in a changing environment. Little is known about brain changes that support the development of prospective control and about processes, such as preterm birth, that may compromise it. As a function of perception of visual motion, this paper will describe behavioural and brain studies with young infants investigating the development of visual perception for prospective control. By means of the three visual motion paradigms of occlusion, looming, and optic flow, our research shows the importance of including behavioural data when studying the neural correlates of prospective control.

Fuzzy robust nonlinear control approach for electro-hydraulic flight motion simulator

Directory of Open Access Journals (Sweden)

Han Songshan

2015-02-01

Full Text Available A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command, but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output (MISO fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion simulators. Comparative experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties.

Linear motion device and method for inserting and withdrawing control rods

Science.gov (United States)

Smith, J.E.

Disclosed is a linear motion device and more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core. The CRDM and method disclosed is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.

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

Science.gov (United States)

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

2012-09-01

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.

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)

Redox control of molecular motion in switchable artificial nanoscale devices.

Science.gov (United States)

Credi, Alberto; Semeraro, Monica; Silvi, Serena; Venturi, Margherita

2011-03-15

The design, synthesis, and operation of molecular-scale systems that exhibit controllable motions of their component parts is a topic of great interest in nanoscience and a fascinating challenge of nanotechnology. The development of this kind of species constitutes the premise to the construction of molecular machines and motors, which in a not-too-distant future could find applications in fields such as materials science, information technology, energy conversion, diagnostics, and medicine. In the past 25 years the development of supramolecular chemistry has enabled the construction of an interesting variety of artificial molecular machines. These devices operate via electronic and molecular rearrangements and, like the macroscopic counterparts, they need energy to work as well as signals to communicate with the operator. Here we outline the design principles at the basis of redox switching of molecular motion in artificial nanodevices. Redox processes, chemically, electrically, or photochemically induced, can indeed supply the energy to bring about molecular motions. Moreover, in the case of electrically and photochemically induced processes, electrochemical and photochemical techniques can be used to read the state of the system, and thus to control and monitor the operation of the device. Some selected examples are also reported to describe the most representative achievements in this research area.

Autogenic-feedback training exercise is superior to promethazine for control of motion sickness symptoms

Science.gov (United States)

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

2000-01-01

Motion sickness symptoms affect approximately 50% of the crew during space travel and are commonly treated with intramuscular injections of promethazine. The purpose of this paper is to compare the effectiveness of three treatments for motion sickness: intramuscular injections (i.m.) of promethazine, a physiological training method (autogenic-feedback training exercise [AFTE]), and a no-treatment control. An earlier study tested the effects of promethazine on cognitive and psychomotor performance and motion sickness tolerance in a rotating chair. For the present paper, motion sickness tolerance, symptom reports, and physiological responses of these subjects were compared to matched subjects selected from an existing database who received either AFTE or no treatment. Three groups of 11 men, between the ages of 33 and 40 years, were matched on the number of rotations tolerated during their initial rotating-chair motion sickness test. The motion sickness test procedures and the 7-day interval between tests were the same for all subjects. The drug group was tested under four treatment conditions: baseline (no injections), a 25 mg dose of promethazine, a 50 mg dose of promethazine, and a placebo of sterile saline. AFTE subjects were given four 30-minute AFTE sessions before their second, third, and fourth motion sickness tests (6 hours total). The no-treatment control subjects were only given the four rotating-chair tests. Motion sickness tolerance was significantly increased after 4 hours of AFTE when compared to either 25 mg (p training.

How NASA KSC Controls Interfaces with the use of Motion Skeletons and Product Structure

Science.gov (United States)

Jones, Corey

2013-01-01

This presentation will show how NASA KSC controls interfaces for Modular Product Architecture (MPA) using Locator Skeletons, Interface Skeletons, and Product Structure, to be combined together within a Motion Skeleton. The user will learn how to utilize skeleton models to communicate interface data, as successfully done at NASA KSC in their use of Motion Skeletons to control interfaces for multi-launch systems. There will be discussion of the methodology used to control design requirements through WTParts, and how to utilize product structure for non-CAD documents.

Predictive local receptive fields based respiratory motion tracking for motion-adaptive radiotherapy.

Science.gov (United States)

Yubo Wang; Tatinati, Sivanagaraja; Liyu Huang; Kim Jeong Hong; Shafiq, Ghufran; Veluvolu, Kalyana C; Khong, Andy W H

2017-07-01

Extracranial robotic radiotherapy employs external markers and a correlation model to trace the tumor motion caused by the respiration. The real-time tracking of tumor motion however requires a prediction model to compensate the latencies induced by the software (image data acquisition and processing) and hardware (mechanical and kinematic) limitations of the treatment system. A new prediction algorithm based on local receptive fields extreme learning machines (pLRF-ELM) is proposed for respiratory motion prediction. All the existing respiratory motion prediction methods model the non-stationary respiratory motion traces directly to predict the future values. Unlike these existing methods, the pLRF-ELM performs prediction by modeling the higher-level features obtained by mapping the raw respiratory motion into the random feature space of ELM instead of directly modeling the raw respiratory motion. The developed method is evaluated using the dataset acquired from 31 patients for two horizons in-line with the latencies of treatment systems like CyberKnife. Results showed that pLRF-ELM is superior to that of existing prediction methods. Results further highlight that the abstracted higher-level features are suitable to approximate the nonlinear and non-stationary characteristics of respiratory motion for accurate prediction.

Early motion and directed exercise (EMADE) versus usual care post ankle fracture fixation: study protocol for a pragmatic randomised controlled trial.

Science.gov (United States)

Matthews, Paul A; Scammell, Brigitte E; Ali, Arfan; Coughlin, Timothy; Nightingale, Jessica; Khan, Tanvir; Ollivere, Ben J

2018-05-31

Following surgical fixation of ankle fractures, the traditional management has included immobilisation for 6 weeks in a below-knee cast. However, this can lead to disuse atrophy of the affected leg and joint stiffness. While early rehabilitation from 2 weeks post surgery is viewed as safe, controversy remains regarding its benefits. We will compare the effectiveness of early motion and directed exercise (EMADE) ankle rehabilitation, against usual care, i.e. 6 weeks' immobilisation in a below-knee cast. We have designed a pragmatic randomised controlled trial (p-RCT) to compare the EMADE intervention against usual care. We will recruit 144 independently living adult participants, absent of tissue-healing comorbidities, who have undergone surgical stabilisation of isolated Weber B ankle fractures. The EMADE intervention consists of a non-weight-bearing progressive home exercise programme, complemented with manual therapy and education. Usual care consists of immobilisation in a non-weight-bearing below-knee cast. The intervention period is between week 2 and week 6 post surgery. The primary outcome is the Olerud and Molander Ankle Score (OMAS) patient-reported outcome measure (PROM) at 12 weeks post surgery. Secondary PROMs include the EQ-5D-5 L questionnaire, return to work and return to driving, with objective outcomes including ankle range of motion. Analysis will be on an intention-to-treat basis. An economic evaluation will be included. The EMADE intervention is a package of care designed to address the detrimental effects of disuse atrophy and joint stiffness. An advantage of the OMAS is the potential of meta-analysis with other designs. Within the economic evaluation, the cost-utility analysis, may be used by commissioners, while the use of patient-relevant outcomes, such as return to work and driving, will ensure that the study remains pertinent to patients and their families. As it is being conducted in the clinical environment, this p-RCT has high external

Virtual reality body motion induced navigational controllers and their effects on simulator sickness and pathfinding.

Science.gov (United States)

Aldaba, Cassandra N; White, Paul J; Byagowi, Ahmad; Moussavi, Zahra

2017-07-01

Virtual reality (VR) navigation is usually constrained by plausible simulator sickness (SS) and intuitive user interaction. The paper reports on the use of four different degrees of body motion induced navigational VR controllers, a TiltChair, omni-directional treadmill, a manual wheelchair joystick (VRNChair), and a joystick in relation to a participant's SS occurrence and a controller's intuitive utilization. Twenty young adult participants utilized all controllers to navigate through the same VR task environment in separate sessions. Throughout the sessions, SS occurrence was measured from a severity score by a standard SS questionnaire and from body sway by a center of pressure path length with eyes opened and closed. SS occurrence did not significantly differ among the controllers. However, time spent in VR significantly contributed to SS occurrence; hence, a few breaks to minimize SS should be interjected throughout a VR task. For all task trials, we recorded the participant's travel trajectories to investigate each controller's intuitive utilization from a computed traversed distance. Shorter traversed distances indicated that participants intuitively utilized the TiltChair with a slower speed; while longer traversed distances indicated participants struggled to utilize the omni-directional treadmill with a unnaturalistic stimulation of gait. Therefore, VR navigation should use technologies best suited for the intended age group that minimizes SS, and produces intuitive interactions for the participants.

Evaluation of the Leap Motion Controller as a New Contact-Free Pointing Device

OpenAIRE

Bachmann, Daniel; Weichert, Frank; Rinkenauer, Gerhard

2014-01-01

This paper presents a Fitts' law-based analysis of the user's performance in selection tasks with the Leap Motion Controller compared with a standard mouse device. The Leap Motion Controller (LMC) is a new contact-free input system for gesture-based human-computer interaction with declared sub-millimeter accuracy. Up to this point, there has hardly been any systematic evaluation of this new system available. With an error rate of 7.8 % for the LMC and 2.8% for the mouse device, movement times...

Motion control of musculoskeletal systems with redundancy.

Science.gov (United States)

Park, Hyunjoo; Durand, Dominique M

2008-12-01

Motion control of musculoskeletal systems for functional electrical stimulation (FES) is a challenging problem due to the inherent complexity of the systems. These include being highly nonlinear, strongly coupled, time-varying, time-delayed, and redundant. The redundancy in particular makes it difficult to find an inverse model of the system for control purposes. We have developed a control system for multiple input multiple output (MIMO) redundant musculoskeletal systems with little prior information. The proposed method separates the steady-state properties from the dynamic properties. The dynamic control uses a steady-state inverse model and is implemented with both a PID controller for disturbance rejection and an artificial neural network (ANN) feedforward controller for fast trajectory tracking. A mechanism to control the sum of the muscle excitation levels is also included. To test the performance of the proposed control system, a two degree of freedom ankle-subtalar joint model with eight muscles was used. The simulation results show that separation of steady-state and dynamic control allow small output tracking errors for different reference trajectories such as pseudo-step, sinusoidal and filtered random signals. The proposed control method also demonstrated robustness against system parameter and controller parameter variations. A possible application of this control algorithm is FES control using multiple contact cuff electrodes where mathematical modeling is not feasible and the redundancy makes the control of dynamic movement difficult.

Evaluation of the Leap Motion Controller as a New Contact-Free Pointing Device

Directory of Open Access Journals (Sweden)

Daniel Bachmann

2014-12-01

Full Text Available This paper presents a Fitts’ law-based analysis of the user’s performance in selection tasks with the Leap Motion Controller compared with a standard mouse device. The Leap Motion Controller (LMC is a new contact-free input system for gesture-based human-computer interaction with declared sub-millimeter accuracy. Up to this point, there has hardly been any systematic evaluation of this new system available. With an error rate of 7.8% for the LMC and 2.8% for the mouse device, movement times twice as large as for a mouse device and high overall effort ratings, the Leap Motion Controller’s performance as an input device for everyday generic computer pointing tasks is rather limited, at least with regard to the selection recognition provided by the LMC.

Motion perception during tilt and translation after space flight

Science.gov (United States)

Clément, Gilles; Wood, Scott J.

2013-11-01

Preliminary results of an ongoing study examining the effects of space flight on astronauts' motion perception induced by independent tilt and translation motions are presented. This experiment used a sled and a variable radius centrifuge that translated the subjects forward-backward or laterally, and simultaneously tilted them in pitch or roll, respectively. Tests were performed on the ground prior to and immediately after landing. The astronauts were asked to report about their perceived motion in response to different combinations of body tilt and translation in darkness. Their ability to manually control their own orientation was also evaluated using a joystick with which they nulled out the perceived tilt while the sled and centrifuge were in motion. Preliminary results confirm that the magnitude of perceived tilt increased during static tilt in roll after space flight. A deterioration in the crewmember to control tilt using non-visual inertial cues was also observed post-flight. However, the use of a tactile prosthesis indicating the direction of down on the subject's trunk improved manual control performance both before and after space flight.

Direct measurement of helical cell motion of the spirochete leptospira.

