WorldWideScience

Sample records for dynamic anti-plane sliding

  1. Dynamic Interaction of Interfacial Point Source Loading and Cylinder in an Elastic Quarter with Anti-plane Shear

    Science.gov (United States)

    Chun, Gao; Hui, Qi; Nan, Pan Xiang; Bo, Zhao Yuan

    2017-07-01

    Theoretical steady state solution of a semi-circular cylinder impacted by an anti-plane point loading in a vertical bound of an elastic quarter is formulated in this paper through using image method and wave function expansion series. The elastic quarter is extended as a half space, and the semi-circular interfacial cylinder is extended as a circular cylinder. Displacement field is constructed as series of Fourier-Hankel and Fourier-Bessel wave functions. At last, circular boundary is expanded as Fourier series to determine coefficients of wave function. Numerical results show that material parameters have two widely divergent effects on the radial and circumferential dynamic stress distribution.

  2. Loading dynamics of a sliding DNA clamp.

    KAUST Repository

    Cho, Won-Ki

    2014-05-22

    Sliding DNA clamps are loaded at a ss/dsDNA junction by a clamp loader that depends on ATP binding for clamp opening. Sequential ATP hydrolysis results in closure of the clamp so that it completely encircles and diffuses on dsDNA. We followed events during loading of an E. coli β clamp in real time by using single-molecule FRET (smFRET). Three successive FRET states were retained for 0.3 s, 0.7 s, and 9 min: Hydrolysis of the first ATP molecule by the γ clamp loader resulted in closure of the clamp in 0.3 s, and after 0.7 s in the closed conformation, the clamp was released to diffuse on the dsDNA for at least 9 min. An additional single-molecule polarization study revealed that the interfacial domain of the clamp rotated in plane by approximately 8° during clamp closure. The single-molecule polarization and FRET studies thus revealed the real-time dynamics of the ATP-hydrolysis-dependent 3D conformational change of the β clamp during loading at a ss/dsDNA junction.

  3. Loading dynamics of a sliding DNA clamp.

    Science.gov (United States)

    Cho, Won-Ki; Jergic, Slobodan; Kim, Daehyung; Dixon, Nicholas E; Lee, Jong-Bong

    2014-06-23

    Sliding DNA clamps are loaded at a ss/dsDNA junction by a clamp loader that depends on ATP binding for clamp opening. Sequential ATP hydrolysis results in closure of the clamp so that it completely encircles and diffuses on dsDNA. We followed events during loading of an E. coli β clamp in real time by using single-molecule FRET (smFRET). Three successive FRET states were retained for 0.3 s, 0.7 s, and 9 min: Hydrolysis of the first ATP molecule by the γ clamp loader resulted in closure of the clamp in 0.3 s, and after 0.7 s in the closed conformation, the clamp was released to diffuse on the dsDNA for at least 9 min. An additional single-molecule polarization study revealed that the interfacial domain of the clamp rotated in plane by approximately 8° during clamp closure. The single-molecule polarization and FRET studies thus revealed the real-time dynamics of the ATP-hydrolysis-dependent 3D conformational change of the β clamp during loading at a ss/dsDNA junction. © 2014 The Authors. Published by Wiley-VCH Verlag GmbH & Co. KGaA. This is an open access article under the terms of the Creative Commons Attribution Non-Commercial NoDerivs License, which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made.

  4. Sliding time of flight: sliding time of flight MR angiography using a dynamic image reconstruction method.

    Science.gov (United States)

    Choi, Joonsung; Seo, Hyunseok; Lim, Yongwan; Han, Yeji; Park, HyunWook

    2015-03-01

    To obtain three-dimensional (3D) MR angiography having high contrast between vessel and stationary background tissue, a novel technique called sliding time of flight (TOF) is proposed. The proposed method relies on the property that flow-related enhancement (FRE) is maximized at the blood-entering slice in an imaging slab. For the proposed sliding TOF, a sliding stack-of-stars sampling and a dynamic MR image reconstruction algorithm were developed. To verify the performance of the proposed method, in vivo study was performed and the results were compared with multiple overlapping thin 3D slab acquisition (MOTSA) and sliding interleaved ky (SLINKY). In MOTSA and SLINKY, the variation of FRE resulted in severe venetian blind (MOTSA) or ghost (SLINKY) artifacts, while the vessel-contrast increased as the flip angle of radiofrequency (RF) pulses increased. On the other hand, the proposed method could provide high-contrast angiograms with reduced FRE-related artifacts. The sliding TOF can provide 3D angiography without image artifacts even if high flip angle RF pulses with thick slab excitation are used. Although remains of subsampling artifacts can be present in the reconstructed images, they can be reduced by MIP operation and resolved further by regularization techniques. © 2014 Wiley Periodicals, Inc.

  5. Sliding Adhesion Dynamics of Isolated Gecko Setal Arrays

    Science.gov (United States)

    Sponberg, Simon; Autumn, Kellar

    2003-03-01

    The tokay gecko (Gekko gecko) can adhere to nearly any surface through van der Waals interactions of the specialized setae (b-keratin "hairs") of its toe pads. Our recent research has suggested that a gecko is substantially overbuilt for static adhesion requiring as little as 0.03of its theoretical adhesive capacity. We performed the first sliding adhesion experiments on this novel biological adhesive to determine its response to dynamic loading. We isolated arrays of setae and constructed a precision controlled Robo-toe to study sliding effects. Our results indicate that, unlike many typical adhesives, gecko setal arrays exhibit an increased frictional force upon sliding (mk > ms) which further increases with velocity, suggesting that perturbation rejection may be an evolutionary design principle underlying the evolution of the gecko adhesive. We compare these dynamic properties with those of other adhesives and explore the impacts of these results on the design of artificial adhesives.

  6. Nonlinear dynamics of a sliding beam on two supports under ...

    Indian Academy of Sciences (India)

    Abstract. This study deals with the nonlinear dynamics associated with large deformation of a beam sliding on two-knife edge supports under external excitation. The beam is referred to as a Gospodnetic–Frisch-Fay beam, after the researchers who reported its static deformation in closed form. The freedom of the beam to ...

  7. Dynamic stiffness of suction caissons - torsion, sliding and rocking

    Energy Technology Data Exchange (ETDEWEB)

    Ibsen, Lars Bo; Liingaard, M.; Andersen, Lars

    2006-12-15

    This report concerns the dynamic soil-structure interaction of steel suction caissons applied as foundations for offshore wind turbines. An emphasis is put on torsional vibrations and coupled sliding/rocking motion, and the influence of the foundation geometry and the properties of the surrounding soil is examined. The soil is simplified as a homogenous linear viscoelastic material and the dynamic stiffness of the suction caisson is expressed in terms of dimensionless frequency-dependent coefficients corresponding to the different degrees of freedom. The dynamic stiffness coefficients for the skirted foundation are evaluated by means of a three-dimensional coupled boundary element/finite element model. Comparisons with known analytical and numerical solutions indicate that the static and dynamic behaviour of the foundation are predicted accurately with the applied model. The analysis has been carried out for different combinations of the skirt length and the Poisson's ratio of the subsoil. Finally, the high-frequency impedance has been determined for future use in lumped-parameter models of wind turbine foundations in aero-elastic codes. (au)

  8. Static and dynamic friction in sliding colloidal monolayers.

    Science.gov (United States)

    Vanossi, Andrea; Manini, Nicola; Tosatti, Erio

    2012-10-09

    In a pioneer experiment, Bohlein et al. realized the controlled sliding of two-dimensional colloidal crystals over laser-generated periodic or quasi-periodic potentials. Here we present realistic simulations and arguments that besides reproducing the main experimentally observed features give a first theoretical demonstration of the potential impact of colloid sliding in nanotribology. The free motion of solitons and antisolitons in the sliding of hard incommensurate crystals is contrasted with the soliton-antisoliton pair nucleation at the large static friction threshold F(s) when the two lattices are commensurate and pinned. The frictional work directly extracted from particles' velocities can be analyzed as a function of classic tribological parameters, including speed, spacing, and amplitude of the periodic potential (representing, respectively, the mismatch of the sliding interface and the corrugation, or "load"). These and other features suggestive of further experiments and insights promote colloid sliding to a unique friction study instrument.

  9. Dynamic strain measurements in a sliding microstructured contact

    International Nuclear Information System (INIS)

    Bennewitz, Roland; David, Jonathan; Lannoy, Charles-Francois de; Drevniok, Benedict; Hubbard-Davis, Paris; Miura, Takashi; Trichtchenko, Olga

    2008-01-01

    A novel experiment is described which measures the tangential strain development across the contact between a PDMS (polydimethylsiloxane) block and a glass surface during the initial stages of sliding. The surface of the PDMS block has been microfabricated to take the form of a regular array of pyramidal tips at 20 μm separation. Tangential strain is measured by means of light scattering from the interface between the block and surface. Three phases are observed in all experiments: initial shear deformation of the whole PDMS block, a pre-sliding tangential compression of the tip array with stepwise increase of the compressive strain, and sliding in stick-slip movements as revealed by periodic variation of the strain. The stick-slip sliding between the regular tip array and the randomly rough counter surface always takes on the periodicity of the tip array. The fast slip can cause either a sudden increase or a sudden decrease in compressive strain

  10. Sliding dynamics on ultrafine grained Al-6 wt % Mg made by equal channel single pressing

    Science.gov (United States)

    Filippov, A. V.; Tarasov, S. Yu.; Podgornykh, O. A.; Chazov, P. A.; Shamarin, N. N.; Filippova, E. O.

    2017-12-01

    The effect of ECAP pass number on wear, microhardness and tribological dynamic behavior of UFG Al- 6 wt % Mg alloy has been studied. The UFG Al-6 wt % Mg samples demonstrated higher wear resistance after 4 and 8 ECAP passes as compared to as-received alloys state. The dynamics of sliding and loudness level generated in sliding showed moderate increase of vibrations and noise on ECAP UFG samples.

  11. Dynamic Calibration and Verification Device of Measurement System for Dynamic Characteristic Coefficients of Sliding Bearing

    Science.gov (United States)

    Chen, Runlin; Wei, Yangyang; Shi, Zhaoyang; Yuan, Xiaoyang

    2016-01-01

    The identification accuracy of dynamic characteristics coefficients is difficult to guarantee because of the errors of the measurement system itself. A novel dynamic calibration method of measurement system for dynamic characteristics coefficients is proposed in this paper to eliminate the errors of the measurement system itself. Compared with the calibration method of suspension quality, this novel calibration method is different because the verification device is a spring-mass system, which can simulate the dynamic characteristics of sliding bearing. The verification device is built, and the calibration experiment is implemented in a wide frequency range, in which the bearing stiffness is simulated by the disc springs. The experimental results show that the amplitude errors of this measurement system are small in the frequency range of 10 Hz–100 Hz, and the phase errors increase along with the increasing of frequency. It is preliminarily verified by the simulated experiment of dynamic characteristics coefficients identification in the frequency range of 10 Hz–30 Hz that the calibration data in this frequency range can support the dynamic characteristics test of sliding bearing in this frequency range well. The bearing experiments in greater frequency ranges need higher manufacturing and installation precision of calibration device. Besides, the processes of calibration experiments should be improved. PMID:27483283

  12. Nonlinear dynamics of a sliding beam on two supports under ...

    Indian Academy of Sciences (India)

    The beam is referred to as a Gospodnetic–Frisch-Fay beam, after the researchers who reported its static deformation in closed form. The freedom of the beam to slide on its supports imparts a nonlinear characteristic to the force-deflection response. The restoring elastic force of the beam possesses characteristics similar to ...

  13. Slide 1

    Indian Academy of Sciences (India)

    Table of contents. Slide 1 · Slide 2 · Slide 3 · Slide 4 · Slide 5 · Slide 6 · Slide 7 · Slide 8 · Slide 9 · Slide 10 · Slide 11 · Slide 12 · Slide 13 · Slide 14 · Slide 15 · Slide 16 · Slide 17.

  14. Slide 1

    Indian Academy of Sciences (India)

    Click here to start. Table of contents. Slide 1 · Slide 2 · Slide 3 · Slide 4 · Slide 5 · Slide 6 · Slide 7 · Slide 8 · Slide 9 · Slide 10 · Slide 11 · Slide 12 · Slide 13 · Slide 14 · Slide 15 · Slide 16 · Slide 17.

  15. Slide 1

    Indian Academy of Sciences (India)

    Table of contents. Slide 1 · Slide 2 · Membrane Phospholipids · Slide 4 · NAE and NAPE · Biological and Pharmacological properties · Slide 7 · Slide 8 · Slide 9 · Slide 10 · Slide 11 · Slide 12 · Slide 13 · Slide 14 · Slide 15 · Slide 16 · Slide 17 · Slide 18 · Slide 19 · Slide 20 · Slide 21 · Slide 22 · Slide 23 · Slide 24 · Slide 25.

  16. Slide 1

    Indian Academy of Sciences (India)

    Table of contents. Slide 1 · Slide 2 · Slide 3 · Slide 4 · Slide 5 · Slide 6 · Slide 7 · Immunology of VL · Slide 9 · Slide 10 · Slide 11 · Slide 12 · Slide 13 · Slide 14 · Strategies To Design Drugs · Slide 16 · Slide 17 · Slide 18 · Slide 19 · Slide 20 · Slide 21 · Slide 22 · Slide 23 · Slide 24 · Slide 25 · Slide 26 · Slide 27 · Slide 28.