Science.gov (United States)

Nakamura, Shuichi; Leshansky, Alexander; Magariyama, Yukio; Namba, Keiichi; Kudo, Seishi

2014-01-07

Leptospira are spirochete bacteria distinguished by a short-pitch coiled body and intracellular flagella. Leptospira cells swim in liquid with an asymmetric morphology of the cell body; the anterior end has a long-pitch spiral shape (S-end) and the posterior end is hook-shaped (H-end). Although the S-end and the coiled cell body called the protoplasmic cylinder are thought to be responsible for propulsion together, most observations on the motion mechanism have remained qualitative. In this study, we analyzed the swimming speed and rotation rate of the S-end, protoplasmic cylinder, and H-end of individual Leptospira cells by one-sided dark-field microscopy. At various viscosities of media containing different concentrations of Ficoll, the rotation rate of the S-end and protoplasmic cylinder showed a clear correlation with the swimming speed, suggesting that these two helical parts play a central role in the motion of Leptospira. In contrast, the H-end rotation rate was unstable and showed much less correlation with the swimming speed. Forces produced by the rotation of the S-end and protoplasmic cylinder showed that these two helical parts contribute to propulsion at nearly equal magnitude. Torque generated by each part, also obtained from experimental motion parameters, indicated that the flagellar motor can generate torque >4000 pN nm, twice as large as that of Escherichia coli. Furthermore, the S-end torque was found to show a markedly larger fluctuation than the protoplasmic cylinder torque, suggesting that the unstable H-end rotation might be mechanically related to changes in the S-end rotation rate for torque balance of the entire cell. Variations in torque at the anterior and posterior ends of the Leptospira cell body could be transmitted from one end to the other through the cell body to coordinate the morphological transformations of the two ends for a rapid change in the swimming direction. Copyright © 2014 Biophysical Society. Published by Elsevier Inc

Evaluation of fault-normal/fault-parallel directions rotated ground motions for response history analysis of an instrumented six-story building

Science.gov (United States)

Kalkan, Erol; Kwong, Neal S.

2012-01-01

According to regulatory building codes in United States (for example, 2010 California Building Code), at least two horizontal ground-motion components are required for three-dimensional (3D) response history analysis (RHA) of buildings. For sites within 5 km of an active fault, these records should be rotated to fault-normal/fault-parallel (FN/FP) directions, and two RHA analyses should be performed separately (when FN and then FP are aligned with the transverse direction of the structural axes). It is assumed that this approach will lead to two sets of responses that envelope the range of possible responses over all nonredundant rotation angles. This assumption is examined here using a 3D computer model of a six-story reinforced-concrete instrumented building subjected to an ensemble of bidirectional near-fault ground motions. Peak responses of engineering demand parameters (EDPs) were obtained for rotation angles ranging from 0° through 180° for evaluating the FN/FP directions. It is demonstrated that rotating ground motions to FN/FP directions (1) does not always lead to the maximum responses over all angles, (2) does not always envelope the range of possible responses, and (3) does not provide maximum responses for all EDPs simultaneously even if it provides a maximum response for a specific EDP.

Control of trunk motion following sudden stop perturbations during cart pushing.

Science.gov (United States)

Lee, Yun-Ju; Hoozemans, Marco J M; van Dieën, Jaap H

2011-01-04

External perturbations during pushing tasks have been suggested to be a risk factor for low-back symptoms. An experiment was designed to investigate whether self-induced and externally induced sudden stops while pushing a high inertia cart influence trunk motions, and how flexor and extensor muscles counteract these perturbations. Twelve healthy male participants pushed a 200 kg cart at shoulder height and hip height. Pushing while walking was compared to situations in which participants had to stop the cart suddenly (self-induced stop) or in which the wheels of the cart were unexpectedly blocked (externally induced stop). For the perturbed conditions, the peak values and the maximum changes from the reference condition (pushing while walking) of the external moment at L5/S1, trunk inclination and electromyographic amplitudes of trunk muscles were determined. In the self-induced stop, a voluntary trunk extension occurred. Initial responses in both stops consisted of flexor and extensor muscle cocontraction. In self-induced stops this was followed by sustained extensor activity. In the externally induced stops, an external extension moment caused a decrease in trunk inclination. The opposite directions of the internal moment and trunk motion in the externally induced stop while pushing at shoulder height may indicate insufficient active control of trunk posture. Consequently, sudden blocking of the wheels in pushing at shoulder height may put the low back at risk of mechanical injury. Copyright © 2010 Elsevier Ltd. All rights reserved.

Software-controlled, highly automated intrafraction prostate motion correction with intrafraction stereographic targeting: System description and clinical results

International Nuclear Information System (INIS)

Mutanga, Theodore F.; Boer, Hans C. J. de; Rajan, Vinayakrishnan; Dirkx, Maarten L. P.; Os, Marjolein J. H. van; Incrocci, Luca; Heijmen, Ben J. M.

2012-01-01

Purpose: A new system for software-controlled, highly automated correction of intrafraction prostate motion,'' intrafraction stereographic targeting'' (iSGT), is described and evaluated. Methods: At our institute, daily prostate positioning is routinely performed at the start of treatment beam using stereographic targeting (SGT). iSGT was implemented by extension of the SGT software to facilitate fast and accurate intrafraction motion corrections with minimal user interaction. iSGT entails megavoltage (MV) image acquisitions with the first segment of selected IMRT beams, automatic registration of implanted markers, followed by remote couch repositioning to correct for intrafraction motion above a predefined threshold, prior to delivery of the remaining segments. For a group of 120 patients, iSGT with corrections for two nearly lateral beams was evaluated in terms of workload and impact on effective intrafraction displacements in the sagittal plane. Results: SDs of systematic (Σ) and random (σ) displacements relative to the planning CT measured directly after initial SGT setup correction were eff eff eff eff eff eff < 0.7 mm, requiring corrections in 82.4% of the fractions. Because iSGT is highly automated, the extra time added by iSGT is <30 s if a correction is required. Conclusions: Without increasing imaging dose, iSGT successfully reduces intrafraction prostate motion with minimal workload and increase in fraction time. An action level of 2 mm is recommended.

The Seismic Response of High-Speed Railway Bridges Subjected to Near-Fault Forward Directivity Ground Motions Using a Vehicle-Track-Bridge Element

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Chen Ling-kun

2014-01-01

Full Text Available Based on the Next Generation Attenuation (NGA project ground motion library, the finite element model of the high-speed railway vehicle-bridge system is established. The model was specifically developed for such system that is subjected to near-fault ground motions. In addition, it accounted for the influence of the rail irregularities. The vehicle-track-bridge (VTB element is presented to simulate the interaction between train and bridge, in which a train can be modeled as a series of sprung masses concentrated at the axle positions. For the short period railway bridge, the results from the case study demonstrate that directivity pulse effect tends to increase the seismic responses of the bridge compared with far-fault ground motions or nonpulse-like motions and the directivity pulse effect and high values of the vertical acceleration component can notably influence the hysteretic behaviour of piers.

Investigation and Development of Control Laws for the NASA Langley Research Center Cockpit Motion Facility

Science.gov (United States)

Coon, Craig R.; Cardullo, Frank M.; Zaychik, Kirill B.

2014-01-01

The ability to develop highly advanced simulators is a critical need that has the ability to significantly impact the aerospace industry. The aerospace industry is advancing at an ever increasing pace and flight simulators must match this development with ever increasing urgency. In order to address both current problems and potential advancements with flight simulator techniques, several aspects of current control law technology of the National Aeronautics and Space Administration (NASA) Langley Research Center's Cockpit Motion Facility (CMF) motion base simulator were examined. Preliminary investigation of linear models based upon hardware data were examined to ensure that the most accurate models are used. This research identified both system improvements in the bandwidth and more reliable linear models. Advancements in the compensator design were developed and verified through multiple techniques. The position error rate feedback, the acceleration feedback and the force feedback were all analyzed in the heave direction using the nonlinear model of the hardware. Improvements were made using the position error rate feedback technique. The acceleration feedback compensator also provided noteworthy improvement, while attempts at implementing a force feedback compensator proved unsuccessful.

A video-based system for hand-driven stop-motion animation.

Science.gov (United States)

Han, Xiaoguang; Fu, Hongbo; Zheng, Hanlin; Liu, Ligang; Wang, Jue

2013-01-01

Stop-motion is a well-established animation technique but is often laborious and requires craft skills. A new video-based system can animate the vast majority of everyday objects in stop-motion style, more flexibly and intuitively. Animators can perform and capture motions continuously instead of breaking them into increments and shooting one still picture per increment. More important, the system permits direct hand manipulation without resorting to rigs, achieving more natural object control for beginners. The system's key component is two-phase keyframe-based capturing and processing, assisted by computer vision techniques. With this system, even amateurs can generate high-quality stop-motion animations.

Directed motion generated by heat bath nonlinearly driven by external noise

International Nuclear Information System (INIS)

Chaudhuri, J Ray; Barik, D; Banik, S K

2007-01-01

Based on the heat bath system approach where the bath is nonlinearly modulated by an external Gaussian random force, we propose a new microscopic model to study directed motion in the overdamped limit for a nonequilibrium open system. Making use of the coupling between the heat bath and the external modulation as a small perturbation, we construct a Langevin equation with multiplicative noise- and space-dependent dissipation and the corresponding Fokker-Planck-Smoluchowski equation in the overdamped limit. We examine the thermodynamic consistency condition and explore the possibility of observing a phase-induced current as a consequence of state-dependent diffusion and, necessarily, nonlinear driving of the heat bath by the external noise

Directed motion generated by heat bath nonlinearly driven by external noise

Energy Technology Data Exchange (ETDEWEB)

Chaudhuri, J Ray [Department of Physics, Katwa College, Katwa, Burdwan 713 130, West Bengal (India); Barik, D [Indian Association for the Cultivation of Science, Jadavpur, Kolkata 700 032 (India); Banik, S K [Department of Physics, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061-0435 (United States)

2007-12-07

Based on the heat bath system approach where the bath is nonlinearly modulated by an external Gaussian random force, we propose a new microscopic model to study directed motion in the overdamped limit for a nonequilibrium open system. Making use of the coupling between the heat bath and the external modulation as a small perturbation, we construct a Langevin equation with multiplicative noise- and space-dependent dissipation and the corresponding Fokker-Planck-Smoluchowski equation in the overdamped limit. We examine the thermodynamic consistency condition and explore the possibility of observing a phase-induced current as a consequence of state-dependent diffusion and, necessarily, nonlinear driving of the heat bath by the external noise.

A simple, direct derivation and proof of the validity of the SLLOD equations of motion for generalized homogeneous flows.

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Daivis, Peter J; Todd, B D

2006-05-21

We present a simple and direct derivation of the SLLOD equations of motion for molecular simulations of general homogeneous flows. We show that these equations of motion (1) generate the correct particle trajectories, (2) conserve the total thermal momentum without requiring the center of mass to be located at the origin, and (3) exactly generate the required energy dissipation. These equations of motion are compared with the g-SLLOD and p-SLLOD equations of motion, which are found to be deficient. Claims that the SLLOD equations of motion are incorrect for elongational flows are critically examined and found to be invalid. It is confirmed that the SLLOD equations are, in general, non-Hamiltonian. We derive a Hamiltonian from which they can be obtained in the special case of a symmetric velocity gradient tensor. In this case, it is possible to perform a canonical transformation that results in the well-known DOLLS tensor Hamiltonian.

Content and structure of knowledge base used for virtual control of android arm motion in specified environment

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Pritykin, F. N.; Nebritov, V. I.

2018-01-01

The paper presents the configuration of knowledge base necessary for intelligent control of android arm mechanism motion with different positions of certain forbidden regions taken into account. The present structure of the knowledge base characterizes the past experience of arm motion synthesis in the vector of velocities with due regard for the known obstacles. This structure also specifies its intrinsic properties. Knowledge base generation is based on the study of the arm mechanism instantaneous states implementations. Computational experiments connected with the virtual control of android arm motion with known forbidden regions using the developed knowledge base are introduced. Using the developed knowledge base to control virtually the arm motion reduces the time of test assignments calculation. The results of the research can be used in developing control systems of autonomous android robots in the known in advance environment.

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

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Wang, Xingjian; Shi, Cun; Wang, Shaoping

2017-07-01

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

Human-directed local autonomy for motion guidance and coordination in an intelligent manufacturing system

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Alford, W. A.; Kawamura, Kazuhiko; Wilkes, Don M.

1997-12-01

This paper discusses the problem of integrating human intelligence and skills into an intelligent manufacturing system. Our center has jointed the Holonic Manufacturing Systems (HMS) Project, an international consortium dedicated to developing holonic systems technologies. One of our contributions to this effort is in Work Package 6: flexible human integration. This paper focuses on one activity, namely, human integration into motion guidance and coordination. Much research on intelligent systems focuses on creating totally autonomous agents. At the Center for Intelligent Systems (CIS), we design robots that interact directly with a human user. We focus on using the natural intelligence of the user to simplify the design of a robotic system. The problem is finding ways for the user to interact with the robot that are efficient and comfortable for the user. Manufacturing applications impose the additional constraint that the manufacturing process should not be disturbed; that is, frequent interacting with the user could degrade real-time performance. Our research in human-robot interaction is based on a concept called human directed local autonomy (HuDL). Under this paradigm, the intelligent agent selects and executes a behavior or skill, based upon directions from a human user. The user interacts with the robot via speech, gestures, or other media. Our control software is based on the intelligent machine architecture (IMA), an object-oriented architecture which facilitates cooperation and communication among intelligent agents. In this paper we describe our research testbed, a dual-arm humanoid robot and human user, and the use of this testbed for a human directed sorting task. We also discuss some proposed experiments for evaluating the integration of the human into the robot system. At the time of this writing, the experiments have not been completed.

Hybrid task priority-based motion control of a redundant free-floating space robot

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Cheng ZHOU

2017-12-01

Full Text Available This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the least-squares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning, and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task’s null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology. Keywords: Base attitude control, Hybrid task-priority, Motion planning, Multiple constraints, Redundant space robot

Vision Servo Motion Control and Error Analysis of a Coplanar XXY Stage for Image Alignment Motion

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Hau-Wei Lee

2013-01-01

Full Text Available In recent years, as there is demand for smart mobile phones with touch panels, the alignment/compensation system of alignment stage with vision servo control has also increased. Due to the fact that the traditional stacked-type XYθ stage has cumulative errors of assembly and it is heavy, it has been gradually replaced by the coplanar stage characterized by three actuators on the same plane with three degrees of freedom. The simplest image alignment mode uses two cameras as the equipments for feedback control, and the work piece is placed on the working stage. The work piece is usually engraved/marked. After the cameras capture images and when the position of the mark in the camera is obtained by image processing, the mark can be moved to the designated position in the camera by moving the stage and using alignment algorithm. This study used a coplanar XXY stage with 1 μm positioning resolution. Due to the fact that the resolution of the camera is about 3.75 μm per pixel, thus a subpixel technology is used, and the linear and angular alignment repeatability of the alignment system can achieve 1 μm and 5 arcsec, respectively. The visual servo motion control for alignment motion is completed within 1 second using the coplanar XXY stage.

Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments

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Wei Zhang

2014-01-01

Full Text Available The underwater recovery of autonomous underwater vehicles (AUV is a process of 6-DOF motion control, which is related to characteristics with strong nonlinearity and coupling. In the recovery mission, the vehicle requires high level control accuracy. Considering an AUV called BSAV, this paper established a kinetic model to describe the motion of AUV in the horizontal plane, which consisted of nonlinear equations. On the basis of this model, the main coupling variables were analyzed during recovery. Aiming at the strong coupling problem between the heading control and sway motion, we designed a decoupling compensator based on the fuzzy theory and the decoupling theory. We analyzed to the rules of fuzzy compensation, the input and output membership functions of fuzzy compensator, through compose operation and clear operation of fuzzy reasoning, and obtained decoupling compensation quantity. Simulation results show that the fuzzy decoupling controller effectively reduces the overshoot of the system, and improves the control precision. Through the water tank experiments and analysis of experimental data, the effectiveness and feasibility of AUV recovery movement coordinated control based on fuzzy decoupling method are validated successful, and show that the fuzzy decoupling control method has a high practical value in the recovery mission.

Inhibitory Control of Feature Selectivity in an Object Motion Sensitive Circuit of the Retina

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Tahnbee Kim

2017-05-01

Full Text Available Object motion sensitive (OMS W3-retinal ganglion cells (W3-RGCs in mice respond to local movements in a visual scene but remain silent during self-generated global image motion. The excitatory inputs that drive responses of W3-RGCs to local motion were recently characterized, but which inhibitory neurons suppress W3-RGCs’ responses to global motion, how these neurons encode motion information, and how their connections are organized along the excitatory circuit axis remains unknown. Here, we find that a genetically identified amacrine cell (AC type, TH2-AC, exhibits fast responses to global motion and slow responses to local motion. Optogenetic stimulation shows that TH2-ACs provide strong GABAA receptor-mediated input to W3-RGCs but only weak input to upstream excitatory neurons. Cell-type-specific silencing reveals that temporally coded inhibition from TH2-ACs cancels W3-RGC spike responses to global but not local motion stimuli and, thus, controls the feature selectivity of OMS signals sent to the brain.

12 CFR 747.23 - Motions.

Science.gov (United States)

2010-01-01

... written motions except as otherwise directed by the administrative law judge. Written memorandum, briefs... Procedure § 747.23 Motions. (a) In writing. (1) Except as otherwise provided herein, an application or request for an order or ruling must be made by written motion. (2) All written motions must state with...

A Novel Pitch Control System of a Large Wind Turbine Using Two-Degree-of-Freedom Motion Control with Feedback Linearization Control

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Ching-Sung Wang

2016-09-01

Full Text Available Pitch Control plays a significant role for a large wind turbine. This study investigates a novel robust hydraulic pitch control system of a large wind turbine. The novel hydraulic pitch control system is driven by a novel high efficiency and high response hydraulic servo system. The pitch controller, designed by two degree-of-freedom (2-DOF motion control with feedback linearization, is developed to enhance the controllability and stability of the pitch control system. Furthermore, the full-scale testbed of the hydraulic pitch control system of a large wind turbine is developed for practically experimental verification. Besides, the wind turbine simulation software FAST is used to analyze the motion of the blade which results are given to the testbed as the disturbance load command. The 2-DOF pitch controller contains a feedforward controller with feedback linearization theory to overcome the nonlinearities of the system and a feedback controller to improve the system robustness for achieving the disturbance rejection. Consequently, the novel hydraulic pitch control system shows excellent path tracking performance in the experiments. Moreover, the robustness test with a simulated disturbance load generated by FAST is performed to validate the reliability of the proposed pitch control system.

Space Weather Influence on Relative Motion Control using the Touchless Electrostatic Tractor

Science.gov (United States)

Hogan, Erik A.; Schaub, Hanspeter

2016-09-01

With recent interest in the use of electrostatic forces for contactless tugging and attitude control of noncooperative objects for orbital servicing and active debris mitigation, the need for a method of remote charge control arises. In this paper, the use of a directed electron beam for remote charge control is considered in conjunction with the relative motion control. A tug vehicle emits an electron beam onto a deputy object, charging it negatively. At the same time, the tug is charged positively due to beam emission, resulting in an attractive electrostatic force. The relative position feedback control between the tug and the passive debris object is studied subject to the charging being created through an electron beam. Employing the nominal variations of the GEO space weather conditions across longitude slots, two electrostatic tugging strategies are considered. First, the electron beam current is adjusted throughout the orbit in order to maximize this resulting electrostatic force. This open-loop control strategy compensates for changes in the nominally expected local space weather environment in the GEO region to adjust for fluctuations in the local plasma return currents. Second, the performance impact of using a fixed electron beam current on the electrostatic tractor is studied if the same natural space weather variations are assumed. The fixed electron beam current shows a minor performance penalty (<5 %) while providing a much simpler implementation that does not require any knowledge of local space weather conditions.

Motion Perception and Manual Control Performance During Passive Tilt and Translation Following Space Flight

Science.gov (United States)

Clement, Gilles; Wood, Scott J.

2010-01-01

This joint ESA-NASA study is examining changes in motion perception following Space Shuttle flights and the operational implications of post-flight tilt-translation ambiguity for manual control performance. Vibrotactile feedback of tilt orientation is also being evaluated as a countermeasure to improve performance during a closed-loop nulling task. METHODS. Data has been collected on 5 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s) combined with body translation (12-22 cm, peak-to-peak) is utilized to elicit roll-tilt perception (equivalent to 20 deg, peak-to-peak). A forward-backward moving sled (24-390 cm, peak-to-peak) with or without chair tilting in pitch is utilized to elicit pitch tilt perception (equivalent to 20 deg, peak-to-peak). These combinations are elicited at 0.15, 0.3, and 0.6 Hz for evaluating the effect of motion frequency on tilt-translation ambiguity. In both devices, a closed-loop nulling task is also performed during pseudorandom motion with and without vibrotactile feedback of tilt. All tests are performed in complete darkness. PRELIMINARY RESULTS. Data collection is currently ongoing. Results to date suggest there is a trend for translation motion perception to be increased at the low and medium frequencies on landing day compared to pre-flight. Manual control performance is improved with vibrotactile feedback. DISCUSSION. The results of this study indicate that post-flight recovery of motion perception and manual control performance is complete within 8 days following short-duration space missions. Vibrotactile feedback of tilt improves manual control performance both before and after flight.

Orientation and direction-of-motion response in the middle temporal visual area (MT of New World owl monkeys as revealed by intrinsic-signal optical imaging

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Peter M Kaskan

2010-07-01

Full Text Available Intrinsic-signal optical imaging was used to evaluate relationships of domains of neurons in visual area MT selective for stimulus orientation and direction of motion. Maps of activation were elicited in MT of owl monkeys by gratings drifting back-and-forth, flashed stationary gratings and unidirectionally drifting fields of random dots. Drifting gratings, typically used to reveal orientation preference domains, contain a motion component that may be represented in MT. Consequently, this stimulus could activate groups of cells responsive to the motion of the grating, its orientation or a combination of both. Domains elicited from either moving or static gratings were remarkably similar, indicating that these groups of cells are responding to orientation, although they may also encode information about motion. To assess the relationship between domains defined by drifting oriented gratings and those responsive to direction of motion, the response to drifting fields of random dots was measured within domains defined from thresholded maps of activation elicited by the drifting gratings. The optical response elicited by drifting fields of random dots was maximal in a direction orthogonal to the map of orientation preference. Thus, neurons in domains selective for stimulus orientation are also selective for motion orthogonal to the preferred stimulus orientation.

Experimental investigation of shaping disturbance observer design for motion control of precision mechatronic stages with resonances

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Yang, Jin; Hu, Chuxiong; Zhu, Yu; Wang, Ze; Zhang, Ming

2017-08-01

In this paper, shaping disturbance observer (SDOB) is investigated for precision mechatronic stages with middle-frequency zero/pole type resonance to achieve good motion control performance in practical manufacturing situations. Compared with traditional standard disturbance observer (DOB), in SDOB a pole-zero cancellation based shaping filter is cascaded to the mechatronic stage plant to meet the challenge of motion control performance deterioration caused by actual resonance. Noting that pole-zero cancellation is inevitably imperfect and the controller may even consequently become unstable in practice, frequency domain stability analysis is conducted to find out how each parameter of the shaping filter affects the control stability. Moreover, the robust design criterion of the shaping filter, and the design procedure of SDOB, are both proposed to guide the actual design and facilitate practical implementation. The SDOB with the proposed design criterion is applied to a linear motor driven stage and a voice motor driven stage, respectively. Experimental results consistently validate the effectiveness nature of the proposed SDOB scheme in practical mechatronics motion applications. The proposed SDOB design actually could be an effective unit in the controller design for motion stages of mechanical manufacture equipments.

Relative dynamics and motion control of nanosatellite formation flying

Science.gov (United States)

Pimnoo, Ammarin; Hiraki, Koju

2016-04-01

Orbit selection is a necessary factor in nanosatellite formation mission design/meanwhile, to keep the formation, it is necessary to consume fuel. Therefore, the best orbit design for nanosatellite formation flying should be one that requires the minimum fuel consumption. The purpose of this paper is to analyse orbit selection with respect to the minimum fuel consumption, to provide a convenient way to estimate the fuel consumption for keeping nanosatellite formation flying and to present a simplified method of formation control. The formation structure is disturbed by J2 gravitational perturbation and other perturbing accelerations such as atmospheric drag. First, Gauss' Variation Equations (GVE) are used to estimate the essential ΔV due to the J2 perturbation and atmospheric drag. The essential ΔV presents information on which orbit is good with respect to the minimum fuel consumption. Then, the linear equations which account for J2 gravitational perturbation of Schweighart-Sedwick are presented and used to estimate the fuel consumption to maintain the formation structure. Finally, the relative dynamics motion is presented as well as a simplified motion control of formation structure by using GVE.

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

Science.gov (United States)

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

2015-09-01

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

Optical motion control of maglev graphite.

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Kobayashi, Masayuki; Abe, Jiro

2012-12-26

Graphite has been known as a typical diamagnetic material and can be levitated in the strong magnetic field. Here we show that the magnetically levitating pyrolytic graphite can be moved in the arbitrary place by simple photoirradiation. It is notable that the optical motion control system described in this paper requires only NdFeB permanent magnets and light source. The optical movement is driven by photothermally induced changes in the magnetic susceptibility of the graphite. Moreover, we demonstrate that light energy can be converted into rotational kinetic energy by means of the photothermal property. We find that the levitating graphite disk rotates at over 200 rpm under the sunlight, making it possible to develop a new class of light energy conversion system.

Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models

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Yue Hu

2018-02-01

Full Text Available Bipedal locomotion remains one of the major open challenges of humanoid robotics. The common approaches are based on simple reduced model dynamics to generate walking trajectories, often neglecting the whole-body dynamics of the robots. As motions in nature are often considered as optimal with respect to certain criteria, in this work, we present an optimal control-based approach that allows us to generate optimized walking motions using a precise whole-body dynamic model of the robot, in contrast with the common approaches. The optimal control problem is formulated to minimize a set of desired objective functions with respect to physical constraints of the robot and contact constraints of the walking phases; the problem is then solved with a direct multiple shooting method. We apply the formulation with combinations of different objective criteria to the model of a reduced version of the iCub humanoid robot of 15 internal DOF. The obtained trajectories are executed on the real robot, and we carry out a discussion on the differences between the outcomes of this approach with the classic approaches.

Sound-contingent visual motion aftereffect

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Kobayashi Maori

2011-05-01

Full Text Available Abstract Background After a prolonged exposure to a paired presentation of different types of signals (e.g., color and motion, one of the signals (color becomes a driver for the other signal (motion. This phenomenon, which is known as contingent motion aftereffect, indicates that the brain can establish new neural representations even in the adult's brain. However, contingent motion aftereffect has been reported only in visual or auditory domain. Here, we demonstrate that a visual motion aftereffect can be contingent on a specific sound. Results Dynamic random dots moving in an alternating right or left direction were presented to the participants. Each direction of motion was accompanied by an auditory tone of a unique and specific frequency. After a 3-minutes exposure, the tones began to exert marked influence on the visual motion perception, and the percentage of dots required to trigger motion perception systematically changed depending on the tones. Furthermore, this effect lasted for at least 2 days. Conclusions These results indicate that a new neural representation can be rapidly established between auditory and visual modalities.