  17. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

    Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

  18. The Thermohydrodynamic Analysis of Sliding Bearing High-Speed Motorized Spindle by Rotor Dynamic

    Directory of Open Access Journals (Sweden)

    Li Songsheng

    2017-01-01

    Full Text Available This is paper presents thermohydrodynamic characteristics of high speed motorized spindle sliding bearing rotor system. The dynamic characteristic of the oil film bearing is affected by temperature increment, thereby affecting the high-speed spindle rotor system dynamics. This study applied the hydrodynamic lubrication theory, the influence of temperature on the viscosity of lubricating oil, associated with the bearing stiffness, oil film damping and other performance parameters, is considered in generalized Reynolds equation of oil film bearing. The theoretical model of the sliding bearing rotor system is established by using the transfer matrix method to analyze the dynamic characteristic and verified by experiments. The results show the high temperature environment in the motorized spindle and the friction of the bearing lead to oil temperature rise and viscosity reduction, which influences the bearing capacity, stiffness and damping, hence impact on the critical speeds and modal shapes of the sliding bearing rotor system.

  19. Slide 1

    Indian Academy of Sciences (India)

    Slide 5 · Slide 6 · Second Question How Did this Shift in ToT Come About? Slide 8 · Second Question How Did this Shift in ToT Come About? Slide 10 · Slide 11 · Slide 12 · Slide 13 · Slide 14 · Slide 15 · Slide 17 · Slide 20 · Slide 21 · Slide 22 · Slide 23 · Slide 24 · Slide 25 · Slide 26 · Slide 27 · Slide 30 · India's Globalization.

  20. Study about the influence of cavitation on the dynamic characteristics for the sliding bearing

    International Nuclear Information System (INIS)

    Zhai, L M; Luo, Y Y; Wang, Z W

    2015-01-01

    Sliding bearings are employed to support the rotor system and limit the vibration amplitude. In high speed rotor system, cavitation often occurs in the oil film and affects the dynamic characteristics of the sliding bearing greatly. In this paper, numerical method is adopted to simulate the cavitation in the oil film with homogeneous two-phase mixture flow using Singhal-et-al cavitation model in the commercial code FLUENT-solver. Cases without cavitation model were also calculated at the same time. Many computations with different frequency ratios were conducted. Then the rotor dynamic characteristics of the sliding bearing were retrieved. The results show that the cavitation has great influences on the pressure distribution in the oil film. As the rotational speed or whirling speed of the journal increases, the cavitation will become prominent. The dynamic coefficients of the bearing such as stiffness and damping with cavitation model considered are quite different from that without cavitation. So it is worth to pay attention to and do further study about the cavitation in the sliding bearing in the high speed rotor system

  1. Slide 1

    Indian Academy of Sciences (India)

    Table of contents. Slide 1 · Matsyagandhya A case of genetic disorder · Slide 3 · Slide 4 · Slide 5 · Slide 6 · Slide 7 · Active Site with Molybdopterin Ligation · Disadvantage of a Chemist to Model the Cofactor · Slide 10 · Slide 11 · Slide 12 · Active Site Investigation · Slide 14 · Slide 15 · Slide 16 · Slide 17 · Slide 18 · Slide 19.

  2. Slide 1

    Indian Academy of Sciences (India)

    Slide 25 · Life course epidemiology and chronic diseases · Models · Slide 28 · Slide 29 · Slide 30 · New Delhi Birth Cohort · New Delhi Birth Cohort (NDBC) · Slide 33 · Slide 34 · Slide 35 · Slide 36 · Slide 37 · Slide 38 · Slide 39 · CONCLUSIONS Urban Children and Adolescents · CONCLUSIONS New Delhi Birth Cohort.

  3. Adaptive Sliding Mode Control of Dynamic Systems Using Double Loop Recurrent Neural Network Structure.

    Science.gov (United States)

    Fei, Juntao; Lu, Cheng

    2018-04-01

    In this paper, an adaptive sliding mode control system using a double loop recurrent neural network (DLRNN) structure is proposed for a class of nonlinear dynamic systems. A new three-layer RNN is proposed to approximate unknown dynamics with two different kinds of feedback loops where the firing weights and output signal calculated in the last step are stored and used as the feedback signals in each feedback loop. Since the new structure has combined the advantages of internal feedback NN and external feedback NN, it can acquire the internal state information while the output signal is also captured, thus the new designed DLRNN can achieve better approximation performance compared with the regular NNs without feedback loops or the regular RNNs with a single feedback loop. The new proposed DLRNN structure is employed in an equivalent controller to approximate the unknown nonlinear system dynamics, and the parameters of the DLRNN are updated online by adaptive laws to get favorable approximation performance. To investigate the effectiveness of the proposed controller, the designed adaptive sliding mode controller with the DLRNN is applied to a -axis microelectromechanical system gyroscope to control the vibrating dynamics of the proof mass. Simulation results demonstrate that the proposed methodology can achieve good tracking property, and the comparisons of the approximation performance between radial basis function NN, RNN, and DLRNN show that the DLRNN can accurately estimate the unknown dynamics with a fast speed while the internal states of DLRNN are more stable.

  4. Dynamic modeling and Super-Twisting Sliding Mode Control for Tethered Space Robot

    Science.gov (United States)

    Zhao, Yakun; Huang, Panfeng; Zhang, Fan

    2018-02-01

    Recent years, tethered space capturing systems have been considered as one of the most promising solutions for active space debris removal due to the increasing threat of space debris to spacecraft and astronauts. In this paper, one of the tethered space capturing systems, Tethered Space Robot (TSR), is investigated. TSR includes a space platform, a space tether, and a gripper as the terminal device. Based on the assumptions that the platform and the gripper are point masses and the tether is rigid, inextensible and remaining straight, the dynamic model of TSR is presented, in which the disturbances from space environment is considered. According to the previous study, the in-plane and out-of-plane angles of the tether oscillate periodically although the tether is released to the desired length. A super-twisting adaptive sliding mode control scheme is designed for TSR to eliminate the vibration of the tether to assure a successful capture in station-keeping phase. Both uncontrolled and controlled situations are simulated. The simulation results show that the proposed controller is effective. Additionally, after comparing with normal sliding mode control algorithm, it is verified that the proposed control scheme can avoid the chattering of normal sliding mode control and is robust for unknown boundary perturbations.

  5. Sliding Mode Control for Mass Moment Aerospace Vehicles Using Dynamic Inversion Approach

    Directory of Open Access Journals (Sweden)

    Xiao-Yu Zhang

    2013-01-01

    Full Text Available The moving mass actuation technique offers significant advantages over conventional aerodynamic control surfaces and reaction control systems, because the actuators are contained entirely within the airframe geometrical envelope. Modeling, control, and simulation of Mass Moment Aerospace Vehicles (MMAV utilizing moving mass actuators are discussed. Dynamics of the MMAV are separated into two parts on the basis of the two time-scale separation theory: the dynamics of fast state and the dynamics of slow state. And then, in order to restrain the system chattering and keep the track performance of the system by considering aerodynamic parameter perturbation, the flight control system is designed for the two subsystems, respectively, utilizing fuzzy sliding mode control approach. The simulation results describe the effectiveness of the proposed autopilot design approach. Meanwhile, the chattering phenomenon that frequently appears in the conventional variable structure systems is also eliminated without deteriorating the system robustness.

  6. Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

    Directory of Open Access Journals (Sweden)

    Zool H. Ismail

    2015-01-01

    Full Text Available The main goal in developing closed loop control system for an Autonomous Underwater Vehicle (AUV is to make a robust vehicle from natural and exogenous perturbations such as wind, wave, and ocean currents. However a well-known robust control, for instance, Sliding Mode Controller (SMC, gives a chattering effect and it influences the stability of an AUV. Furthermore, some researchers combined other controls to get better result but it tends to present long computational time and causes large energy consumption. Thus, this paper proposed a Super Twisting Sliding Mode Controller (STSMC with dynamic region concept for an AUV. STSMC or a second order SMC is adopted as a robust controller which is free from chattering effect. Meanwhile, the implementation of dynamic region is useful to reduce the energy usage. As a result, the proposed controller obtains global asymptotic stability which is validated by using Lyapunov-like function. Moreover, some simulations present the efficiency of proposed controller. In conclusion, STSMC with region based control is effective to be applied for the robust tracking of an AUV. It contributes to give a fast response when handling the perturbations, short computational time, and low energy demand.

  7. Estimation of the shear force in transverse dynamic force microscopy using a sliding mode observer

    Directory of Open Access Journals (Sweden)

    Thang Nguyen

    2015-09-01

    Full Text Available In this paper, the problem of estimating the shear force affecting the tip of the cantilever in a Transverse Dynamic Force Microscope (TDFM using a real-time implementable sliding mode observer is addressed. The behaviour of a vertically oriented oscillated cantilever, in close proximity to a specimen surface, facilitates the imaging of the specimen at nano-metre scale. Distance changes between the cantilever tip and the specimen can be inferred from the oscillation amplitudes, but also from the shear force acting at the tip. Thus, the problem of accurately estimating the shear force is of significance when specimen images and mechanical properties need to be obtained at submolecular precision. A low order dynamic model of the cantilever is derived using the method of lines, for the purpose of estimating the shear force. Based on this model, an estimator using sliding mode techniques is presented to reconstruct the unknown shear force, from only tip position measurements and knowledge of the excitation signal applied to the top of the cantilever. Comparisons to methods assuming a quasi-static harmonic balance are made.

  8. Slide 1

    Indian Academy of Sciences (India)

    Patterned Surfaces: DEVICES: Opto-electronics, OLEDs, MEMS, Solar cells, micro-fluidics, sensors, biological platforms · Slide 5 · Slide 6 · Slide 7 · Slide 8 · Slide 9 · Slide 10 · Slide 11 · Slide 12 · Slide 13 · Slide 14 · Faster & finer Dewetting under water-organic Mix · Enhanced dewetting: Pattern Length scales · Controlling ...

  9. Slide 1

    Indian Academy of Sciences (India)

    Table of contents. Slide 1 · Potency of Stem Cells · Slide 3 · Slide 4 · Slide 5 · World Wide Clinical trials using MSCs · Slide 7 · Bone Marrow derived Human MSCs (hMSC) in culture · Slide 9 · Slide 10 · Slide 11 · Slide 12 · Slide 13 · Fetal MSCs · Morphology of murine fetal heart derived stem cells (fHSCs) · Growth Kinetics of ...

  10. Dynamic Analysis and Adaptive Sliding Mode Controller for a Chaotic Fractional Incommensurate Order Financial System

    Science.gov (United States)

    Hajipour, Ahmad; Tavakoli, Hamidreza

    2017-12-01

    In this study, the dynamic behavior and chaos control of a chaotic fractional incommensurate-order financial system are investigated. Using well-known tools of nonlinear theory, i.e. Lyapunov exponents, phase diagrams and bifurcation diagrams, we observe some interesting phenomena, e.g. antimonotonicity, crisis phenomena and route to chaos through a period doubling sequence. Adopting largest Lyapunov exponent criteria, we find that the system yields chaos at the lowest order of 2.15. Next, in order to globally stabilize the chaotic fractional incommensurate order financial system with uncertain dynamics, an adaptive fractional sliding mode controller is designed. Numerical simulations are used to demonstrate the effectiveness of the proposed control method.

  11. Global fast dynamic terminal sliding mode control for a quadrotor UAV.

    Science.gov (United States)

    Xiong, Jing-Jing; Zhang, Guo-Bao

    2017-01-01

    A control method based on global fast dynamic terminal sliding mode control (TSMC) technique is proposed to design the flight controller for performing the finite-time position and attitude tracking control of a small quadrotor UAV. Firstly, the dynamic model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. Secondly, the dynamic flight controllers of the quadrotor are formulated based on global fast dynamic TSMC, which is able to guarantee that the position and velocity tracking errors of all system state variables converge to zero in finite-time. Moreover, the global fast dynamic TSMC is also able to eliminate the chattering phenomenon caused by the switching control action and realize the high precision performance. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory, respectively. Lastly, the simulation results are given to illustrate the effectiveness and robustness of the proposed control method in the presence of external disturbances. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Dynamic species classification of microorganisms across time, abiotic and biotic environments-A sliding window approach.

    Directory of Open Access Journals (Sweden)

    Frank Pennekamp

    Full Text Available The development of video-based monitoring methods allows for rapid, dynamic and accurate monitoring of individuals or communities, compared to slower traditional methods, with far reaching ecological and evolutionary applications. Large amounts of data are generated using video-based methods, which can be effectively processed using machine learning (ML algorithms into meaningful ecological information. ML uses user defined classes (e.g. species, derived from a subset (i.e. training data of video-observed quantitative features (e.g. phenotypic variation, to infer classes in subsequent observations. However, phenotypic variation often changes due to environmental conditions, which may lead to poor classification, if environmentally induced variation in phenotypes is not accounted for. Here we describe a framework for classifying species under changing environmental conditions based on the random forest classification. A sliding window approach was developed that restricts temporal and environmentally conditions to improve the classification. We tested our approach by applying the classification framework to experimental data. The experiment used a set of six ciliate species to monitor changes in community structure and behavior over hundreds of generations, in dozens of species combinations and across a temperature gradient. Differences in biotic and abiotic conditions caused simplistic classification approaches to be unsuccessful. In contrast, the sliding window approach allowed classification to be highly successful, as phenotypic differences driven by environmental change, could be captured by the classifier. Importantly, classification using the random forest algorithm showed comparable success when validated against traditional, slower, manual identification. Our framework allows for reliable classification in dynamic environments, and may help to improve strategies for long-term monitoring of species in changing environments. Our

  13. Dynamic species classification of microorganisms across time, abiotic and biotic environments-A sliding window approach.