Study on characteristics of vertical strong motions

International Nuclear Information System (INIS)

Akao, Y.; Katukura, H.; Fukushima, S.; Mizutani, M.

1993-01-01

Statistic properties of vertical strong ground motions from near-field earthquakes are discussed in comparison with that of horizontal motions. It is a feature of this analysis that time history of each observed record is divided into direct P- and S-wave segments from a seismological viewpoint. Following results are obtained. Vertical motion energy excited by direct S-waves is about 0.6 times of horizontal ones at deep underground, and it approaches to 1.0 at shallow place. Horizontal motion energy excited by direct P-waves becomes 0.2 times (at deep) or more (at shallow) of vertical one. These results can be available in modeling of input motions for aseismic design. (author)

Design of Fuzzy Enhanced Hierarchical Motion Stabilizing Controller of Unmanned Ground Vehicle in Three DimensionalSpace

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Yue Ma

2011-12-01

Full Text Available In this paper, stabilizing control of tracked unmanned ground vehicle in 3-D space was presented. Firstly, models of major modules of tracked UGV were established. Next, to reveal the mechanism of disturbances applied on the UGV, two kinds of representative disturbances (slope and general disturbances in yaw motion were discussed in depth. Consequently, an attempting PID method was employed to compensate the impacts of disturbances andsimulation results proved the validity for disturbance incited by slope force, but revealed the lack for general disturbance on yaw motion. Finally, a hierarchical fuzzy controller combined with PID controller was proposed. In lower level, there were two PID controllers to compensate the disturbance of slope force, and on top level, the fuzzy logic controller was employed to correct the yaw motion error based on the differences between the model and the real UGV, which was able to guide the UGV maintain on the stable state. Simulation results demonstrated the excellent effectiveness of the newly designed controller.

Motion Normalized Proportional Control for Improved Pattern Recognition-Based Myoelectric Control.

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Scheme, Erik; Lock, Blair; Hargrove, Levi; Hill, Wendy; Kuruganti, Usha; Englehart, Kevin

2014-01-01

This paper describes two novel proportional control algorithms for use with pattern recognition-based myoelectric control. The systems were designed to provide automatic configuration of motion-specific gains and to normalize the control space to the user's usable dynamic range. Class-specific normalization parameters were calculated using data collected during classifier training and require no additional user action or configuration. The new control schemes were compared to the standard method of deriving proportional control using a one degree of freedom Fitts' law test for each of the wrist flexion/extension, wrist pronation/supination and hand close/open degrees of freedom. Performance was evaluated using the Fitts' law throughput value as well as more descriptive metrics including path efficiency, overshoot, stopping distance and completion rate. The proposed normalization methods significantly outperformed the incumbent method in every performance category for able bodied subjects (p < 0.001) and nearly every category for amputee subjects. Furthermore, one proposed method significantly outperformed both other methods in throughput (p < 0.0001), yielding 21% and 40% improvement over the incumbent method for amputee and able bodied subjects, respectively. The proposed control schemes represent a computationally simple method of fundamentally improving myoelectric control users' ability to elicit robust, and controlled, proportional velocity commands.

Attentional Networks and Biological Motion

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Chandramouli Chandrasekaran

2010-03-01

Full Text Available Our ability to see meaningful actions when presented with pointlight traces of human movement is commonly referred to as the perception of biological motion. While traditionalexplanations have emphasized the spontaneous and automatic nature of this ability, morerecent findings suggest that attention may play a larger role than is typically assumed. Intwo studies we show that the speed and accuracy of responding to point-light stimuli is highly correlated with the ability to control selective attention. In our first experiment we measured thresholds for determining the walking direction of a masked point-light figure, and performance on a range of attention-related tasks in the same set of observers. Mask-density thresholds for the direction discrimination task varied quite considerably from observer to observer and this variation was highly correlated with performance on both Stroop and flanker interference tasks. Other components of attention, such as orienting, alerting and visual search efficiency, showed no such relationship. In a second experiment, we examined the relationship between the ability to determine the orientation of unmasked point-light actions and Stroop interference, again finding a strong correlation. Our results are consistent with previous research suggesting that biological motion processing may requite attention, and specifically implicate networks of attention related to executive control and selection.

Neurons Responsive to Global Visual Motion Have Unique Tuning Properties in Hummingbirds.

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Gaede, Andrea H; Goller, Benjamin; Lam, Jessica P M; Wylie, Douglas R; Altshuler, Douglas L

2017-01-23

Neurons in animal visual systems that respond to global optic flow exhibit selectivity for motion direction and/or velocity. The avian lentiformis mesencephali (LM), known in mammals as the nucleus of the optic tract (NOT), is a key nucleus for global motion processing [1-4]. In all animals tested, it has been found that the majority of LM and NOT neurons are tuned to temporo-nasal (back-to-front) motion [4-11]. Moreover, the monocular gain of the optokinetic response is higher in this direction, compared to naso-temporal (front-to-back) motion [12, 13]. Hummingbirds are sensitive to small visual perturbations while hovering, and they drift to compensate for optic flow in all directions [14]. Interestingly, the LM, but not other visual nuclei, is hypertrophied in hummingbirds relative to other birds [15], which suggests enhanced perception of global visual motion. Using extracellular recording techniques, we found that there is a uniform distribution of preferred directions in the LM in Anna's hummingbirds, whereas zebra finch and pigeon LM populations, as in other tetrapods, show a strong bias toward temporo-nasal motion. Furthermore, LM and NOT neurons are generally classified as tuned to "fast" or "slow" motion [10, 16, 17], and we predicted that most neurons would be tuned to slow visual motion as an adaptation for slow hovering. However, we found the opposite result: most hummingbird LM neurons are tuned to fast pattern velocities, compared to zebra finches and pigeons. Collectively, these results suggest a role in rapid responses during hovering, as well as in velocity control and collision avoidance during forward flight of hummingbirds. Copyright © 2017 Elsevier Ltd. All rights reserved.

Motion of the esophagus due to cardiac motion.

Directory of Open Access Journals (Sweden)

Jacob Palmer

Full Text Available When imaging studies (e.g. CT are used to quantify morphological changes in an anatomical structure, it is necessary to understand the extent and source of motion which can give imaging artifacts (e.g. blurring or local distortion. The objective of this study was to assess the magnitude of esophageal motion due to cardiac motion. We used retrospective electrocardiogram-gated contrast-enhanced computed tomography angiography images for this study. The anatomic region from the carina to the bottom of the heart was taken at deep-inspiration breath hold with the patients' arms raised above their shoulders, in a position similar to that used for radiation therapy. The esophagus was delineated on the diastolic phase of cardiac motion, and deformable registration was used to sequentially deform the images in nearest-neighbor phases among the 10 cardiac phases, starting from the diastolic phase. Using the 10 deformation fields generated from the deformable registration, the magnitude of the extreme displacements was then calculated for each voxel, and the mean and maximum displacement was calculated for each computed tomography slice for each patient. The average maximum esophageal displacement due to cardiac motion for all patients was 5.8 mm (standard deviation: 1.6 mm, maximum: 10.0 mm in the transverse direction. For 21 of 26 patients, the largest esophageal motion was found in the inferior region of the heart; for the other patients, esophageal motion was approximately independent of superior-inferior position. The esophagus motion was larger at cardiac phases where the electrocardiogram R-wave occurs. In conclusion, the magnitude of esophageal motion near the heart due to cardiac motion is similar to that due to other sources of motion, including respiratory motion and intra-fraction motion. A larger cardiac motion will result into larger esophagus motion in a cardiac cycle.

The motion and control of a complex three-body space tethered system

Science.gov (United States)

Shi, Gefei; Zhu, Zhanxia; Chen, Shiyu; Yuan, Jianping; Tang, Biwei

2017-11-01

This paper is mainly devoted to investigating the dynamics and stability control of a three body-tethered satellite system which contains a main satellite and two subsatellites connected by two straight, massless and inextensible tethers. Firstly, a detailed mathematical model is established in the central gravitational field. Then, the dynamic characteristics of the established system are investigated and analyzed. Based on the dynamic analysis, a novel sliding mode prediction model (SMPM) control strategy is proposed to suppress the motion of the built tethered system. The numerical results show that the proposed underactuated control law is highly effective in suppressing the attitude/libration motion of the underactuated three-body tethered system. Furthermore, cases of different target angles are also examined and analyzed. The simulation results reveal that even if the final equilibrium states differ from different selections of the target angles, the whole system can still be maintained in acceptable areas.

Direct excitation of resonant torsional Alfven waves by footpoint motions

NARCIS (Netherlands)

Ruderman, M. S.; Berghmans, D.; Goossens, M.; Poedts, S.

1997-01-01

The present paper studies the heating of coronal loops by linear resonant Alfven waves that are excited by the motions of the photospheric footpoints of the magnetic field lines. The analysis is restricted to torsionally polarised footpoint motions in an axially symmetric system so that only

Neck motion, motor control, pain and disability: A longitudinal study of associations in neck pain patients in physiotherapy treatment.

Science.gov (United States)

Meisingset, Ingebrigt; Stensdotter, Ann-Katrin; Woodhouse, Astrid; Vasseljen, Ottar

2016-04-01

Neck pain is associated with several alterations in neck motion and motor control, but most of the findings are based on cross-sectional studies. The aim of this study was to investigate associations between changes in neck motion and motor control, and changes in neck pain and disability in physiotherapy patients during a course of treatment. Prospective cohort study. Subjects with non-specific neck pain (n = 71) participated in this study. Neck flexibility, joint position error (JPE), head steadiness, trajectory movement control and postural sway were recorded before commencement of physiotherapy (baseline), at 2 weeks, and at 2 months. Numerical Rating Scale and Neck Disability Index were used to measure neck pain and disability at the day of testing. To analyze within subjects effects in neck motion and motor control, neck pain, and disability over time we used fixed effects linear regression analysis. Changes in neck motion and motor control occurred primarily within 2 weeks. Reduction in neck pain was associated with increased cervical range of motion in flexion-/extension and increased postural sway when standing with eyes open. Decreased neck disability was associated with some variables for neck flexibility and trajectory movement control. Cervical range of motion in flexion-/extension was the only variable associated with changes in both neck pain and neck disability. This study shows that few of the variables for neck motion and motor control were associated with changes neck pain and disability over a course of 2 months with physiotherapy treatment. Copyright © 2015 Elsevier Ltd. All rights reserved.

Multimodal Perception and Multicriterion Control of Nested Systems. 1; Coordination of Postural Control and Vehicular Control

Science.gov (United States)

Riccio, Gary E.; McDonald, P. Vernon

1998-01-01

The purpose of this report is to identify the essential characteristics of goal-directed whole-body motion. The report is organized into three major sections (Sections 2, 3, and 4). Section 2 reviews general themes from ecological psychology and control-systems engineering that are relevant to the perception and control of whole-body motion. These themes provide an organizational framework for analyzing the complex and interrelated phenomena that are the defining characteristics of whole-body motion. Section 3 of this report applies the organization framework from the first section to the problem of perception and control of aircraft motion. This is a familiar problem in control-systems engineering and ecological psychology. Section 4 examines an essential but generally neglected aspect of vehicular control: coordination of postural control and vehicular control. To facilitate presentation of this new idea, postural control and its coordination with vehicular control are analyzed in terms of conceptual categories that are familiar in the analysis of vehicular control.

Direct Optimal Control of Duffing Dynamics

Science.gov (United States)

Oz, Hayrani; Ramsey, John K.

2002-01-01

The "direct control method" is a novel concept that is an attractive alternative and competitor to the differential-equation-based methods. The direct method is equally well applicable to nonlinear, linear, time-varying, and time-invariant systems. For all such systems, the method yields explicit closed-form control laws based on minimization of a quadratic control performance measure. We present an application of the direct method to the dynamics and optimal control of the Duffing system where the control performance measure is not restricted to a quadratic form and hence may include a quartic energy term. The results we present in this report also constitute further generalizations of our earlier work in "direct optimal control methodology." The approach is demonstrated for the optimal control of the Duffing equation with a softening nonlinear stiffness.

Extraction of Lateral-Directional Stability and Control Derivatives for the Basic F-18 Aircraft at High Angles of Attack

Science.gov (United States)

Iliff, Kenneth W.; Wang, Kon-Sheng Charles

1997-01-01

The results of parameter identification to determine the lateral-directional stability and control derivatives of an F-18 research aircraft in its basic hardware and software configuration are presented. The derivatives are estimated from dynamic flight data using a specialized identification program developed at NASA Dryden Flight Research Center. The formulation uses the linearized aircraft equations of motions in their continuous/discrete form and a maximum likelihood estimator that accounts for both state and measurement noise. State noise is used to model the uncommanded forcing function caused by unsteady aerodynamics, such as separated and vortical flows, over the aircraft. The derivatives are plotted as functions of angle of attack between 3 deg and 47 deg and compared with wind-tunnel predictions. The quality of the derivative estimates obtained by parameter identification is somewhat degraded because the maneuvers were flown with the aircraft's control augmentation system engaged, which introduced relatively high correlations between the control variables and response variables as a result of control motions from the feedback control system.

Multi-Objective Motion Control Optimization for the Bridge Crane System

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Renxin Xiao

2018-03-01

Full Text Available A novel control algorithm combining the linear quadratic regulator (LQR control and trajectory planning (TP is proposed for the control of an underactuated crane system, targeting position adjustment and swing suppression. The TP is employed to control the swing angle within certain constraints, and the LQR is applied to achieve anti-disturbance. In order to improve the accuracy of the position control, a differential-integral control loop is applied. The weighted LQR matrices representing priorities of the state variables for the bridge crane motion are searched by the multi-objective genetic algorithm (MOGA. The stability proof is provided in order to validate the effectiveness of the proposed algorithm. Numerous simulation and experimental validations justify the feasibility of the proposed method.

Deficient Biological Motion Perception in Schizophrenia: Results from a Motion Noise Paradigm

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Jejoong eKim

2013-07-01

Full Text Available Background: Schizophrenia patients exhibit deficient processing of perceptual and cognitive information. However, it is not well understood how basic perceptual deficits contribute to higher level cognitive problems in this mental disorder. Perception of biological motion, a motion-based cognitive recognition task, relies on both basic visual motion processing and social cognitive processing, thus providing a useful paradigm to evaluate the potentially hierarchical relationship between these two levels of information processing. Methods: In this study, we designed a biological motion paradigm in which basic visual motion signals were manipulated systematically by incorporating different levels of motion noise. We measured the performances of schizophrenia patients (n=21 and healthy controls (n=22 in this biological motion perception task, as well as in coherent motion detection, theory of mind, and a widely used biological motion recognition task. Results: Schizophrenia patients performed the biological motion perception task with significantly lower accuracy than healthy controls when perceptual signals were moderately degraded by noise. A more substantial degradation of perceptual signals, through using additional noise, impaired biological motion perception in both groups. Performance levels on biological motion recognition, coherent motion detection and theory of mind tasks were also reduced in patients. Conclusion: The results from the motion-noise biological motion paradigm indicate that in the presence of visual motion noise, the processing of biological motion information in schizophrenia is deficient. Combined with the results of poor basic visual motion perception (coherent motion task and biological motion recognition, the association between basic motion signals and biological motion perception suggests a need to incorporate the improvement of visual motion perception in social cognitive remediation.

Motion control of a gantry crane with a container

Science.gov (United States)

Shugailo, T. S.; Yushkov, M. P.

2018-05-01

The transportation of a container by a gantry crane in a given time from one point of space to another is considered. The system is at rest at the end of the motion. A maximum admissible speed is taken into account. The control force is found using either the Pontryagin maximum principle or the generalized Gauss principle. The advantages of the second method over the first one is demonstrated.

Algorithm for motion control of an exoskeleton during verticalization

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Jatsun Sergey

2016-01-01

Full Text Available This paper considers lower limb exoskeleton that performs sit-to-stand motion. The work is focused on the control system design. An application of a null space projection methods for solving inverse kinematics problem is discussed. An adaptive multi-input multi-output regulator for the system is presented with the motivation for that choice. Results of the simulation for different versions of the regulator are shown.

Convex optimisation approach to constrained fuel optimal control of spacecraft in close relative motion

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Massioni, Paolo; Massari, Mauro

2018-05-01

This paper describes an interesting and powerful approach to the constrained fuel-optimal control of spacecraft in close relative motion. The proposed approach is well suited for problems under linear dynamic equations, therefore perfectly fitting to the case of spacecraft flying in close relative motion. If the solution of the optimisation is approximated as a polynomial with respect to the time variable, then the problem can be approached with a technique developed in the control engineering community, known as "Sum Of Squares" (SOS), and the constraints can be reduced to bounds on the polynomials. Such a technique allows rewriting polynomial bounding problems in the form of convex optimisation problems, at the cost of a certain amount of conservatism. The principles of the techniques are explained and some application related to spacecraft flying in close relative motion are shown.

Control of nonholonomic systems from sub-Riemannian geometry to motion planning

CERN Document Server

Jean, Frédéric

2014-01-01

Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.

A Cable-Passive Damper System for Sway and Skew Motion Control of a Crane Spreader

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La Duc Viet

2015-01-01

Full Text Available While the crane control problem is often approached by applying a certain active control command to some parts of the crane, this paper proposes a cable-passive damper system to reduce the vibration of a four-cable suspended crane spreader. The residual sway and skew motions of a crane spreader always produce the angle deflections between the crane cables and the crane spreader. The idea in this paper is to convert those deflections into energy dissipated by the viscous dampers, which connect the cables and the spreader. The proposed damper system is effective in reducing spreader sway and skew motions. Moreover, the optimal damping coefficient can be found analytically by minimizing the time integral of system energy. The numerical simulations show that the proposed passive system can assist the input shaping control of the trolley motion in reducing both sway and skew responses.

Effects of Implied Motion and Facing Direction on Positional Preferences in Single-Object Pictures.

Science.gov (United States)

Palmer, Stephen E; Langlois, Thomas A

2017-07-01

Palmer, Gardner, and Wickens studied aesthetic preferences for pictures of single objects and found a strong inward bias: Right-facing objects were preferred left-of-center and left-facing objects right-of-center. They found no effect of object motion (people and cars showed the same inward bias as chairs and teapots), but the objects were not depicted as moving. Here we measured analogous inward biases with objects depicted as moving with an implied direction and speed by having participants drag-and-drop target objects into the most aesthetically pleasing position. In Experiment 1, human figures were shown diving or falling while moving forward or backward. Aesthetic biases were evident for both inward-facing and inward-moving figures, but the motion-based bias dominated so strongly that backward divers or fallers were preferred moving inward but facing outward. Experiment 2 investigated implied speed effects using images of humans, horses, and cars moving at different speeds (e.g., standing, walking, trotting, and galloping horses). Inward motion or facing biases were again present, and differences in their magnitude due to speed were evident. Unexpectedly, faster moving objects were generally preferred closer to frame center than slower moving objects. These results are discussed in terms of the combined effects of prospective, future-oriented biases, and retrospective, past-oriented biases.

Mitigation of ground motion effects in linear accelerators via feed-forward control

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J. Pfingstner

2014-12-01

Full Text Available Ground motion is a severe problem for many particle accelerators, since it excites beam oscillations, which decrease the beam quality and create beam-beam offset (at colliders. Orbit feedback systems can only compensate ground motion effects at frequencies significantly smaller than the beam repetition rate. In linear colliders, where the repetition rate is low, additional counter measures have to be put in place. For this reason, a ground motion mitigation method based on feed-forward control is presented in this paper. It has several advantages compared to other techniques (stabilization systems and intratrain feedback systems such as cost reduction and potential performance improvement. An analytical model is presented that allows the derivation of hardware specification and performance estimates for a specific accelerator and ground motion model. At the Accelerator Test Facility (ATF2, ground motion sensors have been installed to verify the feasibility of important parts of the mitigation strategy. In experimental studies, it has been shown that beam excitations due to ground motion can be predicted from ground motion measurements on a pulse-to-pulse basis. Correlations of up to 80% between the estimated and measured orbit jitter have been observed. Additionally, an orbit jitter source was identified and has been removed, which halved the orbit jitter power at ATF2 and shows that the feed-forward scheme is also very useful for the detection of installation issues. We believe that the presented mitigation method has the potential to reduce costs and improve the performance of linear colliders and potentially other linear accelerators.

Using unconstrained tongue motion as an alternative control mechanism for wheeled mobility.

Science.gov (United States)

Huo, Xueliang; Ghovanloo, Maysam

2009-06-01

Tongue drive system (TDS) is a tongue-operated, minimally invasive, unobtrusive, noncontact, and wireless assistive technology that infers users' intentions by detecting and classifying their voluntary tongue motions, and translating them to user-defined commands. We have developed customized interface circuitry between an external TDS (eTDS) prototype and a commercial powered wheelchair (PWC) as well as three control strategies to evaluate the tongue motion as an alternative control input for wheeled mobility. We tested the eTDS performance in driving PWCs on 12 able-bodied human subjects, of which 11 were novice. The results showed that all subjects could complete navigation tasks by operating the PWC using their tongue motions. Despite little prior experience, the average time using the eTDS and the tongue was only approximately three times longer than using a joystick and the fingers. Navigation time was strongly dependant on the number of issued commands, which reduced by gaining experience. Particularly, the unintended issued commands (the Midas touch problem) were rare, demonstrating the effectiveness of the tongue tracking and external magnetic field cancellation algorithms as well as the safety of the TDS for wheeled mobility.

Virtual reality-based assessment of basic laparoscopic skills using the Leap Motion controller.

Science.gov (United States)

Lahanas, Vasileios; Loukas, Constantinos; Georgiou, Konstantinos; Lababidi, Hani; Al-Jaroudi, Dania

2017-12-01

The majority of the current surgical simulators employ specialized sensory equipment for instrument tracking. The Leap Motion controller is a new device able to track linear objects with sub-millimeter accuracy. The aim of this study was to investigate the potential of a virtual reality (VR) simulator for assessment of basic laparoscopic skills, based on the low-cost Leap Motion controller. A simple interface was constructed to simulate the insertion point of the instruments into the abdominal cavity. The controller provided information about the position and orientation of the instruments. Custom tools were constructed to simulate the laparoscopic setup. Three basic VR tasks were developed: camera navigation (CN), instrument navigation (IN), and bimanual operation (BO). The experiments were carried out in two simulation centers: MPLSC (Athens, Greece) and CRESENT (Riyadh, Kingdom of Saudi Arabia). Two groups of surgeons (28 experts and 21 novices) participated in the study by performing the VR tasks. Skills assessment metrics included time, pathlength, and two task-specific errors. The face validity of the training scenarios was also investigated via a questionnaire completed by the participants. Expert surgeons significantly outperformed novices in all assessment metrics for IN and BO (p assessment of basic laparoscopic skills. The proposed system allowed the evaluation of dexterity of the hand movements. Future work will involve comparison studies with validated simulators and development of advanced training scenarios on current Leap Motion controller.

Interactions Controlling the Slow Dynamic Conformational Motions of Ubiquitin

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Soichiro Kitazawa

2017-08-01

Full Text Available Rational mutation of proteins based on their structural and dynamic characteristics is a useful strategy for amplifying specific fluctuations in proteins. Here, we show the effects of mutation on the conformational fluctuations and thermodynamic stability of ubiquitin. In particular, we focus on the salt bridge between K11 and E34 and the hydrogen bond between I36 and Q41, which are predicted to control the fluctuation between the basic folded state, N1, and the alternatively folded state, N2, of the protein, using high-pressure NMR spectroscopy. The E34A mutation, which disrupts the salt bridge, did not alter picosecond–to–nanosecond, microsecond–to–millisecond dynamic motions, and stability of the protein, while the Q41N mutation, which destabilizes the hydrogen bond, specifically amplified the N1–N2 conformational fluctuation and decreased stability. Based on the observed thermodynamic stabilities of the various conformational states, we showed that in the Q41N mutant, the N1 state is more significantly destabilized than the N2 state, resulting in an increase in the relative population of N2. Identifying the interactions controlling specific motions of a protein will facilitate molecular design to achieve functional dynamics beyond native state dynamics.

Wind speed and direction shears with associated vertical motion during strong surface winds

Science.gov (United States)

Alexander, M. B.; Camp, D. W.

1984-01-01

Strong surface winds recorded at the NASA 150-Meter Ground Winds Tower facility at Kennedy Space Center, Florida, are analyzed to present occurrences representative of wind shear and vertical motion known to be hazardous to the ascent and descent of conventional aircraft and the Space Shuttle. Graphical (percentage frequency distributions) and mathematical (maximum, mean, standard deviation) descriptions of wind speed and direction shears and associated updrafts and downdrafts are included as functions of six vertical layers and one horizontal distance for twenty 5-second intervals of parameters sampled simultaneously at the rate of ten per second during a period of high surface winds.

Mechatronic System Design and Intelligent Motion Control of Hydraulic Robots and Machines

DEFF Research Database (Denmark)

Conrad, Finn; Sørensen, Torben

2003-01-01

The paper presents an approach and concept to mechatronic system design and intelligent motion control. The Information Technology (IT) offers software and hardware for improvement of R&D Mechatronic Teams to create products and solutions for industrial applications. The latest progress in IT makes...... integration of an overall design and manufacturing IT- concept feasible and commercially attractive. An IT-tool concept for modelling, simulation and design of mechatronic products and systems is proposed in this paper. It built on results from a Danish mechatronic research program on intelligent motion...

Biomechanical energy harvesting from human motion: theory, state of the art, design guidelines, and future directions.

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Riemer, Raziel; Shapiro, Amir

2011-04-26

Biomechanical energy harvesting from human motion presents a promising clean alternative to electrical power supplied by batteries for portable electronic devices and for computerized and motorized prosthetics. We present the theory of energy harvesting from the human body and describe the amount of energy that can be harvested from body heat and from motions of various parts of the body during walking, such as heel strike; ankle, knee, hip, shoulder, and elbow joint motion; and center of mass vertical motion. We evaluated major motions performed during walking and identified the amount of work the body expends and the portion of recoverable energy. During walking, there are phases of the motion at the joints where muscles act as brakes and energy is lost to the surroundings. During those phases of motion, the required braking force or torque can be replaced by an electrical generator, allowing energy to be harvested at the cost of only minimal additional effort. The amount of energy that can be harvested was estimated experimentally and from literature data. Recommendations for future directions are made on the basis of our results in combination with a review of state-of-the-art biomechanical energy harvesting devices and energy conversion methods. For a device that uses center of mass motion, the maximum amount of energy that can be harvested is approximately 1 W per kilogram of device weight. For a person weighing 80 kg and walking at approximately 4 km/h, the power generation from the heel strike is approximately 2 W. For a joint-mounted device based on generative braking, the joints generating the most power are the knees (34 W) and the ankles (20 W). Our theoretical calculations align well with current device performance data. Our results suggest that the most energy can be harvested from the lower limb joints, but to do so efficiently, an innovative and light-weight mechanical design is needed. We also compared the option of carrying batteries to the

Illusory Motion Reproduced by Deep Neural Networks Trained for Prediction.