    Science.gov (United States)

    Pennekamp, Frank; Griffiths, Jason I; Fronhofer, Emanuel A; Garnier, Aurélie; Seymour, Mathew; Altermatt, Florian; Petchey, Owen L

    2017-01-01

    The development of video-based monitoring methods allows for rapid, dynamic and accurate monitoring of individuals or communities, compared to slower traditional methods, with far reaching ecological and evolutionary applications. Large amounts of data are generated using video-based methods, which can be effectively processed using machine learning (ML) algorithms into meaningful ecological information. ML uses user defined classes (e.g. species), derived from a subset (i.e. training data) of video-observed quantitative features (e.g. phenotypic variation), to infer classes in subsequent observations. However, phenotypic variation often changes due to environmental conditions, which may lead to poor classification, if environmentally induced variation in phenotypes is not accounted for. Here we describe a framework for classifying species under changing environmental conditions based on the random forest classification. A sliding window approach was developed that restricts temporal and environmentally conditions to improve the classification. We tested our approach by applying the classification framework to experimental data. The experiment used a set of six ciliate species to monitor changes in community structure and behavior over hundreds of generations, in dozens of species combinations and across a temperature gradient. Differences in biotic and abiotic conditions caused simplistic classification approaches to be unsuccessful. In contrast, the sliding window approach allowed classification to be highly successful, as phenotypic differences driven by environmental change, could be captured by the classifier. Importantly, classification using the random forest algorithm showed comparable success when validated against traditional, slower, manual identification. Our framework allows for reliable classification in dynamic environments, and may help to improve strategies for long-term monitoring of species in changing environments. Our classification pipeline

  14. Anti-plane problem analysis for icosahedral quasicrystals under shear loadings

    International Nuclear Information System (INIS)

    Li Wu; Chai Yu-Zhen

    2014-01-01

    The present paper is concerned with the longitudinal shear elasticity of three-dimensional icosahedral quasicrystals. By virtue of the Dugdale hypothesis along with the method of complex potential theory, it involves two defect problems of the icosahedral quasicrystals. The first one is the calculation of stress intensity factors and the size of the cohesive force zone in a half-infinite crack. Meanwhile, the crack tip tearing displacements can be exactly derived. The other is the demonstration of the generalized stress intensity factors induced by a sharp V-notch as an extension of a crack. The generalized E-integral around the notch tip gives the energy release rate when the V-notch degenerates into a crack. Apart from their own usefulness in carrying out some simplified crack analyses, the results obtained in this work can particularly serve as a basis for fracture mechanics of anti-plane defect problems of icosahedral quasicrystals. (condensed matter: structural, mechanical, and thermal properties)

  15. Anti-plane problem analysis for icosahedral quasicrystals under shear loadings

    Science.gov (United States)

    Li, Wu; Chai, Yu-Zhen

    2014-11-01

    The present paper is concerned with the longitudinal shear elasticity of three-dimensional icosahedral quasicrystals. By virtue of the Dugdale hypothesis along with the method of complex potential theory, it involves two defect problems of the icosahedral quasicrystals. The first one is the calculation of stress intensity factors and the size of the cohesive force zone in a half-infinite crack. Meanwhile, the crack tip tearing displacements can be exactly derived. The other is the demonstration of the generalized stress intensity factors induced by a sharp V-notch as an extension of a crack. The generalized E-integral around the notch tip gives the energy release rate when the V-notch degenerates into a crack. Apart from their own usefulness in carrying out some simplified crack analyses, the results obtained in this work can particularly serve as a basis for fracture mechanics of anti-plane defect problems of icosahedral quasicrystals.

  16. Slide 1

    Indian Academy of Sciences (India)

    Potency of Stem Cells · Slide 3 · Slide 4 · Slide 5 · World Wide Clinical trials using MSCs · Slide 7 · Bone Marrow derived Human MSCs (hMSC) in culture · Slide 9 · Slide 10 · Slide 11 · Slide 12 · Slide 13 · Fetal MSCs · Morphology of murine fetal heart derived stem cells (fHSCs) · Growth Kinetics of fHSCs · Phenotype of ...

  17. Cold start dynamics and temperature sliding observer design of an automotive SOFC APU

    Science.gov (United States)

    Lin, Po-Hsu; Hong, Che-Wun

    This paper presents a dynamic model for studying the cold start dynamics and observer design of an auxiliary power unit (APU) for automotive applications. The APU is embedded with a solid oxide fuel cell (SOFC) stack which is a quiet and pollutant-free electric generator; however, it suffers from slow start problem from ambient conditions. The SOFC APU system equips with an after-burner to accelerate the start-up transient in this research. The combustion chamber burns the residual fuel (and air) left from the SOFC to raise the exhaust temperature to preheat the SOFC stack through an energy recovery unit. Since thermal effect is the dominant factor that influences the SOFC transient and steady performance, a nonlinear real-time sliding observer for stack temperature was implemented into the system dynamics to monitor the temperature variation for future controller design. The simulation results show that a 100 W APU system in this research takes about 2 min (in theory) for start-up without considering the thermal limitation of the cell fracture.

  18. Vehicle Sliding Mode Control with Adaptive Upper Bounds: Static versus Dynamic Allocation to Saturated Tire Forces

    Directory of Open Access Journals (Sweden)

    Ali Tavasoli

    2012-01-01

    Full Text Available Nonlinear vehicle control allocation is achieved through distributing the task of vehicle control among individual tire forces, which are constrained to nonlinear saturation conditions. A high-level sliding mode control with adaptive upper bounds is considered to assess the body yaw moment and lateral force for the vehicle motion. The proposed controller only requires the online adaptation of control gains without acquiring the knowledge of upper bounds on system uncertainties. Static and dynamic control allocation approaches have been formulated to distribute high-level control objectives among the system inputs. For static control allocation, the interior-point method is applied to solve the formulated nonlinear optimization problem. Based on the dynamic control allocation method, a dynamic update law is derived to allocate vehicle control to tire forces. The allocated tire forces are fed into a low-level control module, where the applied torque and active steering angle at each wheel are determined through a slip-ratio controller and an inverse tire model. Computer simulations are used to prove the significant effects of the proposed control allocation methods on improving the stability and handling performance. The advantages and limitations of each method have been discussed, and conclusions have been derived.

  19. Fuzzy-neural-network inherited sliding-mode control for robot manipulator including actuator dynamics.

    Science.gov (United States)

    Wai, Rong-Jong; Muthusamy, Rajkumar

    2013-02-01

    This paper presents the design and analysis of an intelligent control system that inherits the robust properties of sliding-mode control (SMC) for an n-link robot manipulator, including actuator dynamics in order to achieve a high-precision position tracking with a firm robustness. First, the coupled higher order dynamic model of an n-link robot manipulator is briefy introduced. Then, a conventional SMC scheme is developed for the joint position tracking of robot manipulators. Moreover, a fuzzy-neural-network inherited SMC (FNNISMC) scheme is proposed to relax the requirement of detailed system information and deal with chattering control efforts in the SMC system. In the FNNISMC strategy, the FNN framework is designed to mimic the SMC law, and adaptive tuning algorithms for network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance. Numerical simulations and experimental results of a two-link robot manipulator actuated by DC servo motors are provided to justify the claims of the proposed FNNISMC system, and the superiority of the proposed FNNISMC scheme is also evaluated by quantitative comparison with previous intelligent control schemes.

  20. Surface effects on anti-plane shear waves propagating in magneto-electro-elastic nanoplates

    International Nuclear Information System (INIS)

    Wu, Bin; Zhang, Chunli; Chen, Weiqiu; Zhang, Chuanzeng

    2015-01-01

    Material surfaces may have a remarkable effect on the mechanical behavior of magneto-electro-elastic (or multiferroic) structures at nanoscale. In this paper, a surface magneto-electro-elasticity theory (or effective boundary condition formulation), which governs the motion of the material surface of magneto-electro-elastic nanoplates, is established by employing the state-space formalism. The properties of anti-plane shear (SH) waves propagating in a transversely isotropic magneto-electro-elastic plate with nanothickness are investigated by taking surface effects into account. The size-dependent dispersion relations of both antisymmetric and symmetric SH waves are presented. The thickness-shear frequencies and the asymptotic characteristics of the dispersion relations considering surface effects are determined analytically as well. Numerical results show that surface effects play a very pronounced role in elastic wave propagation in magneto-electro-elastic nanoplates, and the dispersion properties depend strongly on the chosen surface material parameters of magneto-electro-elastic nanoplates. As a consequence, it is possible to modulate the waves in magneto-electro-elastic nanoplates through surface engineering. (paper)

  1. Application of strength reduction method to dynamic anti-sliding stability analysis of high gravity dam with complex dam foundation

    Directory of Open Access Journals (Sweden)

    Deng-hong Chen

    2011-06-01

    Full Text Available Considering that there are some limitations in analyzing the anti-sliding seismic stability of dam-foundation systems with the traditional pseudo-static method and response spectrum method, the dynamic strength reduction method was used to study the deep anti-sliding stability of a high gravity dam with a complex dam foundation in response to strong earthquake-induced ground action. Based on static anti-sliding stability analysis of the dam foundation undertaken by decreasing the shear strength parameters of the rock mass in equal proportion, the seismic time history analysis was carried out. The proposed instability criterion for the dynamic strength reduction method was that the peak values of dynamic displacements and plastic strain energy change suddenly with the increase of the strength reduction factor. The elasto-plastic behavior of the dam foundation was idealized using the Drucker-Prager yield criterion based on the associated flow rule assumption. The result of elasto-plastic time history analysis of an overflow dam monolith based on the dynamic strength reduction method was compared with that of the dynamic linear elastic analysis, and the reliability of elasto-plastic time history analysis was confirmed. The results also show that the safety factors of the dam-foundation system in the static and dynamic cases are 3.25 and 3.0, respectively, and that the F2 fault has a significant influence on the anti-sliding stability of the high gravity dam. It is also concluded that the proposed instability criterion for the dynamic strength reduction method is feasible.

  2. Slide 1

    Indian Academy of Sciences (India)

    Slide 15 · Slide 16 · Slide 17 · We began transforming rice with HSP100 gene; first we constructed new binary vectors for rice transformation · Slide 19 · Slide 20 · Slide 21 · Slide 22 · Triage model of the working of HSPs in chaperoning role · Genomic complexity of sHsps in rice · Summary of our work · Students/ PDFs.

  3. Sliding mode control and observation

    CERN Document Server

    Shtessel, Yuri; Fridman, Leonid; Levant, Arie

    2014-01-01

    The sliding mode control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics. Robust control technology based on this methodology has been applied to many real-world problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. Sliding Mode Control and Observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higher-order sliding mode control and observation algorithms and their applications. The present volume addresses a range of sliding mode control issues, including: *Conventional sliding mode controller and observer design *Second-order sliding mode controllers and differentiators *Frequency domain analysis of conventional and second-order sliding mode controllers *Higher-order sliding mode controllers and differentiators *Higher-order sliding mode observers *Sliding mode disturbanc...

  4. Particle Dynamics Simulations of Rate and State Dependent Frictional Sliding of Granular Fault Gouge

    Science.gov (United States)

    Morgan, J. K.

    2002-12-01

    Particle dynamics methods (PDM) have proven very valuable in the study of fault processes, fault mechanics, and associated deformation. Such discrete numerical techniques capture the heterogeneity and discontinuous nature of earth materials, and can reproduce many behaviors and geometries observed in natural and experimentally-generated shear zones. These include strain localization and delocalization, stick-slip sliding, and characteristic fracture arrays. However, several fundamental experimental results thought to be important in the earthquake generation process, have not been well represented by PDM models: 2D simulations conducted on idealized assemblages of particles using simple elastic-frictional contact laws, generally yield friction values much lower than natural materials, and lack second-order time- and velocity-dependent changes in strength that influence dynamic fault slip. In efforts to reconcile these differences between experimental and numerical friction, new simulations using the discrete element method (DEM) have been carried out using more realistic particle motions conditions and interparticle contact laws: (a) particle rotations are restricted as a proxy for grain roughness, interlocking, and out-of-plane contacts that resist rolling, and (b) time-dependent contact healing is introduced to capture temporal strengthening of granular assemblages. The resulting mechanical behavior qualitatively reproduces the scale and phenomenology of empirically based rate and state constitutive laws for friction. Frictional strength is increased, and in the absence of interparticle rolling, can attain values comparable to those observed in the lab. Even though interparticle contact strength depends only on time of static contact in these models, the bulk assemblage shows velocity- and slip-dependent behavior associated with changes in deformation mechanism, particle configuration and packing, and contact orientation. These results demonstrate the complexity

  5. Numerical investigation of dynamic effect for sliding drops on wetting defects

    NARCIS (Netherlands)

    Cavalli, Andrea; Musterd, M.; Mugele, Friedrich Gunther

    2015-01-01

    The ability to trap or deflect sliding drops is of great interest in microfluidics, as it has several technological applications, ranging from self-cleaning and fog harvesting surfaces to laboratory-on-a-chip devices. We present a three-dimensional numerical model that describes sliding droplets

  6. Numerical investigation of dynamic effects for sliding drops on wetting defects

    NARCIS (Netherlands)

    Cavalli, A.; Musterd, M.; Mugele, F.