Science.gov (United States)

Watanabe, Eiji; Kitaoka, Akiyoshi; Sakamoto, Kiwako; Yasugi, Masaki; Tanaka, Kenta

2018-01-01

The cerebral cortex predicts visual motion to adapt human behavior to surrounding objects moving in real time. Although the underlying mechanisms are still unknown, predictive coding is one of the leading theories. Predictive coding assumes that the brain's internal models (which are acquired through learning) predict the visual world at all times and that errors between the prediction and the actual sensory input further refine the internal models. In the past year, deep neural networks based on predictive coding were reported for a video prediction machine called PredNet. If the theory substantially reproduces the visual information processing of the cerebral cortex, then PredNet can be expected to represent the human visual perception of motion. In this study, PredNet was trained with natural scene videos of the self-motion of the viewer, and the motion prediction ability of the obtained computer model was verified using unlearned videos. We found that the computer model accurately predicted the magnitude and direction of motion of a rotating propeller in unlearned videos. Surprisingly, it also represented the rotational motion for illusion images that were not moving physically, much like human visual perception. While the trained network accurately reproduced the direction of illusory rotation, it did not detect motion components in negative control pictures wherein people do not perceive illusory motion. This research supports the exciting idea that the mechanism assumed by the predictive coding theory is one of basis of motion illusion generation. Using sensory illusions as indicators of human perception, deep neural networks are expected to contribute significantly to the development of brain research.

P1-17: Pseudo-Haptics Using Motion-in-Depth Stimulus and Second-Order Motion Stimulus

Directory of Open Access Journals (Sweden)

Shuichi Sato

2012-10-01

Full Text Available Modification of motion of the computer cursor during the manipulation by the observer evokes illusory haptic sensation (Lecuyer et al., 2004 ACM SIGCHI '04 239–246. This study investigates the pseudo-haptics using motion-in-depth and second-order motion. A stereoscopic display and a PHANTOM were used in the first experiment. A subject was asked to move a visual target at a constant speed in horizontal, vertical, or front-back direction. During the manipulation, the speed was reduced to 50% for 500 msec. The haptic sensation was measured using the magnitude estimation method. The result indicates that perceived haptic sensation from motion-in-depth was about 30% of that from horizontal or vertical motion. A 2D display and the PHANTOM were used in the second experiment. The motion cue was second order—in each frame, dots in a square patch reverses in contrast (i.e., all black dots become white and all white dots become black. The patch was moved in a horizontal direction. The result indicates that perceived haptic sensation from second-order motion was about 90% of that from first-order motion.

Autonomous vehicle motion control, approximate maps, and fuzzy logic

Science.gov (United States)

Ruspini, Enrique H.

1993-01-01

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

The wrinkle-like N-solitons for the thermophoretic motion equation through graphene sheets

Science.gov (United States)

Ma, Yu-Lan; Li, Bang-Qing

2018-03-01

The main work is focused on the thermophoretic motion equation, which was derived from wrinkle wave motions in substrate-supported graphene sheets. Via the bilinear method, a class of wrinkle-like N-soliton solutions is constructed. The one-soliton, two-soliton and three-soliton are observed graphically. The shape, amplitude, open direction and width of the N-solitons are controllable through certain parameters.

Alterations to global but not local motion processing in long-term ecstasy (MDMA) users.

Science.gov (United States)

White, Claire; Brown, John; Edwards, Mark

2014-07-01

Growing evidence indicates that the main psychoactive ingredient in the illegal drug "ecstasy" (methylendioxymethamphetamine) causes reduced activity in the serotonin and gamma-aminobutyric acid (GABA) systems in humans. On the basis of substantial serotonin input to the occipital lobe, recent research investigated visual processing in long-term users and found a larger magnitude of the tilt aftereffect, interpreted to reflect broadened orientation tuning bandwidths. Further research found higher orientation discrimination thresholds and reduced long-range interactions in the primary visual area of ecstasy users. The aim of the present research was to investigate whether serotonin-mediated V1 visual processing deficits in ecstasy users extend to motion processing mechanisms. Forty-five participants (21 controls, 24 drug users) completed two psychophysical studies: A direction discrimination study directly measured local motion processing in V1, while a motion coherence task tested global motion processing in area V5/MT. "Primary" ecstasy users (n = 18), those without substantial polydrug use, had significantly lower global motion thresholds than controls [p = 0.027, Cohen's d = 0.78 (large)], indicating increased sensitivity to global motion stimuli, but no difference in local motion processing (p = 0.365). These results extend on previous research investigating the long-term effects of illicit drugs on visual processing. Two possible explanations are explored: defuse attentional processes may be facilitating spatial pooling of motion signals in users. Alternatively, it may be that a GABA-mediated disruption to V5/MT processing is reducing spatial suppression and therefore improving global motion perception in ecstasy users.

Wideband Motion Control by Position and Acceleration Input Based Disturbance Observer

Science.gov (United States)

Irie, Kouhei; Katsura, Seiichiro; Ohishi, Kiyoshi

The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required to have ability to contact with unknown environment. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration response by the second order derivative of position response, the bandwidth is limited due to the derivative noise. This paper proposes a novel structure of a disturbance observer. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1Hz to more than 1kHz. To cover DC range, the conventional position sensor based disturbance observer is integrated. Thus, the performance of the proposed Position and Acceleration input based disturbance observer (PADO) is superior to the conventional one. The PADO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.

Adaptive neural network motion control for aircraft under uncertainty conditions

Science.gov (United States)

Efremov, A. V.; Tiaglik, M. S.; Tiumentsev, Yu V.

2018-02-01

We need to provide motion control of modern and advanced aircraft under diverse uncertainty conditions. This problem can be solved by using adaptive control laws. We carry out an analysis of the capabilities of these laws for such adaptive systems as MRAC (Model Reference Adaptive Control) and MPC (Model Predictive Control). In the case of a nonlinear control object, the most efficient solution to the adaptive control problem is the use of neural network technologies. These technologies are suitable for the development of both a control object model and a control law for the object. The approximate nature of the ANN model was taken into account by introducing additional compensating feedback into the control system. The capabilities of adaptive control laws under uncertainty in the source data are considered. We also conduct simulations to assess the contribution of adaptivity to the behavior of the system.

The ribosome structure controls and directs mRNA entry, translocation and exit dynamics

International Nuclear Information System (INIS)

Kurkcuoglu, Ozge; Doruker, Pemra; Jernigan, Robert L; Sen, Taner Z; Kloczkowski, Andrzej

2008-01-01

The protein-synthesizing ribosome undergoes large motions to effect the translocation of tRNAs and mRNA; here, the domain motions of this system are explored with a coarse-grained elastic network model using normal mode analysis. Crystal structures are used to construct various model systems of the 70S complex with/without tRNA, elongation factor Tu and the ribosomal proteins. Computed motions reveal the well-known ratchet-like rotational motion of the large subunits, as well as the head rotation of the small subunit and the high flexibility of the L1 and L7/L12 stalks, even in the absence of ribosomal proteins. This result indicates that these experimentally observed motions during translocation are inherently controlled by the ribosomal shape and only partially dependent upon GTP hydrolysis. Normal mode analysis further reveals the mobility of A- and P-tRNAs to increase in the absence of the E-tRNA. In addition, the dynamics of the E-tRNA is affected by the absence of the ribosomal protein L1. The mRNA in the entrance tunnel interacts directly with helicase proteins S3 and S4, which constrain the mRNA in a clamp-like fashion, as well as with protein S5, which likely orients the mRNA to ensure correct translation. The ribosomal proteins S7, S11 and S18 may also be involved in assuring translation fidelity by constraining the mRNA at the exit site of the channel. The mRNA also interacts with the 16S 3' end forming the Shine–Dalgarno complex at the initiation step; the 3' end may act as a 'hook' to reel in the mRNA to facilitate its exit

Combined Flux Observer With Signal Injection Enhancement for Wide Speed Range Sensorless Direct Torque Control of IPMSM Drives

DEFF Research Database (Denmark)

Blaabjerg, Frede; Andreescu, G.-D.; Pitic, C.I.

2008-01-01

voltage-current model with PI compensator for low-speed operations. As speed increases, the observer switches gradually to a PI compensated closed-loop voltage model, which is solely used at high speeds. High-frequency rotating-voltage injection with a single D-module bandpass vector filter and a phase......This paper proposes a motion-sensorless control system using direct torque control with space vector modulation for interior permanent magnet synchronous motor (IPMSM) drives, for wide speed range operation, including standstill. A novel stator flux observer with variable structure uses a combined...

Design and motion control of bioinspired humanoid robot head from servo motors toward artificial muscles

Science.gov (United States)

Almubarak, Yara; Tadesse, Yonas

2017-04-01

The potential applications of humanoid robots in social environments, motivates researchers to design, and control biomimetic humanoid robots. Generally, people are more interested to interact with robots that have similar attributes and movements to humans. The head is one of most important part of any social robot. Currently, most humanoid heads use electrical motors, pneumatic actuators, and shape memory alloy (SMA) actuators for actuation. Electrical and pneumatic actuators take most of the space and would cause unsmooth motions. SMAs are expensive to use in humanoids. Recently, in many robotic projects, Twisted and Coiled Polymer (TCP) artificial muscles are used as linear actuators which take up little space compared to the motors. In this paper, we will demonstrate the designing process and motion control of a robotic head with TCP muscles. Servo motors and artificial muscles are used for actuating the head motion, which have been controlled by a cost efficient ARM Cortex-M7 based development board. A complete comparison between the two actuators is presented.

Pitching motion control of a butterfly-like 3D flapping wing-body model

Science.gov (United States)

Suzuki, Kosuke; Minami, Keisuke; Inamuro, Takaji

2014-11-01

Free flights and a pitching motion control of a butterfly-like flapping wing-body model are numerically investigated by using an immersed boundary-lattice Boltzmann method. The model flaps downward for generating the lift force and backward for generating the thrust force. Although the model can go upward against the gravity by the generated lift force, the model generates the nose-up torque, consequently gets off-balance. In this study, we discuss a way to control the pitching motion by flexing the body of the wing-body model like an actual butterfly. The body of the model is composed of two straight rigid rod connected by a rotary actuator. It is found that the pitching angle is suppressed in the range of +/-5° by using the proportional-plus-integral-plus-derivative (PID) control for the input torque of the rotary actuator.

Distance and Azimuthal Dependence of Ground‐Motion Variability for Unilateral Strike‐Slip Ruptures

KAUST Repository

Vyas, Jagdish Chandra

2016-06-21

We investigate near‐field ground‐motion variability by computing the seismic wavefield for five kinematic unilateral‐rupture models of the 1992 Mw 7.3 Landers earthquake, eight simplified unilateral‐rupture models based on the Landers event, and a large Mw 7.8 ShakeOut scenario. We include the geometrical fault complexity and consider different 1D velocity–density profiles for the Landers simulations and a 3D heterogeneous Earth structure for the ShakeOut scenario. For the Landers earthquake, the computed waveforms are validated using strong‐motion recordings. We analyze the simulated ground‐motion data set in terms of distance and azimuth dependence of peak ground velocity (PGV). Our simulations reveal that intraevent ground‐motion variability Graphic is higher in close distances to the fault (<20  km) and decreases with increasing distance following a power law. This finding is in stark contrast to constant sigma‐values used in empirical ground‐motion prediction equations. The physical explanation of a large near‐field Graphic is the presence of strong directivity and rupture complexity. High values of Graphic occur in the rupture‐propagation direction, but small values occur in the direction perpendicular to it. We observe that the power‐law decay of Graphic is primarily controlled by slip heterogeneity. In addition, Graphic, as function of azimuth, is sensitive to variations in both rupture speed and slip heterogeneity. The azimuth dependence of the ground‐motion mean μln(PGV) is well described by a Cauchy–Lorentz function that provides a novel empirical quantification to model the spatial dependency of ground motion. Online Material: Figures of slip distributions, residuals to ground‐motion prediction equations (GMPEs), distance and azimuthal dependence, and directivity predictor of ground‐motion variability for different source models.

Relationships between clubshaft motions and clubface orientation during the golf swing.

Science.gov (United States)

Takagi, Tokio; Yokozawa, Toshiharu; Inaba, Yuki; Matsuda, Yuji; Shiraki, Hitoshi

2017-09-01

Since clubface orientation at impact affects ball direction and ball spin, the ability to control clubface orientation is one of the most important skills for golfers. This study presents a new method to describe clubface orientation as a function of the clubshaft motions (i.e., swing plane orientation, clubshaft angle in the swing plane, and clubshaft rolling angle) during a golf swing and investigates the relationships between the clubshaft motions and clubface orientation at impact. The club motion data of driver shots were collected from eight skilled golfers using a three-dimensional motion capture system. The degrees of influence of the clubshaft motions on the clubface orientation were investigated using sensitivity analysis. The sensitivity analysis revealed that the swing plane horizontal angle affected the clubface horizontal angle to an extent of 100%, that the clubshaft angle in the swing plane affected both the clubface vertical and horizontal angles to extents of 74 and 68%, respectively, and that the clubshaft rolling angle affected both the clubface vertical and horizontal angles to extents of -67 and 75%, respectively. Since the method presented here relates clubface orientation to clubshaft motions, it is useful for understanding the clubface control of a golfer.

Attention and apparent motion.

Science.gov (United States)

Horowitz, T; Treisman, A

1994-01-01

Two dissociations between short- and long-range motion in visual search are reported. Previous research has shown parallel processing for short-range motion and apparently serial processing for long-range motion. This finding has been replicated and it has also been found that search for short-range targets can be impaired both by using bicontrast stimuli, and by prior adaptation to the target direction of motion. Neither factor impaired search in long-range motion displays. Adaptation actually facilitated search with long-range displays, which is attributed to response-level effects. A feature-integration account of apparent motion is proposed. In this theory, short-range motion depends on specialized motion feature detectors operating in parallel across the display, but subject to selective adaptation, whereas attention is needed to link successive elements when they appear at greater separations, or across opposite contrasts.

Focal spot motion of linear accelerators and its effect on portal image analysis

International Nuclear Information System (INIS)

Sonke, Jan-Jakob; Brand, Bob; Herk, Marcel van

2003-01-01

The focal spot of a linear accelerator is often considered to have a fully stable position. In practice, however, the beam control loop of a linear accelerator needs to stabilize after the beam is turned on. As a result, some motion of the focal spot might occur during the start-up phase of irradiation. When acquiring portal images, this motion will affect the projected position of anatomy and field edges, especially when low exposures are used. In this paper, the motion of the focal spot and the effect of this motion on portal image analysis are quantified. A slightly tilted narrow slit phantom was placed at the isocenter of several linear accelerators and images were acquired (3.5 frames per second) by means of an amorphous silicon flat panel imager positioned ∼0.7 m below the isocenter. The motion of the focal spot was determined by converting the tilted slit images to subpixel accurate line spread functions. The error in portal image analysis due to focal spot motion was estimated by a subtraction of the relative displacement of the projected slit from the relative displacement of the field edges. It was found that the motion of the focal spot depends on the control system and design of the accelerator. The shift of the focal spot at the start of irradiation ranges between 0.05-0.7 mm in the gun-target (GT) direction. In the left-right (AB) direction the shift is generally smaller. The resulting error in portal image analysis due to focal spot motion ranges between 0.05-1.1 mm for a dose corresponding to two monitor units (MUs). For 20 MUs, the effect of the focal spot motion reduces to 0.01-0.3 mm. The error in portal image analysis due to focal spot motion can be reduced by reducing the applied dose rate

Perceived state of self during motion can differentially modulate numerical magnitude allocation.

Science.gov (United States)

Arshad, Q; Nigmatullina, Y; Roberts, R E; Goga, U; Pikovsky, M; Khan, S; Lobo, R; Flury, A-S; Pettorossi, V E; Cohen-Kadosh, R; Malhotra, P A; Bronstein, A M

2016-09-01

Although a direct relationship between numerical allocation and spatial attention has been proposed, recent research suggests that these processes are not directly coupled. In keeping with this, spatial attention shifts induced either via visual or vestibular motion can modulate numerical allocation in some circumstances but not in others. In addition to shifting spatial attention, visual or vestibular motion paradigms also (i) elicit compensatory eye movements which themselves can influence numerical processing and (ii) alter the perceptual state of 'self', inducing changes in bodily self-consciousness impacting upon cognitive mechanisms. Thus, the precise mechanism by which motion modulates numerical allocation remains unknown. We sought to investigate the influence that different perceptual experiences of motion have upon numerical magnitude allocation while controlling for both eye movements and task-related effects. We first used optokinetic visual motion stimulation (OKS) to elicit the perceptual experience of either 'visual world' or 'self'-motion during which eye movements were identical. In a second experiment, we used a vestibular protocol examining the effects of perceived and subliminal angular rotations in darkness, which also provoked identical eye movements. We observed that during the perceptual experience of 'visual world' motion, rightward OKS-biased judgments towards smaller numbers, whereas leftward OKS-biased judgments towards larger numbers. During the perceptual experience of 'self-motion', judgments were biased towards larger numbers irrespective of the OKS direction. Contrastingly, vestibular motion perception was found not to modulate numerical magnitude allocation, nor was there any differential modulation when comparing 'perceived' vs. 'subliminal' rotations. We provide a novel demonstration that numerical magnitude allocation can be differentially modulated by the perceptual state of self during visual but not vestibular mediated motion

Fractional order differentiation and robust control design crone, h-infinity and motion control

CERN Document Server

Sabatier, Jocelyn; Melchior, Pierre; Oustaloup, Alain

2015-01-01

This monograph collates the past decade’s work on fractional models and fractional systems in the fields of analysis, robust control and path tracking. Themes such as PID control, robust path tracking design and motion control methodologies involving fractional differentiation are amongst those explored. It juxtaposes recent theoretical results at the forefront in the field, and applications that can be used as exercises that will help the reader to assimilate the proposed methodologies. The first part of the book deals with fractional derivative and fractional model definitions, as well as recent results for stability analysis, fractional model physical interpretation, controllability, and H-infinity norm computation. It also presents a critical point of view on model pseudo-state and “real state”, tackling the problem of fractional model initialization. Readers will find coverage of PID, Fractional PID and robust control in the second part of the book, which rounds off with an extension of H-infinity ...

Replication of Non-Trivial Directional Motion in Multi-Scales Observed by the Runs Test

Science.gov (United States)

Yura, Yoshihiro; Ohnishi, Takaaki; Yamada, Kenta; Takayasu, Hideki; Takayasu, Misako

Non-trivial autocorrelation in up-down statistics in financial market price fluctuation is revealed by a multi-scale runs test(Wald-Wolfowitz test). We apply two models, a stochastic price model and dealer model to understand this property. In both approaches we successfully reproduce the non-stationary directional price motions consistent with the runs test by tuning parameters in the models. We find that two types of dealers exist in the markets, a short-time-scale trend-follower and an extended-time-scale contrarian who are active in different time periods.

Robust Control and Motion Planning for Nonlinear Underactuated Systems Using H infinity Techniques

National Research Council Canada - National Science Library

Toussaint, Gregory

2000-01-01

This thesis presents new techniques for planning and robustly controlling the motion of nonlinear underactuated vehicles when disturbances are present and only imperfect state measurements are available for feedback...

Voltage Sags Ride-Through of Motion Sensorless Controlled PMSG for Wind Turbines

DEFF Research Database (Denmark)

Fatu, Marius; Lascu, Cristian; Andreescu, Gheorghe-Daniel

2007-01-01

This paper describes a variable-speed motion-sensorless permanent magnet synchronous generator (PMSG) control system for wind energy generation. The proposed system contains a PMSG connected to the grid by a back-to-back PWM inverter with bidirectional power flow, a line filter, and a transformer....... The control system employs PI current controllers with crosscoupling decoupling for both inverters, an active power controller, and a DC link voltage controller. The PMSG rotor speed without using emf integration, and the line voltage frequency are estimated by two PLL based observers. A Dmodule filter...

Simulating control rod and fuel assembly motion using moving meshes

Energy Technology Data Exchange (ETDEWEB)

Gilbert, D. [Department of Electrical and Computer Engineering, McMaster University, 1280 Main Street West, Hamilton Ontario, L8S 4K1 (Canada)], E-mail: gilbertdw1@gmail.com; Roman, J.E. [Departamento de Sistemas Informaticos y Computacion, Universidad Politecnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain); Garland, Wm. J. [Department of Engineering Physics, McMaster University, 1280 Main Street West, Hamilton Ontario, L8S 4K1 (Canada); Poehlman, W.F.S. [Department of Computing and Software, McMaster University, 1280 Main Street West, Hamilton Ontario, L8S 4K1 (Canada)

2008-02-15

A prerequisite for designing a transient simulation experiment which includes the motion of control and fuel assemblies is the careful verification of a steady state model which computes k{sub eff} versus assembly insertion distance. Previous studies in nuclear engineering have usually approached the problem of the motion of control rods with the use of nonlinear nodal models. Nodal methods employ special approximations for the leading and trailing cells of the moving assemblies to avoid the rod cusping problem which results from the naive volume weighted cell cross-section approximation. A prototype framework called the MOOSE has been developed for modeling moving components in the presence of diffusion phenomena. A linear finite difference model is constructed, solutions for which are computed by SLEPc, a high performance parallel eigenvalue solver. Design techniques for the implementation of a patched non-conformal mesh which links groups of sub-meshes that can move relative to one another are presented. The generation of matrices which represent moving meshes which conserve neutron current at their boundaries, and the performance of the framework when applied to model reactivity insertion experiments is also discussed.

Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction

Directory of Open Access Journals (Sweden)

Fei Wang

2010-01-01

Full Text Available To study amputee-prosthesis (AP interaction, a novel reconfigurable biped robot was designed and fabricated. In homogeneous configuration, two identical artificial legs (ALs were used to simulate the symmetrical lower limbs of a healthy person. Linear inverted pendulum model combining with ZMP stability criterion was used to generate the gait trajectories of ALs. To acquire interjoint coordination for healthy gait, rate gyroscopes were mounted on CoGs of thigh and shank of both legs. By employing principal component analysis, the measured angular velocities were processed and the motion synergy was obtained in the final. Then, one of two ALs was replaced by a bionic leg (BL, and the biped robot was changed into heterogeneous configuration to simulate the AP coupling system. To realize symmetrical stable walking, master/slave coordinated control strategy is proposed. According to information acquired by gyroscopes, BL recognized the motion intention of AL and reconstructed its kinematic variables based on interjoint coordination. By employing iterative learning control, gait tracking of BL to AL was archived. Real environment robot walking experiments validated the correctness and effectiveness of the proposed scheme.

The research of the coupled orbital-attitude controlled motion of celestial body in the neighborhood of the collinear libration point L1

Science.gov (United States)

Shmyrov, A.; Shmyrov, V.; Shymanchuk, D.

2017-10-01

This article considers the motion of a celestial body within the restricted three-body problem of the Sun-Earth system. The equations of controlled coupled attitude-orbit motion in the neighborhood of collinear libration point L1 are investigated. The translational orbital motion of a celestial body is described using Hill's equations of circular restricted three-body problem of the Sun-Earth system. Rotational orbital motion is described using Euler's dynamic equations and quaternion kinematic equation. We investigate the problem of stability of celestial body rotational orbital motion in relative equilibrium positions and stabilization of celestial body rotational orbital motion with proposed control laws in the neighborhood of collinear libration point L1. To study stabilization problem, Lyapunov function is constructed in the form of the sum of the kinetic energy and special "kinematic function" of the Rodriguez-Hamiltonian parameters. Numerical modeling of the controlled rotational motion of a celestial body at libration point L1 is carried out. The numerical characteristics of the control parameters and rotational motion are given.

Direct observation of X-ray induced atomic motion using scanning tunneling microscope combined with synchrotron radiation.

Science.gov (United States)

Saito, Akira; Tanaka, Takehiro; Takagi, Yasumasa; Hosokawa, Hiromasa; Notsu, Hiroshi; Ohzeki, Gozo; Tanaka, Yoshihito; Kohmura, Yoshiki; Akai-Kasaya, Megumi; Ishikawa, Tetsuya; Kuwahara, Yuji; Kikuta, Seishi; Aono, Masakazu

2011-04-01

X-ray induced atomic motion on a Ge(111)-c(2 x 8) clean surface at room temperature was directly observed with atomic resolution using a synchrotron radiation (SR)-based scanning tunneling microscope (STM) system under ultra high vacuum condition. The atomic motion was visualized as a tracking image by developing a method to merge the STM images before and after X-ray irradiation. Using the tracking image, the atomic mobility was found to be strongly affected by defects on the surface, but was not dependent on the incident X-ray energy, although it was clearly dependent on the photon density. The atomic motion can be attributed to surface diffusion, which might not be due to core-excitation accompanied with electronic transition, but a thermal effect by X-ray irradiation. The crystal surface structure was possible to break even at a lower photon density than the conventionally known barrier. These results can alert X-ray studies in the near future about sample damage during measurements, while suggesting the possibility of new applications. Also the obtained results show a new availability of the in-situ SR-STM system.

Quality control of structural MRI images applied using FreeSurfer - a hands-on workflow to rate motion artifacts

Directory of Open Access Journals (Sweden)

Lea Luise Backhausen

2016-12-01

Full Text Available In structural magnetic resonance imaging motion artifacts are common, especially when not scanning healthy young adults. It has been shown that motion affects the analysis with automated image-processing techniques (e.g. FreeSurfer. This can bias results. Several developmental and adult studies have found reduced volume and thickness of gray matter due to motion artifacts. Thus, quality control is necessary in order to ensure an acceptable level of quality and to define exclusion criteria of images (i.e. determine participants with most severe artifacts. However, information about the quality control workflow and image exclusion procedure is largely lacking in the current literature and the existing rating systems differ. Here we propose a stringent workflow of quality control steps during and after acquisition of T1-weighted images, which enables researchers dealing with populations that are typically affected by motion artifacts to enhance data quality and maximize sample sizes. As an underlying aim we established a thorough quality control rating system for T1-weighted images and applied it to the analysis of developmental clinical data using the automated processing pipeline FreeSurfer. This hands-on workflow and quality control rating system will aid researchers in minimizing motion artifacts in the final data set, and therefore enhance the quality of structural magnetic resonance imaging studies.