    2015-01-01

    The ability to trap or deflect sliding drops is of great interest in microfluidics, as it has several technological applications, ranging from self-cleaning and fog harvesting surfaces to laboratory-on-a-chip devices. We present a three-dimensional numerical model that describes sliding droplets

  7. Comparison and analysis of reoperations in two different treatment protocols for trochanteric hip fractures - postoperative technical complications with dynamic hip screw, intramedullary nail and Medoff sliding plate.

    Science.gov (United States)

    Paulsson, Johnny; Stig, Josefine Corin; Olsson, Ola

    2017-08-24

    In treatment of unstable trochanteric fractures dynamic hip screw and Medoff sliding plate devices are designed to allow secondary fracture impaction, whereas intramedullary nails aim to maintain fracture alignment. Different treatment protocols are used by two similar Swedish regional emergency care hospitals. Dynamic hip screw is used for fractures considered as stable within the respective treatment protocol, whereas one treatment protocol (Medoff sliding plate/dynamic hip screw) uses biaxial Medoff sliding plate for unstable pertrochanteric fractures and uniaxial Medoff sliding plate for subtrochanteric fractures, the second (intramedullary nail/dynamic hip screw) uses intramedullary nail for subtrochanteric fractures and for pertrochanteric fractures with intertrochanteric comminution or subtrochanteric extension. All orthopedic surgeries are registered in a regional database. All consecutive trochanteric fracture operations during 2011-2012 (n = 856) and subsequent technical reoperations (n = 40) were derived from the database. Reoperations were analysed and classified into the categories adjustment (percutaneous removal of the locking screw of the Medoff sliding plate or the intramedullary nail, followed by fracture healing) or minor, intermediate (reosteosynthesis) or major (hip joint replacement, Girdlestone or persistent nonunion) technical complications. The relative risk of intermediate or major technical complications was 4.2 (1.2-14) times higher in unstable pertrochanteric fractures and 4.6 (1.1-19) times higher in subtrochanteric fractures with treatment protocol: intramedullary nail/dynamic hip screw, compared to treatment protocol: Medoff sliding plate/dynamic hip screw. Overall rates of intermediate and major technical complications in unstable pertrochanteric and subtrochanteric fractures were with biaxial Medoff sliding plate 0.68%, with uniaxial Medoff sliding plate 1.4%, with dynamic hip screw 3.4% and with intramedullary nail 7.2%. The

  8. Sliding Dynamics of Parallel Graphene Sheets: Effect of Geometry and Van Der Waals Interactions on Nano-Spring Behavior

    Directory of Open Access Journals (Sweden)

    Alessandro Crisafulli

    2018-03-01

    Full Text Available Graphene and carbon nanotubes are promising materials for nanoelectromechanical systems. Among other aspects, a proper understanding of the sliding dynamics of parallel graphene sheets or concentric nanotubes is of crucial importance for the design of nano-springs. Here, we analytically investigate the sliding dynamics between two parallel, rigid graphene sheets. In particular, the analysis focuses on configurations in which the distance between the sheets is kept constant and lower than the equilibrium interlayer spacing of graphite (unstable configurations. The aim is to understand how the interlayer force due to van der Waals interactions along the sliding direction changes with the geometrical characteristics of the configuration, namely size and interlayer spacing. Results show metastable equilibrium positions with completely faced sheets, namely a null force along the sliding direction, whereas net negative/positive forces arise when the sheets are approaching/leaving each other. This behavior resembles a molecular spring, being able to convert kinetic into potential energy (van der Waals potential, and viceversa. The amplitude of both storable energy and entrance/exit forces is found to be proportional to the sheet size, and inversely proportional to their interlayer spacing. This model could also be generalized to describe the behavior of configurations made of concentric carbon nanotubes, therefore allowing a rational design of some elements of carbon-based nanoelectromechanical systems.

  9. Slide 1

    Indian Academy of Sciences (India)

    Problem 1: Direct Materials Procurement at GM · Slide 8 · Slide 9 · Slide 10 · Game Theory · Strategic Form Games (Normal Form Games) · Example : Prisoner's Dilemma · Dominant Strategy Equilibrium · Nash Equilibrium · Nash's Theorem · Slide 17 · Slide 18 · Example 1: Mechanism Design Fair Division of a Cake.

  10. Slide 1

    Indian Academy of Sciences (India)

    Comparison of median weight: Boys · Comparison of median weight: Girls · Prevalence of IFG, IGT and DM · Slide 17 · Dyslipidemia · Lipid centiles: normal BMI Indian children · Comparison of lipids with other studies · Slide 21 · So far….. Slide 23 · Slide 24 · Slide 25 · Life course epidemiology and chronic diseases · Models.

  11. Rich Sliding Motion and Dynamics in a Filippov Plant-Disease System

    Science.gov (United States)

    Chen, Can; Chen, Xi

    In order to reduce the spread of plant diseases and maintain the number of infected trees below an economic threshold, we choose the number of infected trees and the number of susceptible plants as the control indexes on whether to implement control strategies. Then a Filippov plant-disease model incorporating cutting off infected branches and replanting susceptible trees is proposed. Based on the theory of Filippov system, the sliding mode dynamics and conditions for the existence of all the possible equilibria and Lotka-Volterra cycles are presented. We find that model solutions ultimately approach the positive equilibrium that lies in the region above the infected threshold value TI, or the periodic trajectories that lie in the region below TI, or the pseudo-attractor ET = (TS,TI), as we vary the susceptible and infected threshold values. It indicates that the plant-disease transmission is tolerable if the trajectories approach ET = (TS,TI) or the periodic trajectories lie in the region below TI. Hence an acceptable level of the number of infected trees can be achieved when the susceptible and infected threshold values are chosen appropriately.

  12. Development and comparison of integrated dynamics control systems with fuzzy logic control and sliding mode control

    International Nuclear Information System (INIS)

    Song, Jeong Hoon

    2013-01-01

    In this study, four integrated dynamics control (IDC) systems abbreviated as IDCB, IDCS, IDCF, and IDCR are developed, evaluated and compared. IDC systems were integrated with brake and steer control systems to enhance lateral stability and handling performance. To construct the IDC systems, a vehicle model with fourteen degrees of freedom, a fuzzy logic controller, and a sliding mode ABS controller were used. They were tested with various steering inputs when excessive full brake pressure or no brake pressure was applied on dry asphalt, wet asphalt, a snow-covered paved road, and a split-µ road. The results showed that an IDC-equipped vehicle improved lateral stability and controllability in every driving condition compared to an ABS-equipped vehicle. Under all road conditions, IDC controllers enabled the yaw rate to follow the reference yaw rate almost perfectly and reduced the body slip angle. On a split-µ road, IDCB, IDCS, IDCF, and IDCR vehicles drove straight ahead with only very small deviations.

  13. The validity and reliability of a dynamic neuromuscular stabilization-heel sliding test for core stability.

    Science.gov (United States)

    Cha, Young Joo; Lee, Jae Jin; Kim, Do Hyun; You, Joshua Sung H

    2017-10-23

    Core stabilization plays an important role in the regulation of postural stability. To overcome shortcomings associated with pain and severe core instability during conventional core stabilization tests, we recently developed the dynamic neuromuscular stabilization-based heel sliding (DNS-HS) test. The purpose of this study was to establish the criterion validity and test-retest reliability of the novel DNS-HS test. Twenty young adults with core instability completed both the bilateral straight leg lowering test (BSLLT) and DNS-HS test for the criterion validity study and repeated the DNS-HS test for the test-retest reliability study. Criterion validity was determined by comparing hip joint angle data that were obtained from BSLLT and DNS-HS measures. The test-retest reliability was determined by comparing hip joint angle data. Criterion validity was (ICC2,3) = 0.700 (pTest-retest reliability was (ICC3,3) = 0.953 (pvalidity data demonstrated a good relationship between the gold standard BSLLT and DNS-HS core stability measures. Test-retest reliability data suggests that DNS-HS core stability was a reliable test for core stability. Clinically, the DNS-HS test is useful to objectively quantify core instability and allow early detection and evaluation.

  14. Slide 1

    Indian Academy of Sciences (India)

    The Archaeological Context · Slide 4 · The History of Rock Art Research · Slide 6 · Slide 7 · Slide 8 · The Chronology of Rock Art · The Rock Art · Slide 11 · Slide 12 · Rock art sites in Andhra pradesh · Rock art Sites in Kerala · Rock Art sites in Tamilnadu · Mesolithic Art 1.A huge Rabbit in red ochre,Chintakunta,AP. 2.A huge ...

  15. Dynamic Sliding Mode Evolution PWM Controller for a Novel High-Gain Interleaved DC-DC Converter in PV System

    Directory of Open Access Journals (Sweden)

    Taizhou Bei

    2014-01-01

    Full Text Available Considering the disadvantages of the traditional high-gain DC-DC converter such as big size, high voltage stress of switches, and large input current ripple, a novel high-gain interleaved boost converter with coupled-inductor and switched-capacitor was proposed correspondingly and the operation principle together with the steady-state analysis of this converter was also described. Besides, a new control approach-dynamic sliding mode evolution PWM controller (DSME PWM for the novel topological converter based on both dynamic evolution and sliding mode control was also presented. From the simulation results and experimental validation the proposed converter can fulfill high-gain boost, low ripple of both the input current and the output voltage. Furthermore, MPPT technique can be also achieved in a short time by simulation. The efficiency and stability of the converter proposed in this paper can be improved.

  16. Slide 1

    Indian Academy of Sciences (India)

    Slide 39 · Slide 40 · Slide 41 · Slide 42 · Confocal images of HLE3B Cells transfected with various pEGFP-recombinant constructs · LIMBAL STEM CELL CULTURE TO RESTORE VISION Clinical Trials - 500 cases · Limbal stem cell cultures · Limbal Stem Cell Cultures · Why use HAM? Limbal Stem Cell Transplantation.

  17. Slide 1

    Indian Academy of Sciences (India)

    The History of Rock Art Research · Slide 6 · Slide 7 · Slide 8 · The Chronology of Rock Art · The Rock Art · Slide 11 · Slide 12 · Rock art sites in Andhra pradesh · Rock art Sites in Kerala · Rock Art sites in Tamilnadu · Mesolithic Art 1.A huge Rabbit in red ochre,Chintakunta,AP. 2.A huge deer figure in Red ochre, ...

  18. Coevolution of slow-fast populations: evolutionary sliding, evolutionary pseudo-equilibria and complex Red Queen dynamics.

    Science.gov (United States)

    Dercole, F; Ferrière, R; Gragnani, A; Rinaldi, S

    2006-04-22

    We study the interplay of ecological and evolutionary dynamics in communities composed of populations with contrasting time-scales. In such communities, genetic variation of individual traits can cause population transitions between stationary and cyclic ecological regimes, hence abrupt variations in fitness. Such abrupt variations raise ridges in the adaptive landscape, where the populations are poised between equilibrium and cyclic coexistence and along which evolutionary trajectories can remain sliding for long times or halt at special points called evolutionary pseudo-equilibria. These novel phenomena should be generic to all systems in which ecological interactions cause fitness to vary discontinuously. They are demonstrated by the analysis of a predator-prey community, with one adaptive trait for each population. The eco-evolutionary dynamics of the system show a number of other distinctive features, including evolutionary extinction and two forms of Red Queen dynamics. One of them is characterized by intermittent bouts of cyclic oscillations of the two populations.

  19. Coevolution of slow–fast populations: evolutionary sliding, evolutionary pseudo-equilibria and complex Red Queen dynamics

    Science.gov (United States)

    Dercole, F; Ferrière, R; Gragnani, A; Rinaldi, S

    2006-01-01

    We study the interplay of ecological and evolutionary dynamics in communities composed of populations with contrasting time-scales. In such communities, genetic variation of individual traits can cause population transitions between stationary and cyclic ecological regimes, hence abrupt variations in fitness. Such abrupt variations raise ridges in the adaptive landscape, where the populations are poised between equilibrium and cyclic coexistence and along which evolutionary trajectories can remain sliding for long times or halt at special points called evolutionary pseudo-equilibria. These novel phenomena should be generic to all systems in which ecological interactions cause fitness to vary discontinuously. They are demonstrated by the analysis of a predator–prey community, with one adaptive trait for each population. The eco-evolutionary dynamics of the system show a number of other distinctive features, including evolutionary extinction and two forms of Red Queen dynamics. One of them is characterized by intermittent bouts of cyclic oscillations of the two populations. PMID:16627284

  20. Slide 1

    Indian Academy of Sciences (India)

    Projected Rainfall (Weighted Mean CDF; A1B scenario) · Slide 18 · Imprecise Probability · Bounds for Probability of Drought · Slide 21 · Possibility Distribution of GCMs and Scenarios · Mahanadi River Basin - Streamflow · Projections for future monsoon inflows to Hirakud Reservoir · Slide 25 · Rule curve for adaptive policies.

  1. Application of second order sliding mode algorithms for output feedback control in hydraulic cylinder drives with profound valve dynamics

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Andersen, Torben O.

    2016-01-01

    The application of second order sliding mode algorithms for output feedback control in hydraulic valve-cylinder drives appear attractive due to their simple realization and parametrization, and strong robustness toward bounded parameter variations and uncertainties. However, intrinsic nonlinear...... consideration are applied for position tracking control of a hydraulic valve-cylinder drive exhibiting strong variations in inertia- and gravitational loads, and furthermore suffer from profound valve dynamics. Results demonstrate that both the twisting- and super twisting algorithms may be successfully applied...... dynamic effects of hydraulic valves such as slew rate limitations and time delays arising in the electrical and mechanical amplification stages limits the applicability of such methods, and may lead to partial losses of robustness and limit cycles/oscillations in the outputs, internal states and the valve...

  2. Numerical investigation of dynamic effects for sliding drops on wetting defects

    Science.gov (United States)

    Cavalli, Andrea; Musterd, Michiel; Mugele, Frieder

    2015-02-01

    The ability to trap or deflect sliding drops is of great interest in microfluidics, as it has several technological applications, ranging from self-cleaning and fog harvesting surfaces to laboratory-on-a-chip devices. We present a three-dimensional numerical model that describes sliding droplets interacting with wetting defects of variable strength and size. This approach provides relevant insight if compared to simplified analytic models, as it allows us to assess the relevance of the internal degrees of freedom of the droplet. We observe that the deformation of the drop enhances the effective strength and range of the defect, and we quantify this effect by comparison to a point-mass model. We also analyze the role of the steepness and strength of the defect on the drop motion, observing that small, strong defects are more effective at trapping than large, shallow traps of same excess surface energy. Finally, our results show quantitative agreement with previously reported electrowetting experiments, suggesting a universal behavior in droplet trapping that does not depend strongly on the nature of the defect.

  3. Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm

    Science.gov (United States)

    Gao, Qing; Liu, Jinguo; Tian, Tongtong; Li, Yangmin

    2017-09-01

    Space robots can perform some tasks in harsh environment as assistants of astronauts or substitutions of astronauts. Taking the limited working time and the arduous task of the astronauts in the space station into account, an astronaut assistant robot (AAR-2) applied in the space station is proposed and designed in this paper. The AAR-2 is achieved with some improvements on the basis of AAR-1 which was designed before. It can exploit its position and attitude sensors and control system to free flight or hover in the space cabin. And it also has a definite environmental awareness and artificial intelligence to complete some specified tasks under the control of astronauts or autonomously. In this paper, it mainly analyzes and controls the 6-DOF motion of the AAR-2. Firstly, the system configuration of AAR-2 is specifically described, and the movement principles are analyzed. Secondly, according to the physical model of the AAR-2, the Newton - Euler equation is applied in the preparation of space dynamics model of 6-DOF motion. Then, according to the mathematical model's characteristics which are nonlinear and strong coupling, a dual closed loop position and attitude controller based on fuzzy sliding mode control is proposed and designed. Finally, simulation experiments are appropriate to provide for AAR-2 control system by using Matlab/Simulink. From the simulation results it can be observed that the designed fuzzy sliding mode controller can control the 6-DOF motion of AAR-2 quickly and precisely.

  4. A comparative study between a simplified Kalman filter and Sliding Window Averaging for single trial dynamical estimation of event-related potentials

    DEFF Research Database (Denmark)

    Vedel-Larsen, Esben; Fuglø, Jacob; Channir, Fouad

    2010-01-01

    , are variable and depend on cognitive function. This study compares the performance of a simplified Kalman filter with Sliding Window Averaging in tracking dynamical changes in single trial P300. The comparison is performed on simulated P300 data with added background noise consisting of both simulated and real...... background EEG in various input signal to noise ratios. While both methods can be applied to track dynamical changes, the simplified Kalman filter has an advantage over the Sliding Window Averaging, most notable in a better noise suppression when both are optimized for faster changing latency and amplitude...

  5. Existence of solutions for the anti-plane stress for a new class of “strain-limiting” elastic bodies

    KAUST Repository

    Bulíček, Miroslav

    2015-04-21

    © 2015, Springer-Verlag Berlin Heidelberg. The main purpose of this study is to establish the existence of a weak solution to the anti-plane stress problem on V-notch domains for a class of recently proposed new models that could describe elastic materials in which the stress can increase unboundedly while the strain yet remains small. We shall also investigate the qualitative properties of the solution that is established. Although the equations governing the deformation that are being considered share certain similarities with the minimal surface problem, the boundary conditions and the presence of an additional model parameter that appears in the equation and its specific range makes the problem, as well as the result, different from those associated with the minimal surface problem.

  6. Slide 1

    Indian Academy of Sciences (India)

    Game Theory · Strategic Form Games (Normal Form Games) · Example : Prisoner's Dilemma · Dominant Strategy Equilibrium · Nash Equilibrium · Nash's Theorem · Slide 17 · Slide 18 · Example 1: Mechanism Design Fair Division of a Cake · Example 2: Mechanism Design Truth Elicitation through an Indirect Mechanism.

  7. Slide 1

    Indian Academy of Sciences (India)

    tuberculosis · Slide 26 · Slide 27 · Sequencing results of pncA gene at JALMA · Detection of mutations in rpoB gene region of M.tuberculosis with indigenously designed probes · Asymmetric PCR ( Real-Time PCR ) Biprobe System (Probe-C for 526 ...

  8. Dynamic assembly of Hda and the sliding clamp in the regulation of replication licensing.

    Science.gov (United States)

    Kim, Jin S; Nanfara, Michael T; Chodavarapu, Sundari; Jin, Kyeong S; Babu, Vignesh M P; Ghazy, Mohamed A; Chung, Scisung; Kaguni, Jon M; Sutton, Mark D; Cho, Yunje

    2017-04-20

    Regulatory inactivation of DnaA (RIDA) is one of the major regulatory mechanisms of prokaryotic replication licensing. In RIDA, the Hda-sliding clamp complex loaded onto DNA directly interacts with adenosine triphosphate (ATP)-bound DnaA and stimulates the hydrolysis of ATP to inactivate DnaA. A prediction is that the activity of Hda is tightly controlled to ensure that replication initiation occurs only once per cell cycle. Here, we determined the crystal structure of the Hda-β clamp complex. This complex contains two pairs of Hda dimers sandwiched between two β clamp rings to form an octamer that is stabilized by three discrete interfaces. Two separate surfaces of Hda make contact with the β clamp, which is essential for Hda function in RIDA. The third interface between Hda monomers occludes the active site arginine finger, blocking its access to DnaA. Taken together, our structural and mutational analyses of the Hda-β clamp complex indicate that the interaction of the β clamp with Hda controls the ability of Hda to interact with DnaA. In the octameric Hda-β clamp complex, the inability of Hda to interact with DnaA is a novel mechanism that may regulate Hda function. © The Author(s) 2017. Published by Oxford University Press on behalf of Nucleic Acids Research.

  9. A comparative study between a simplified Kalman filter and Sliding Window Averaging for single trial dynamical estimation of event-related potentials

    DEFF Research Database (Denmark)

    Vedel-Larsen, Esben; Fuglø, Jacob; Channir, Fouad

    2010-01-01

    , are variable and depend on cognitive function. This study compares the performance of a simplified Kalman filter with Sliding Window Averaging in tracking dynamical changes in single trial P300. The comparison is performed on simulated P300 data with added background noise consisting of both simulated and real...

  10. SMA actuator material model with self-sensing and sliding-mode control; experiment and multibody dynamics model

    Science.gov (United States)

    Lambert, Tyler Ross; Gurley, Austin; Beale, David

    2017-03-01

    Shape memory alloys (SMA) can be used to create actuators that are simple, high strength, and inexpensive. These benefits come at the cost of low electrical efficiency, moderate lifetime, and complex mechanical behavior that makes them difficult to design into new applications and products. To improve the integration of SMA actuators—in particular thin SMA wires heated by passing electric current through them—into modern mechanical applications, we have created tools for modeling SMA mechanical and thermal behavior in dynamic systems and under feedback controls. Thermo-electro-mechanical constitutive models are implemented in a multibody dynamics software where they are easily applied to an actuator emplaced in a multibody dynamic system. Mechanical behavior is modeled with 1D constitutive equations. The material state determines the electrical resistivity of the material which drives ohmic heating, while thermal cooling is based on a heat transfer analysis of thin cylinders. These models contain states which are very difficult to measure experimentally (such as crystal phase fraction) and thus provide insight into the material behavior and design that experimental results cannot offer. This thermomechanical model is used in conjunction with sliding mode control—historically difficult to simulate in numerically integrated models—to develop a working ball-on-a-beam setup in which the ball position is controlled via current passed through an SMA wire and with application of an original self-sensing method. The constitutive model is developed in the multibody dynamics software MSC ADAMS and validated through the simulation of the same system.

  11. Ultrafast Dynamics of Chemical Reactions in Condensed Phase ...

    Indian Academy of Sciences (India)

    Ultrafast Dynamics of Chemical Reactions in Condensed Phase: Intramolecular Energy Transfer, Charge Transfer & Hydrogen Bond · PowerPoint Presentation · Slide 3 · Slide 4 · Slide 5 · Slide 6 · Slide 7 · Slide 8 · Slide 9 · Slide 10 · Slide 11 · Slide 12 · Slide 13 · Slide 14 · Slide 15 · Slide 16 · Slide 17 · Slide 18 · Slide 19.

  12. What is an acceptably smoothed fluence? Dosimetric and delivery considerations for dynamic sliding window IMRT

    Directory of Open Access Journals (Sweden)

    Alessandro Clivio

    2007-11-01

    Full Text Available Abstract Background The study summarised in this report aimed to investigate the interplay between fluence complexity, dose calculation algorithms, dose calculation spatial resolution and delivery characteristics (monitor units, effective field width and dose delivery against dose prediction agreement was investigated. A sample set of complex planning cases was selected and tested using a commercial treatment planning system capable of inverse optimisation and equipped with tools to tune fluence smoothness. Methods A set of increasingly smoothed fluence patterns was correlated to a generalised expression of the Modulation Index (MI concept, in nature independent from the specific planning system used that could therefore be recommended as a predictor to score fluence "quality" at a very early stage of the IMRT QA process. Fluence complexity was also correlated to delivery accuracy and characteristics in terms of number of MU, dynamic window width and agreement between calculation and measurement (expressed as percentage of field area with a γ > 1 (%FA when comparing calculated vs. delivered modulated dose maps. Different resolutions of the calculation grid and different photon dose algorithms (pencil beam and anisotropic analytical algorithm were used for the investigations. Results and Conclusion i MI can be used as a reliable parameter to test different approaches/algorithms to smooth fluences implemented in a TPS, and to identify the preferable default values for the smoothing parameters if appropriate tools are implemented; ii a MI threshold set at MI

  13. Investigation into the influence of dynamic forces on the tribological behavior of bodies in rolling/sliding contact with particular regard to surface corrugations

    Science.gov (United States)

    Krause, H.; Senuma, T.

    1980-08-01

    The effect of a dynamic force on the tribological behavior of bodies in rolling-sliding contact without lubrication was analyzed experimentally and theoretically. The coefficient of traction and wear decrease with the increase in the amplitude of the dynamic normal force; the ripples in a carbon steel in the presence of slip result from the formation of oxide stripes, and their propagation depends on plastic deformation and periodic wear. It is concluded that the accuracy of test rig results requires a consideration of the effect of the dynamic system on the tribological behavior.

  14. Modeling fracture in the context of a strain-limiting theory of elasticity: a single anti-plane shear crack

    KAUST Repository

    Rajagopal, K. R.

    2011-01-06

    This paper is the first part of an extended program to develop a theory of fracture in the context of strain-limiting theories of elasticity. This program exploits a novel approach to modeling the mechanical response of elastic, that is non-dissipative, materials through implicit constitutive relations. The particular class of models studied here can also be viewed as arising from an explicit theory in which the displacement gradient is specified to be a nonlinear function of stress. This modeling construct generalizes the classical Cauchy and Green theories of elasticity which are included as special cases. It was conjectured that special forms of these implicit theories that limit strains to physically realistic maximum levels even for arbitrarily large stresses would be ideal for modeling fracture by offering a modeling paradigm that avoids the crack-tip strain singularities characteristic of classical fracture theories. The simplest fracture setting in which to explore this conjecture is anti-plane shear. It is demonstrated herein that for a specific choice of strain-limiting elasticity theory, crack-tip strains do indeed remain bounded. Moreover, the theory predicts a bounded stress field in the neighborhood of a crack-tip and a cusp-shaped opening displacement. The results confirm the conjecture that use of a strain limiting explicit theory in which the displacement gradient is given as a function of stress for modeling the bulk constitutive behavior obviates the necessity of introducing ad hoc modeling constructs such as crack-tip cohesive or process zones in order to correct the unphysical stress and strain singularities predicted by classical linear elastic fracture mechanics. © 2011 Springer Science+Business Media B.V.