A Biological Micro Actuator: Graded and Closed-Loop Control of Insect Leg Motion by Electrical Stimulation of Muscles

Science.gov (United States)

Cao, Feng; Zhang, Chao; Vo Doan, Tat Thang; Li, Yao; Sangi, Daniyal Haider; Koh, Jie Sheng; Huynh, Ngoc Anh; Aziz, Mohamed Fareez Bin; Choo, Hao Yu; Ikeda, Kazuo; Abbeel, Pieter; Maharbiz, Michel M.; Sato, Hirotaka

2014-01-01

In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle) via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage) required to elicit leg motions was approximately 1.0 V; thus, we fixed the stimulation amplitude at 1.5 V to ensure a muscle response. The leg motions were finely graded by alternation of the stimulation frequencies: higher stimulation frequencies elicited larger leg angular displacement. A closed-loop control system was then developed, where the stimulation frequency was the manipulated variable for leg-muscle stimulation (output from the final control element to the leg muscle) and the angular displacement of the leg motion was the system response. This closed-loop control system, with an optimized proportional gain and update time, regulated the leg to set at predetermined angular positions. The average electrical stimulation power consumption per muscle group was 148 µW. These findings related to and demonstrations of the leg motion control offer promise for the future development of a reliable, low-power, biological legged machine (i.e., an insect–machine hybrid legged robot). PMID:25140875

A biological micro actuator: graded and closed-loop control of insect leg motion by electrical stimulation of muscles.

Directory of Open Access Journals (Sweden)

Feng Cao

Full Text Available In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage required to elicit leg motions was approximately 1.0 V; thus, we fixed the stimulation amplitude at 1.5 V to ensure a muscle response. The leg motions were finely graded by alternation of the stimulation frequencies: higher stimulation frequencies elicited larger leg angular displacement. A closed-loop control system was then developed, where the stimulation frequency was the manipulated variable for leg-muscle stimulation (output from the final control element to the leg muscle and the angular displacement of the leg motion was the system response. This closed-loop control system, with an optimized proportional gain and update time, regulated the leg to set at predetermined angular positions. The average electrical stimulation power consumption per muscle group was 148 µW. These findings related to and demonstrations of the leg motion control offer promise for the future development of a reliable, low-power, biological legged machine (i.e., an insect-machine hybrid legged robot.

ANALYSIS OF PERTURBED MOTION STABILITY OF WHEELER VEHICLES BRAKES CONTROL SYSTEM

Directory of Open Access Journals (Sweden)

V. Verbytskiyi

2011-01-01

Full Text Available The analysis of the perturbed motion stability of the brake automatic control system on the basis of Lyapunov’s second method is carried out. Using transformations of Lurie there has been ob-tained the canonical form of the system of equations of automatic control. It allowed determining the necessary and sufficient conditions of the asymptotic stability of the system irrespective of its initial condition and a definite choice of the admissible characteristic of the regulator.

Illusory Motion Reproduced by Deep Neural Networks Trained for Prediction

Directory of Open Access Journals (Sweden)

Eiji Watanabe

2018-03-01

Full Text Available The cerebral cortex predicts visual motion to adapt human behavior to surrounding objects moving in real time. Although the underlying mechanisms are still unknown, predictive coding is one of the leading theories. Predictive coding assumes that the brain's internal models (which are acquired through learning predict the visual world at all times and that errors between the prediction and the actual sensory input further refine the internal models. In the past year, deep neural networks based on predictive coding were reported for a video prediction machine called PredNet. If the theory substantially reproduces the visual information processing of the cerebral cortex, then PredNet can be expected to represent the human visual perception of motion. In this study, PredNet was trained with natural scene videos of the self-motion of the viewer, and the motion prediction ability of the obtained computer model was verified using unlearned videos. We found that the computer model accurately predicted the magnitude and direction of motion of a rotating propeller in unlearned videos. Surprisingly, it also represented the rotational motion for illusion images that were not moving physically, much like human visual perception. While the trained network accurately reproduced the direction of illusory rotation, it did not detect motion components in negative control pictures wherein people do not perceive illusory motion. This research supports the exciting idea that the mechanism assumed by the predictive coding theory is one of basis of motion illusion generation. Using sensory illusions as indicators of human perception, deep neural networks are expected to contribute significantly to the development of brain research.

Image quality of cone beam CT on respiratory motion

International Nuclear Information System (INIS)

Zhang Ke; Li Minghui; Dai Jianrong; Wang Shi

2011-01-01

In this study,the influence of respiratory motion on Cone Beam CT (CBCT) image quality was investigated by a motion simulating platform, an image quality phantom, and a kV X-ray CBCT. A total of 21 motion states in the superior-inferior direction and the anterior-posterior direction, separately or together, was simulated by considering different respiration amplitudes, periods and hysteresis. The influence of motion on CBCT image quality was evaluated with the quality indexes of low contrast visibility, geometric accuracy, spatial resolution and uniformity of CT values. The results showed that the quality indexes were affected by the motion more prominently in AP direction than in SI direction, and the image quality was affected by the respiration amplitude more prominently than the respiration period and the hysteresis. The CBCT image quality and its characteristics influenced by the respiration motion, and may be exploited in finding solutions. (authors)

Robotics-based synthesis of human motion

KAUST Repository

Khatib, O.; Demircan, E.; De Sapio, V.; Sentis, L.; Besier, T.; Delp, S.

2009-01-01

The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.

Robotics-based synthesis of human motion

KAUST Repository

Khatib, O.

2009-05-01

The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.

An evaluation of control rod motion simulator of research reactor

International Nuclear Information System (INIS)

Sanda

2010-01-01

Motion simulator for rod control research reactor has been carried out using a servo motor. Reactor rod motion control at any point should be in the right position, one of the motors that can move in a precise and correct is the servo motor. To ensure that the servo motor to move in accordance with the desired program, then the servo motor function test should be carried out to ensure having good performance. Tests carried out on meshes stress disorder, the load is stable within a certain period and travel time safety control rod up and down, travel time regulating control rods up and down and travel time compensation control rods up and down. In testing the breakdown voltage V out nets at 24 V, 6.5 A with 12 Q load deviation obtained V0= V1 = 0.1% and 0.65% and for the stability of the load in a certain time deviation V = 0.7125% , next to the breakdown voltage V out nets at 12 V, 4.2 A with a 6 Q load deviation obtained V0= V1 = 0.275% and 1.158% for the stability of the load in a certain time deviation V = 1.463% and the net-voltage noise nets on V out 24 V, 4.5 A with 12 Q load deviation obtained V0 = V1 = 0.196% and 0.496% and for the stability of the load in a certain time deviation V = 0.3625%. While the travel time of a safety control rod up and down, up and down the regulator and compensation rise and fall showed a steady linear graph. The results show that the performance of the servo motor is very stable with the working area below the tolerance limit, it is 5% - 10%.(author)

Spatially localized motion aftereffect disappears faster from awareness when selectively attended to according to its direction.

Science.gov (United States)

Murd, Carolina; Bachmann, Talis

2011-05-25

In searching for the target-afterimage patch among spatially separate alternatives of color-afterimages the target fades from awareness before its competitors (Bachmann, T., & Murd, C. (2010). Covert spatial attention in search for the location of a color-afterimage patch speeds up its decay from awareness: Introducing a method useful for the study of neural correlates of visual awareness. Vision Research 50, 1048-1053). In an analogous study presented here we show that a similar effect is obtained when a target spatial location specified according to the direction of motion aftereffect within it is searched by covert top-down attention. The adverse effect of selective attention on the duration of awareness of sensory qualiae known earlier to be present for color and periodic spatial contrast is extended also to sensory channels carrying motion information. Copyright © 2011 Elsevier Ltd. All rights reserved.

I-F starting method with smooth transition to EMF based motion-sensorless vector control of PM synchronous motor/generator

DEFF Research Database (Denmark)

Blaabjerg, Frede; Teodorescu, Remus; Fatu, M.

2008-01-01

This paper proposes a novel hybrid motion- sensorless control system for permanent magnet synchronous motors (PMSM) using a new robust start-up method called I-f control, and a smooth transition to emf-based vector control. The I-f method is based on separate control of id, iq currents with the r......This paper proposes a novel hybrid motion- sensorless control system for permanent magnet synchronous motors (PMSM) using a new robust start-up method called I-f control, and a smooth transition to emf-based vector control. The I-f method is based on separate control of id, iq currents......-adaptive compensator to eliminate dc-offset and phase-delay. Digital simulations for PMSM start-up with full load torque are presented for different initial rotor-positions. The transitions from I-f to emf motion-sensorless vector control and back as well, at very low-speeds, are fully validated by experimental...

Electrophysiological correlates of learning-induced modulation of visual motion processing in humans

Directory of Open Access Journals (Sweden)

Viktor Gál

2010-01-01

Full Text Available Training on a visual task leads to increased perceptual and neural responses to visual features that were attended during training as well as decreased responses to neglected distractor features. However, the time course of these attention-based modulations of neural sensitivity for visual features has not been investigated before. Here we measured event related potentials (ERP in response to motion stimuli with different coherence levels before and after training on a speed discrimination task requiring object-based attentional selection of one of the two competing motion stimuli. We found that two peaks on the ERP waveform were modulated by the strength of the coherent motion signal; the response amplitude associated with motion directions that were neglected during training was smaller than the response amplitude associated with motion directions that were attended during training. The first peak of motion coherence-dependent modulation of the ERP responses was at 300 ms after stimulus onset and it was most pronounced over the occipitotemporal cortex. The second peak was around 500 ms and was focused over the parietal cortex. A control experiment suggests that the earlier motion coherence-related response modulation reflects the extraction of the coherent motion signal whereas the later peak might index accumulation and readout of motion signals by parietal decision mechanisms. These findings suggest that attention-based learning affects neural responses both at the sensory and decision processing stages.

Direct comparison of in vivo versus postmortem second-order motion-compensated cardiac diffusion tensor imaging.

Science.gov (United States)

Stoeck, Christian T; von Deuster, Constantin; Fleischmann, Thea; Lipiski, Miriam; Cesarovic, Nikola; Kozerke, Sebastian

2018-04-01

To directly compare in vivo versus postmortem second-order motion-compensated spin-echo diffusion tensor imaging of the porcine heart. Second-order motion-compensated spin-echo cardiac diffusion tensor imaging was performed during systolic contraction in vivo and repeated upon cardiac arrest by bariumchloride without repositioning of the study animal or replaning of imaging slices. In vivo and postmortem reproducibility was assessed by repeat measurements. Comparison of helix, transverse, and sheet (E2A) angulation as well as mean diffusivity and fractional anisotropy was performed. Intraclass correlation coefficients for repeated measurements (postmortem/in vivo) were 0.95/0.96 for helix, 0.70/0.66 for transverse, and 0.79/0.72 for E2A angulation; 0.83/0.72 for mean diffusivity; and 0.78/0.76 for fractional anisotropy. The corresponding 95% levels of agreement across the left ventricle were: helix 14 to 18°/12 to 15°, transverse 9 to 10°/10 to 11°, E2A 15 to 20°/16 to 18°. The 95% levels of agreement across the left ventricle for the comparison of postmortem versus in vivo were 20 to 22° for helix, 13 to 19° for transverse, and 24 to 31° for E2A angulation. Parameters derived from in vivo second-order motion-compensated spin-echo diffusion tensor imaging agreed well with postmortem imaging, indicating sufficient suppression of motion-induced signal distortions of in vivo cardiac diffusion tensor imaging. Magn Reson Med 79:2265-2276, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

Integration Method of Emphatic Motions and Adverbial Expressions with Scalar Parameters for Robotic Motion Coaching System

Science.gov (United States)

Okuno, Keisuke; Inamura, Tetsunari

A robotic coaching system can improve humans' learning performance of motions by intelligent usage of emphatic motions and adverbial expressions according to user reactions. In robotics, however, method to control both the motions and the expressions and how to bind them had not been adequately discussed from an engineering point of view. In this paper, we propose a method for controlling and binding emphatic motions and adverbial expressions by using two scalar parameters in a phase space. In the phase space, variety of motion patterns and verbal expressions are connected and can be expressed as static points. We show the feasibility of the proposing method through experiments of actual sport coaching tasks for beginners. From the results of participants' improvements in motion learning, we confirmed the feasibility of the methods to control and bind emphatic motions and adverbial expressions, as well as confirmed contribution of the emphatic motions and positive correlation of adverbial expressions for participants' improvements in motion learning. Based on the results, we introduce a hypothesis that individually optimized method for binding adverbial expression is required.

Vestibular Stimulation for ADHD: Randomized Controlled Trial of Comprehensive Motion Apparatus

Science.gov (United States)

Clark, David L.; Arnold, L. Eugene; Crowl, Lindsay; Bozzolo, Hernan; Peruggia, Mario; Ramadan, Yaser; Bornstein, Robert; Hollway, Jill A.; Thompson, Susan; Malone, Krista; Hall, Kristy L.; Shelton, Sara B.; Bozzolo, Dawn R.; Cook, Amy