  15. Second-Order Discrete-Time Sliding Mode Observer for State of Charge Determination Based on a Dynamic Resistance Li-Ion Battery Model

    Directory of Open Access Journals (Sweden)

    Sang Woo Kim

    2013-10-01

    Full Text Available A second-order discrete-time sliding mode observer (DSMO-based method is proposed to estimate the state of charge (SOC of a Li-ion battery. Unlike the first-order sliding mode approach, the proposed method eliminates the chattering phenomenon in SOC estimation. Further, a battery model with a dynamic resistance is also proposed to improve the accuracy of the battery model. Similar to actual battery behavior, the resistance parameters in this model are changed by both the magnitude of the discharge current and the SOC level. Validation of the dynamic resistance model is performed through pulse current discharge tests at two different SOC levels. Our experimental results show that the proposed estimation method not only enhances the estimation accuracy but also eliminates the chattering phenomenon. The SOC estimation performance of the second-order DSMO is compared with that of the first-order DSMO.

  16. Dynamic study of a sliding interface wear process of TiAlN and CrN multi-layers by X-ray absorption

    DEFF Research Database (Denmark)

    Rasmussen, Inge Lise; Guibert, M.; Belin, M.

    reactions at the interface. The basic physical and chemical processes on the nano-scale are, however, not yet known fully. Thus, the work presented here is a contribution to the knowledge of the area. The main objectives of this dynamical investigation are to show that real time and in-situ tribology...... indicates the marker layer is worn off and thus the wear process finished. The measurements of the wear during the sliding interface wear experiments were performed in-situ, with a special portable tribo-meter designed and build at Laboratory of Tribologi and System Dynamics, Ecole Centrale de Lyon...

  17. Study of size effects in the Dugdale model through the case of a crack in a semi-infinite plane under anti-plane shear loading

    Science.gov (United States)

    Ferdjani, H.; Abdelmoula, R.; Marigo, J.-J.; El Borgi, S.

    2009-06-01

    The main objective of this work is to prove that, with the Dugdale model, the small size defects, comparatively to the material characteristic length, are practically without influence on the limit load of structures. For that, we treat the case of a crack in a semi-infinite plane under anti-plane shear loading. Using integral transforms, the elasticity equations are converted analytically into a singular integral equation. The singular integral equation is solved numerically using Chebychev polynomials. Special care is needed to take into account the presence of jump discontinuities in the loading distribution along the crack lips.

  18. Sliding Controller of Switched Reluctance Motor

    Directory of Open Access Journals (Sweden)

    Abdel Ghani AISSAOUI

    2008-06-01

    Full Text Available This paper presents an application of sliding mode control for switched reluctance motor (SRM speed. The sliding mode technique finds its stronger justification in the utilization of a robust control law to model uncertainties. A sliding mode controller of the motor speed is then designed and simulated. Digital simulation results shows that the designed sliding speed controller realises a good dynamic behaviour of the motor, a perfect speed tracking with no overshoot and a good rejection of impact loads disturbance. The results of applying the sliding mode controller to a SRM give best performances and high robustness than those obtained by the application of a conventional controller (PI.

  19. Attractors near grazing–sliding bifurcations

    International Nuclear Information System (INIS)

    Glendinning, P; Kowalczyk, P; Nordmark, A B

    2012-01-01

    In this paper we prove, for the first time, that multistability can occur in three-dimensional Fillipov type flows due to grazing–sliding bifurcations. We do this by reducing the study of the dynamics of Filippov type flows around a grazing–sliding bifurcation to the study of appropriately defined one-dimensional maps. In particular, we prove the presence of three qualitatively different types of multiple attractors born in grazing–sliding bifurcations. Namely, a period-two orbit with a sliding segment may coexist with a chaotic attractor, two stable, period-two and period-three orbits with a segment of sliding each may coexist, or a non-sliding and period-three orbit with two sliding segments may coexist

  20. Estimation of mountain slope stability depending on ground consistency and slip-slide resistance changes on impact of dynamic forces

    Science.gov (United States)

    Hayroyan, H. S.; Hayroyan, S. H.; Karapetyan, K. A.

    2018-04-01

    In this paper, three types of clayish soils with different consistency and humidity properties and slip-slide resistance indexes are considered on impact of different cyclic shear stresses. The side-surface deformation charts are constructed on the basis of experimental data obtained testing cylindrical soil samples. It is shown that the fluctuation amplitude depends on time and the consistency index depends on the humidity condition in the soil inner contact and the connectivity coefficients. Consequently, each experiment is interpreted. The main result of this research is that it is necessary to make corrections in the currently active schemes of slip-hazardous slopes stability estimation, which is a crucial problem requiring ASAP solution.

  1. Comparison of Perturbed Reynolds Equation and CFD Models for the Prediction of Dynamic Coefficients of Sliding Bearings

    Directory of Open Access Journals (Sweden)

    Troy Snyder

    2018-01-01

    Full Text Available The accuracy and utility of rotordynamic models for machinery systems are greatly affected by the accuracy of the constituent dynamic bearing models. Primarily, the dynamic behavior of bearings is modeled as linear combination of mass, damping, and stiffness coefficients that are predicted from a perturbed Reynolds equation. In the present paper, an alternative method using Computational Fluid Dynamics (CFD with a moving boundary is used to predict the dynamic coefficients of slider bearings and the results are compared with the more commonly employed perturbed Reynolds equation model. A linear slider bearing geometry is investigated and the results serve as precursors to similar investigations involving the more complex journal bearing geometries. Time and frequency domain methods for the estimation of dynamic coefficients are shown to give comparable results. For CFD with a moving boundary, temporal inertia is found to have a significant effect for a reduced, squeeze Reynolds number less than one. The temporal inertia effect is captured through an added mass coefficient within the dynamic model of the bearing.

  2. Fractional-Order Modeling and Sliding Mode Control of Energy-Saving and Emission-Reduction Dynamic Evolution System

    DEFF Research Database (Denmark)

    Huang, Sunhua; Zhou, Bin; Li, Canbing

    2018-01-01

    represent complex dynamic behaviours with chaotic and unstable states on the energy conservation, carbon emissions, economic growth, and renewable energy development, and have a great impact on the formulation of government energy policies. Furthermore, based on the fractional Lyapunov stability and robust...

  3. Sliding vane geometry turbines

    Science.gov (United States)

    Sun, Harold Huimin; Zhang, Jizhong; Hu, Liangjun; Hanna, Dave R

    2014-12-30

    Various systems and methods are described for a variable geometry turbine. In one example, a turbine nozzle comprises a central axis and a nozzle vane. The nozzle vane includes a stationary vane and a sliding vane. The sliding vane is positioned to slide in a direction substantially tangent to an inner circumference of the turbine nozzle and in contact with the stationary vane.

  4. Atomistic Simulation of Frictional Sliding Between Cellulose Iß Nanocrystals

    Science.gov (United States)

    Xiawa Wu; Robert J. Moon; Ashlie Martini

    2013-01-01

    Sliding friction between cellulose Iß nanocrystals is studied using molecular dynamics simulation. The effects of sliding velocity, normal load, and relative angle between sliding surface are predicted, and the results analyzed in terms of the number of hydrogen bonds within and between the cellulose chains. We find that although the observed friction trends can be...

  5. Seismic behavior with sliding of overhead travelling crane

    International Nuclear Information System (INIS)

    Komori, Akio; Ueki, Takashi; Hirata, Masami; Hoshii, Tsutomu; Kashiwazaki, Akihiro.

    1989-01-01

    In this study, the seismic behavior of an overhead travelling crane with the sliding between travelling wheels and rails is examined. First, the dynamic characteristic test of the actual crane installed in a reactor building and the sliding test of the rigid-element model to observe the basic sliding characteristic were performed. Next, to examine the dynamic response with sliding, shaking tests using the scaled model of an actual crane were conducted. From these results, useful design information about seismic behavior of an overhead travelling crane was obtained. It was also observed that numerical predictions considering sliding behavior have good agreement with the experimental results and are applicable to seismic design. (author)

  6. cryo-EM structures of the E. coli replicative DNA polymerase reveal its dynamic interactions with the DNA sliding clamp, exonuclease and τ

    Science.gov (United States)

    Fernandez-Leiro, Rafael; Conrad, Julian; Scheres, Sjors HW; Lamers, Meindert H

    2015-01-01

    The replicative DNA polymerase PolIIIα from Escherichia coli is a uniquely fast and processive enzyme. For its activity it relies on the DNA sliding clamp β, the proofreading exonuclease ε and the C-terminal domain of the clamp loader subunit τ. Due to the dynamic nature of the four-protein complex it has long been refractory to structural characterization. Here we present the 8 Å resolution cryo-electron microscopy structures of DNA-bound and DNA-free states of the PolIII-clamp-exonuclease-τc complex. The structures show how the polymerase is tethered to the DNA through multiple contacts with the clamp and exonuclease. A novel contact between the polymerase and clamp is made in the DNA bound state, facilitated by a large movement of the polymerase tail domain and τc. These structures provide crucial insights into the organization of the catalytic core of the replisome and form an important step towards determining the structure of the complete holoenzyme. DOI: http://dx.doi.org/10.7554/eLife.11134.001 PMID:26499492

  7. Sliding mode controller with modified sliding function for DC-DC Buck Converter.

    Science.gov (United States)

    Naik, B B; Mehta, A J

    2017-09-01

    This article presents design of Sliding Mode Controller with proportional integral type sliding function for DC-DC Buck Converter for the controlled power supply. The converter with conventional sliding mode controller results in a steady state error in load voltage. The proposed modified sliding function improves the steady state and dynamic performance of the Convertor and facilitates better choices of controller tuning parameters. The conditions for existence of sliding modes for proposed control scheme are derived. The stability of the closed loop system with proposed sliding mode control is proved and improvement in steady state performance is exemplified. The idea of adaptive tuning for the proposed controller to compensate load variations is outlined. The comparative study of conventional and proposed control strategy is presented. The efficacy of the proposed strategy is endowed by the simulation and experimental results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  8. [How to make slides].

    Science.gov (United States)

    Herranz González-Botas, J; Gavilán Bouzas, J

    1992-01-01

    Quality of oral presentation slides is based on content and design. The most common fault is presentation of slides with too much writing, or with type to small to be seen by the audience. With a few design rules and a minimum of photographic equipment, high quality slides are to be obtain. Slides are projected to be read and communicate an idea, make them nice, simple and readable; there is no need for fancy art works. Format and color are important but not the main point, and they will depend on available material, time and money.

  9. Sliding mode control for synchronous electric drives

    CERN Document Server

    Ryvkin, Sergey E

    2011-01-01

    This volume presents the theory of control systems with sliding mode applied to electrical motors and power converters. It demonstrates the methodology of control design and the original algorithms of control and observation. Practically all semiconductor devices are used in power converters, that feed electrical motors, as power switches. A switching mode offers myriad attractive, inherent properties from a control viewpoint, especially a sliding mode. Sliding mode control supplies high dynamics to systems, invariability of systems to changes of their parameters and of exterior loads in combi

  10. Mailing microscope slides

    Science.gov (United States)

    Many insects feed agriculturally important crops, trees, and ornamental plants and cause millions of dollars of damage annually. Identification for some of these require the preparation of a microscope slide for examination. There are times when a microscope slide may need to be sent away to a speci...

  11. The 6 August 2010 Mount Meager rock slide-debris flow, Coast Mountains, British Columbia: characteristics, dynamics, and implications for hazard and risk assessment

    Science.gov (United States)

    Guthrie, R. H.; Friele, P.; Allstadt, K.; Roberts, N.; Evans, S. G.; Delaney, K. B.; Roche, D.; Clague, J. J.; Jakob, M.

    2012-05-01

    A large rock avalanche occurred at 03:27:30 PDT, 6 August 2010, in the Mount Meager Volcanic Complex southwest British Columbia. The landslide initiated as a rock slide in Pleistocene rhyodacitic volcanic rock with the collapse of the secondary peak of Mount Meager. The detached rock mass impacted the volcano's weathered and saturated flanks, creating a visible seismic signature on nearby seismographs. Undrained loading of the sloping flank caused the immediate and extremely rapid evacuation of the entire flank with a strong horizontal force, as the rock slide transformed into a debris flow. The disintegrating mass travelled down Capricorn Creek at an average velocity of 64 m s-1, exhibiting dramatic super-elevation in bends to the intersection of Meager Creek, 7.8 km from the source. At Meager Creek the debris impacted the south side of Meager valley, causing a runup of 270 m above the valley floor and the deflection of the landslide debris both upstream (for 3.7 km) and downstream into the Lillooet River valley (for 4.9 km), where it blocked the Lillooet River river for a couple of hours, approximately 10 km from the landslide source. Deposition at the Capricorn-Meager confluence also dammed Meager Creek for about 19 h creating a lake 1.5 km long. The overtopping of the dam and the predicted outburst flood was the basis for a night time evacuation of 1500 residents in the town of Pemberton, 65 km downstream. High-resolution GeoEye satellite imagery obtained on 16 October 2010 was used to create a post-event digital elevation model. Comparing pre- and post-event topography we estimate the volume of the initial displaced mass from the flank of Mount Meager to be 48.5 × 106 m3, the height of the path (H) to be 2183 m and the total length of the path (L) to be 12.7 km. This yields H/L = 0.172 and a fahrböschung (travel angle) of 9.75°. The movement was recorded on seismographs in British Columbia and Washington State with the initial impact, the debris flow

  12. The 6 August 2010 Mount Meager rock slide-debris flow, Coast Mountains, British Columbia: characteristics, dynamics, and implications for hazard and risk assessment

    Directory of Open Access Journals (Sweden)

    R. H. Guthrie

    2012-05-01

    Full Text Available A large rock avalanche occurred at 03:27:30 PDT, 6 August 2010, in the Mount Meager Volcanic Complex southwest British Columbia. The landslide initiated as a rock slide in Pleistocene rhyodacitic volcanic rock with the collapse of the secondary peak of Mount Meager. The detached rock mass impacted the volcano's weathered and saturated flanks, creating a visible seismic signature on nearby seismographs. Undrained loading of the sloping flank caused the immediate and extremely rapid evacuation of the entire flank with a strong horizontal force, as the rock slide transformed into a debris flow. The disintegrating mass travelled down Capricorn Creek at an average velocity of 64 m s−1, exhibiting dramatic super-elevation in bends to the intersection of Meager Creek, 7.8 km from the source. At Meager Creek the debris impacted the south side of Meager valley, causing a runup of 270 m above the valley floor and the deflection of the landslide debris both upstream (for 3.7 km and downstream into the Lillooet River valley (for 4.9 km, where it blocked the Lillooet River river for a couple of hours, approximately 10 km from the landslide source. Deposition at the Capricorn–Meager confluence also dammed Meager Creek for about 19 h creating a lake 1.5 km long. The overtopping of the dam and the predicted outburst flood was the basis for a night time evacuation of 1500 residents in the town of Pemberton, 65 km downstream. High-resolution GeoEye satellite imagery obtained on 16 October 2010 was used to create a post-event digital elevation model. Comparing pre- and post-event topography we estimate the volume of the initial displaced mass from the flank of Mount Meager to be 48.5 × 106 m3, the height of the path (H to be 2183 m and the total length of the path (L to be 12.7 km. This yields H/L = 0.172 and a fahrböschung (travel angle of 9.75°. The movement was recorded on seismographs in British

  13. Accuracy of preoperative real-time dynamic transvaginal ultrasound sliding sign in prediction of pelvic adhesions in women with previous abdominopelvic surgery: prospective, multicenter, double-blind study.

    Science.gov (United States)

    Ayachi, A; Bouchahda, R; Derouich, S; Mkaouer, L; Kehila, M; Abouda, H; Channoufi, B; Bouyahia, M; Braham, M; Zhioua, F; Bouchahda, H; Mourali, M

    2018-02-01

    To investigate the role of the transvaginal sonographic (TVS) sliding sign in predicting pelvic adhesions in women with previous abdominopelvic surgery. This was a multicenter, prospective, interventional, double-blind study of patients with a history of abdominopelvic surgery who were undergoing laparoscopy or laparotomy during the 6-month period from March to August 2016 in one of three academic obstetrics and gynecology departments. Prior to surgery, patients were examined by TVS to assess the vesicouterine pouch, uterus, ovaries and pouch of Douglas, using the TVS pelvic sliding sign. Ultrasound findings and medical and surgical data were recorded. We assessed the accuracy of the preoperative TVS sliding sign in the prediction of pelvic adhesions overall and in each compartment separately. During the study period, complete TVS sliding sign and laparoscopic or laparotomic data were available for 107 women. Their mean age was 44.0 (95% CI, 41.6-46.4; range, 20-79) years. Their mean parity was 2.0 (95% CI, 1.7-2.3; range, 0-9) and the mean number of previous abdominal surgical procedures per patient was 1.3 (95% CI, 1.2-1.5; range, 1-4). Adhesions were noted in 27/107 (25.2%) patients. The TVS sliding sign had a sensitivity of 96.3% and specificity of 92.6% in predicting pelvic adhesions. There was a significant relationship between adhesions in each compartment and the TVS sliding sign (P sign is an effective means to detect preoperatively pelvic adhesions in patients with previous abdominopelvic surgery. Use of such a non-invasive and well-tolerated technique could help in the planning of laparoscopy or laparotomy and counseling of these patients. Copyright © 2017 ISUOG. Published by John Wiley & Sons Ltd. Copyright © 2017 ISUOG. Published by John Wiley & Sons Ltd.

  14. Mechanics of slide dams

    International Nuclear Information System (INIS)

    Young, G.A.

    1970-01-01

    Studies which promote the use of nuclear energy for peaceful projects in engineering are sponsored by the Atomic Energy Commission under the Plowshare program. Specific projects being considered include the construction of harbors, canals, and dams. Of these projects, perhaps the most difficult to accomplish will be the latter. This paper which is in two parts considers the problems which are associated with the construction of slide dams with nuclear explosives. It examines first the characteristics of conventional earth and rock-fill dams which are based upon proven techniques developed after many years of experience. The characteristics of natural landslide dams are also briefly considered to identify potential problems that must be overcome by slide dam construction techniques. Second, the mechanics of slide dams as determined from small-scale laboratory studies are presented. It is concluded that slide dams can be constructed and that small-scale field tests and additional laboratory studies are justified. (author)

  15. Sliding Friction of Copper

    National Research Council Canada - National Science Library

    Liu, Tung

    1963-01-01

    .... With less clean surfaces, the coefficient of friction obtained was about 0.4. Since the degree of cleanliness cannot be controlled quantitatively, the friction - load curve of sliding copper pairs in air exhibits a bifurcation characteristic...

  16. Slide identification for lecture movies by matching characters and images

    Science.gov (United States)

    Ozawa, Noriaki; Takebe, Hiroaki; Katsuyama, Yutaka; Naoi, Satoshi; Yokota, Haruo

    2003-12-01

    Slide identification is very important when creating e-Learning materials as it detects slides being changed during lecture movies. Simply detecting the change would not be enough for e-Learning purposes. Because, which slide is now displayed in the frame is also important for creating e-Learning materials. A matching technique combined with a presentation file containing answer information is very useful in identifying slides in a movie frame. We propose two methods for slide identification in this paper. The first is character-based, which uses the relationship between the character code and its coordinates. The other is image-based, which uses normalized correlation and dynamic programming. We used actual movies to evaluate the performance of these methods, both independently and in combination, and the experimental results revealed that they are very effective in identifying slides in lecture movies.

  17. Controllable sliding bearings and controllable lubrication principles-an overview

    DEFF Research Database (Denmark)

    Santos, Ilmar F.

    2018-01-01

    Hydrodynamic and aerodynamic lubrication regimes in their controllable forms have been intensively investigated over the last two decades. With the aim of reducing friction and improving thermal, static, and dynamic characteristics of radial sliding bearings, different types of electro-mechanical...... about advantages and drawbacks of the different design solutions for controllable sliding bearings and the main challenges to be overcome towards industrial applications.......Hydrodynamic and aerodynamic lubrication regimes in their controllable forms have been intensively investigated over the last two decades. With the aim of reducing friction and improving thermal, static, and dynamic characteristics of radial sliding bearings, different types of electro....... In this framework, this paper gives one main original contribution to the state-of-the-art of radial sliding bearings and controllable lubrication: a comprehensive overview about the different types of controllable sliding bearings and principles used by several authors. The paper ends with some conclusive remarks...

  18. Preparing Slide Presentations on Computers.

    Science.gov (United States)

    Elberfeld, John K.

    1982-01-01

    Suggest use of well-organized slide presentation as effective way to introduce computers to large audiences and discusses how to get started--state objective, analyze audience, outline presentation, prepare slides--and equipment needed to obtain slides from television screens, miniature components, and book illustrations. References and sources…

  19. Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

    OpenAIRE

    Van Dong Hai Nguyen; Xuan-Dung Huynh; Minh-Tam Nguyen; Ionel Cristian Vladu; Mircea Ivanescu

    2017-01-01

    Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are discussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical sliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion. Then, a hierarchical sliding mode controller is implemented to control basic posture of athlete robot stepping. Succe...

  20. Second order sliding mode control for a quadrotor UAV.

    Science.gov (United States)

    Zheng, En-Hui; Xiong, Jing-Jing; Luo, Ji-Liang

    2014-07-01

    A method based on second order sliding mode control (2-SMC) is proposed to design controllers for a small quadrotor UAV. For the switching sliding manifold design, the selection of the coefficients of the switching sliding manifold is in general a sophisticated issue because the coefficients are nonlinear. In this work, in order to perform the position and attitude tracking control of the quadrotor perfectly, the dynamical model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. For the former, a sliding manifold is defined by combining the position and velocity tracking errors of one state variable, i.e., the sliding manifold has two coefficients. For the latter, a sliding manifold is constructed via a linear combination of position and velocity tracking errors of two state variables, i.e., the sliding manifold has four coefficients. In order to further obtain the nonlinear coefficients of the sliding manifold, Hurwitz stability analysis is used to the solving process. In addition, the flight controllers are derived by using Lyapunov theory, which guarantees that all system state trajectories reach and stay on the sliding surfaces. Extensive simulation results are given to illustrate the effectiveness of the proposed control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  1. Presentation = Speech + Slides

    Directory of Open Access Journals (Sweden)

    Derik Badman

    2008-12-01

    Full Text Available Back in October, Aaron Schmidt posted “HOWTO give a good presentation” to his blog walking paper. His second bullet point of “thoughts” on good presentations is: Please don’t fill your slides with words. Find some relevant and pretty pictures to support what you’re saying. You can use the pictures to remind yourself what you’re going [...

  2. Slide system for machine tools

    Science.gov (United States)

    Douglass, S.S.; Green, W.L.

    1980-06-12

    The present invention relates to a machine tool which permits the machining of nonaxisymmetric surfaces on a workpiece while rotating the workpiece about a central axis of rotation. The machine tool comprises a conventional two-slide system (X-Y) with one of these slides being provided with a relatively short travel high-speed auxiliary slide which carries the material-removing tool. The auxiliary slide is synchronized with the spindle speed and the position of the other two slides and provides a high-speed reciprocating motion required for the displacement of the cutting tool for generating a nonaxisymmetric surface at a selected location on the workpiece.

  3. Design Gradient Descent Optimal Sliding Mode Control of Continuum Robots

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2012-08-01

    Full Text Available In this research, a new approach for gradient descent optimal sliding mode controller for continuum robots is proposed. Based on the new dynamic models developed, a novel technique for nonlinear control of continuum manipulators to be employed in various situations has also been proposed and developed. A section of a continuum arm is modeled using lumped model elements (masses, springs and dampers and control by nonlinear methodology (sliding mode method and optimization the sliding surface slope by gradient descent method. It is shown that this type of control methodology, although used to a certain model, can be used to conveniently control the dynamics of the arm with suitable tradeoff in accuracy of modeling. This relatively controller is more plausible to implement in an actual real-time when compared to other techniques of nonlinear controller methodology of continuum arms. Principles of sliding mode methodology is based on derive the sliding surface slope and nonlinear dynamic model and applied in the system. Based on the gradient descent optimization method, the sliding surface slope and gain updating factor has been developed in certain and partly uncertain continuum robots. This methodology is represented in certain and uncertain area whose only optimization for certain area and test this optimization for uncertainty. The new techniques proposed and methodologies adopted in this paper supported by MATLAB/SIMULINK results represent a significant contribution to the field of design an optimized nonlinear sliding mode controller for continuum robots.

  4. IWM2011, Slides of the presentations

    International Nuclear Information System (INIS)

    Frankland, J.D.; Rios, A.; Toke, J.; Legouee, E.; Leifels, Y.; Bougault, R.; Russotto, P.; Colonna, M.; Singh, H.; Wigg, P.; Lombardo, I.; Galichet, E.; Gulminelli, F.; De la Mota, V.; La Commara, M.; Ono, A.; Delaume, O.; Najman, R.; Napolitani, P.; Parlog, M.; Lukasik, J.; Raduta, A.; Acosta, L.; Cardella, G.

    2012-01-01

    The aim of the International Workshops on Multifragmentation and related topics (IWM) is to bring together a wide international community from heavy-ion physics in order to debate open questions in the domain of nuclear dynamics and thermodynamics. There will be dedicated sessions on the following topics: -) thermodynamics of finite nuclei and nuclear matter, -) isospin and symmetry energy: from the laboratory to compact stars, -) physics with low-energy radioactive beams, -) dynamics of heavy-ion collisions, -) correlations, dynamics and structure, and -) instrumentation and new detection techniques. This document gathers only the slides of the presentations

  5. Dynamic response of sliding isolating system using low yield strength steel; Goku nanko riyo suberishiki menshin sochi no doteki oto tokusei

    Energy Technology Data Exchange (ETDEWEB)

    Nagamachi, K.; Koike, T.; Wakinaga, T.; Nishimura, N. [Kawasaki Steel Corp., Tokyo (Japan)

    1998-01-01

    Bridge structure provided with the seismic isolation system discussed in this paper is subjected to analysis for its response to seismic motion for the study of the effect of the seismic isolation system. The isolation system has a low yield strength steel damper sandwiched between the upper and lower structures, and the relative displacement between the upper and lower structures is absorbed when the low yield strength tube is distorted for the absorption of seismic energy. In the analysis of its response to seismic motion, data of the Tokachioki-Hachinohe earthquake is used to represent a level 1 input and that of the Hyogo-ken Nambu earthquake a level 2 input. Findings are obtained as mentioned below. The isolation system is effective against level-2 seismic waves from earthquakes taking place just under and from those taking place between plates in the ocean. When the isolating system is optimally designed, as compared with the rigid system in the absence of an isolating system, the displacement of the lower structure due to seismic motion is reduced by 80% with the isolation system and by 70% with a damper. The sliding isolation system discussed in this report is applied to a steel bridge model built after the Ministry of Construction`s manual for isolating roads and bridges from seismic motion, and it is confirmed that the new system is effective in isolating the structures from seismic motion. 2 refs., 11 figs., 2 tabs.

  6. SLIDES: a program to draw slides and posters

    Energy Technology Data Exchange (ETDEWEB)

    Bertrand, R.; Schofield, J.

    1977-04-01

    SLIDES is a program which takes text and commands as input and prepares lettered slides and posters. When run on the time-sharing computer, the program can display its output on an interactive graphics terminal; in batch, it can direct its graphical output to a variety of plotters. The program uses DISSPLA graphical subroutines and standard ANL plotter subroutines. This report contains material written for the beginning user, who should be able to produce useful slides or posters by following the examples. This report also serves as a complete reference for the SLIDES program. 4 figures.

  7. Gravity Slides With Magnetic Braking

    Science.gov (United States)

    Goodrick, Thomas F.

    1995-01-01

    Slides with magnetic braking enable safe emergency descent from tall buildings, fire-truck ladders, towers, and like. According to concept, slide includes sled that moves along stationary aluminum track tilted against top of building. Sled holds set of permanent magnets at preset small distance from surface of track. Passenger stands on, sits on, or strapped to platform on sled. Release device at top of slide holds sled in place until passenger prepared for descent.

  8. Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

    Directory of Open Access Journals (Sweden)

    Taochang Li

    2014-01-01

    Full Text Available Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments.

  9. Universal Aging Mechanism for Static and Sliding Friction of Metallic Nanoparticles.

    Science.gov (United States)

    Feldmann, Michael; Dietzel, Dirk; Tekiel, Antoni; Topple, Jessica; Grütter, Peter; Schirmeisen, André

    2016-07-08

    The term "contact aging" refers to the temporal evolution of the interface between a slider and a substrate usually resulting in increasing friction with time. Current phenomenological models for multiasperity contacts anticipate that such aging is not only the driving force behind the transition from static to sliding friction, but at the same time influences the general dynamics of the sliding friction process. To correlate static and sliding friction on the nanoscale, we show experimental evidence of stick-slip friction for nanoparticles sliding on graphite over a wide dynamic range. We can assign defined periods of aging to the stick phases of the particles, which agree with simulations explicitly including contact aging. Additional slide-hold-slide experiments for the same system allow linking the sliding friction results to static friction measurements, where both friction mechanisms can be universally described by a common aging formalism.

  10. An adaptive sliding mode control technology for weld seam tracking

    Science.gov (United States)

    Liu, Jie; Hu, Youmin; Wu, Bo; Zhou, Kaibo; Ge, Mingfeng

    2015-03-01

    A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

  11. No sliding in time

    International Nuclear Information System (INIS)

    Shtengel, Kirill; Nayak, Chetan; Bishara, Waheb; Chamon, Claudio

    2005-01-01

    In this letter, we analyse the following apparent paradox: as has been recently proved by Hastings (2004 Phys. Rev. 69 104431), under a general set of conditions, if a local Hamiltonian has a spectral gap above its (unique) ground state (GS), all connected equal-time correlation functions of local operators decay exponentially with distance. On the other hand, statistical mechanics provides us with examples of 3D models displaying so-called sliding phases (O'Hern et al 1999 Phys. Rev. Lett. 83 2745) which are characterized by the algebraic decay of correlations within 2D layers and exponential decay in the third direction. Interpreting this third direction as time would imply a gap in the corresponding (2+1)D quantum Hamiltonian which would seemingly contradict Hastings' theorem. The resolution of this paradox lies in the non-locality of such a quantum Hamiltonian. (letter to the editor)

  12. Sliding behaviors of elastic cylindrical tanks under seismic loading

    International Nuclear Information System (INIS)

    Kobayashi, N.

    1993-01-01

    There is a paper that reports on the occurrence of sliding in several oil tanks on Alaskan earthquake of 1964. This incident appears to be in need of further investigation for the following reasons: First, in usual seismic designing of cylindrical tanks ('tanks'), sliding is considered to occur when the lateral inertial force exceeds the static friction force. When the tank in question can be taken as a rigid body, this rule is known to hold true. If the tank is capable of undergoing a considerable amount of elastic deformation, however, its applicability has not been proved. Second, although several studies have been done on the critical conditions for static sliding the present author is unaware of like ones made on the dynamic sliding, except for the pioneering work of Sogabe, in which they have empirically indicated possibility of sliding to occur under the force of sloshing. Third, this author has shown earlier on that tanks, if not anchored properly, will start rocking, inducing uplifting of the base plate, even at a relatively small seismic acceleration of 10 gal or so. The present study has been conducted with these observations for the background. Namely, based on a notion that elastic deformation given rise to by rocking oscillation should be incorporated as an important factor in any set of critical conditions for the onset of sliding, a series of shaking table experiments were performed for rigid steel block to represent the rigid tanks ('rigid model') and a model tank having a same sort of plate thickness-to-diameter ratio as industrial tanks to represent the elastic cylindrical tanks ('elastic model'). Following observations have been obtained for the critical condition of the onset of sliding: (1) sliding of rigid tanks will occur when the lateral force given rise to by oscillation exceeds the static, or the Coulombic, friction force. (2) if vertical oscillation is imposed on the lateral oscillation, the lateral force needed to induce sliding of a

  13. Control uncertain Genesio-Tesi chaotic system: Adaptive sliding mode approach

    International Nuclear Information System (INIS)

    Dadras, Sara; Momeni, Hamid Reza

    2009-01-01

    An adaptive sliding mode control (ASMC) technique is introduced in this paper for a chaotic dynamical system (Genesio-Tesi system). Using the sliding mode control technique, a sliding surface is determined and the control law is established. An adaptive sliding mode control law is derived to make the states of the Genesio-Tesi system asymptotically track and regulate the desired state. The designed control scheme can control the uncertain chaotic behaviors to a desired state without oscillating very fast and guarantee the property of asymptotical stability. An illustrative simulation result is given to demonstrate the effectiveness of the proposed adaptive sliding mode control design.

  14. Slide Buyers Guide. 1974 Edition.

    Science.gov (United States)

    DeLaurier, Nancy

    Designed for studio art instructors, museum education programs, public libraries, high school teachers, and those who buy slides for teaching art history at the college level, this guide lists sources of slides in the United States and over 20 foreign countries. All U.S. sources are listed first, commercial sources are alphabetical by name and…

  15. T-Slide Linear Actuators

    Science.gov (United States)

    Vranish, John

    2009-01-01

    T-slide linear actuators use gear bearing differential epicyclical transmissions (GBDETs) to directly drive a linear rack, which, in turn, performs the actuation. Conventional systems use a rotary power source in conjunction with a nut and screw to provide linear motion. Non-back-drive properties of GBDETs make the new actuator more direct and simpler. Versions of this approach will serve as a long-stroke, ultra-precision, position actuator for NASA science instruments, and as a rugged, linear actuator for NASA deployment duties. The T slide can operate effectively in the presence of side forces and torques. Versions of the actuator can perform ultra-precision positioning. A basic T-slide actuator is a long-stroke, rack-and-pinion linear actuator that, typically, consists of a T-slide, several idlers, a transmission to drive the slide (powered by an electric motor) and a housing that holds the entire assembly. The actuator is driven by gear action on its top surface, and is guided and constrained by gear-bearing idlers on its other two parallel surfaces. The geometry, implemented with gear-bearing technology, is particularly effective. An electronic motor operating through a GBDET can directly drive the T slide against large loads, as a rack and pinion linear actuator, with no break and no danger of back driving. The actuator drives the slide into position and stops. The slide holes position with power off and no brake, regardless of load. With the T slide configuration, this GBDET has an entire T-gear surface on which to operate. The GB idlers coupling the other two T slide parallel surfaces to their housing counterpart surfaces provide constraints in five degrees-of-freedom and rolling friction in the direction of actuation. Multiple GB idlers provide roller bearing strength sufficient to support efficient, rolling friction movement, even in the presence of large, resisting forces. T-slide actuators can be controlled using the combination of an off

  16. Hypersonic sliding target tracking in near space

    Directory of Open Access Journals (Sweden)

    Xiang-yu Zhang

    2015-12-01

    Full Text Available To improve the tracking accuracy of hypersonic sliding target in near space, the influence of target hypersonic movement on radar detection and tracking is analyzed, and an IMM tracking algorithm is proposed based on radial velocity compensating and cancellation processing of high dynamic biases under the earth centered earth fixed (ECEF coordinate. Based on the analysis of effect of target hypersonic movement, a measurement model is constructed to reduce the filter divergence which is caused by the model mismatch. The high dynamic biases due to the target hypersonic movement are approximately compensated through radial velocity estimation to achieve the hypersonic target tracking at low systematic biases in near space. The high dynamic biases are further eliminated by the cancellation processing of different radars, in which the track association problem can be solved when the dynamic biases are low. An IMM algorithm based on constant acceleration (CA, constant turning (CT and Singer models is used to achieve the hypersonic sliding target tracking in near space. Simulation results show that the target tracking in near space can be achieved more effectively by using the proposed algorithm.

  17. Sliding mode control on electro-mechanical systems

    Directory of Open Access Journals (Sweden)

    Vadim I. Utkin

    2002-01-01

    Full Text Available The first sliding mode control application may be found in the papers back in the 1930s in Russia. With its versatile yet simple design procedure the methodology is proven to be one of the most powerful solutions for many practical control designs. For the sake of demonstration this paper is oriented towards application aspects of sliding mode control methodology. First the design approach based on the regularization is generalized for mechanical systems. It is shown that stability of zero dynamics should be taken into account when the regular form consists of blocks of second-order equations. Majority of applications in the paper are related to control and estimation methods of automotive industry. New theoretical methods are developed in the context of these studies: sliding made nonlinear observers, observers with binary measurements, parameter estimation in systems with sliding mode control.

  18. Sliding mode tracking control for miniature unmanned helicopters

    Directory of Open Access Journals (Sweden)

    Bin Xian

    2015-02-01

    Full Text Available A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter’s dynamic model is divided into two subsystems, such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles’ dynamic effects and external disturbances. The global asymptotic stability (GAS of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportional-integral-derivative (PID and linear-quadratic regulator (LQR cascaded controller in the presence of wind gust disturbances.

  19. Stability evaluation of ground considering dynamic vertical ground motion. Pt. 3. Effect of dynamic vertical motions on sliding safety factor of foundation ground and surrounding slope in nuclear power plant

    International Nuclear Information System (INIS)

    Ishikawa, Hiroyuki; Sato, Hiroaki; Kawai, Tadashi; Kanatani, Mamoru

    2003-01-01

    In this report, time differences of the peak accelerations between horizontal and vertical motions were investigated based on the earthquake records on the rock sites and analytical studies were carried out in order to investigate the effect of them to the fluctuations of the minimum sliding safety factors of the foundation ground and surrounding slope of nuclear power plants. Summaries of this report were as follows; (1) Maximum time difference of the peak accelerations between horizontal and vertical motions on the rock sites was approximately 10 seconds in the earthquakes within the epicenter distance of 100 km. (2) Analytical studies that employed the equivalent linear analysis with horizontal and vertical input motions were carried out against the representative models and ground properties of the foundation grounds and surrounding slopes in nuclear power plants. The combinations of the horizontal and vertical motions were determined from the above-mentioned investigation results based on the actual earthquake records. It was revealed that the fluctuations of the minimum sliding safety factors were not seriously affected by the time difference of the peak accelerations between horizontal and vertical motions. (author)

  20. Sliding hiatal hernia in dogs

    OpenAIRE

    JOLANTA SPUŻAK; KRZYSZTOF KUBIAK; MARCIN JANKOWSKI; MACIEJ GRZEGORY; KAMILA GLIŃSKA-SUCHOCKA; JÓZEF NICPOŃ; VASYL VLIZLO; IGOR MAKSYMOVYCH

    2010-01-01

    Introduction Sliding hiatal hernia is a disorder resulting from a displacement of the abdominal part of the oesophagus and/or a part of the stomach into the thoracic cavity through the oesophageal hiatus of the diaphragm. The disorder may be congenital or acquired. Congenital hernia follows disturbances in the embryonic development. In the literature the predisposition to congenital sliding hiatal hernia is observed in the dogs of shar-pei and chow-chow breeds. Pathogenesis of acquired slidin...

  1. Hierarchical Sliding Mode Algorithm for Athlete Robot Walking

    Directory of Open Access Journals (Sweden)

    Van Dong Hai Nguyen

    2017-01-01

    Full Text Available Dynamic equations and the control law for a class of robots with elastic underactuated MIMO system of legs, athlete Robot, are discussed in this paper. The dynamic equations are determined by Euler-Lagrange method. A new method based on hierarchical sliding mode for controlling postures is also introduced. Genetic algorithm is applied to design the oscillator for robot motion. Then, a hierarchical sliding mode controller is implemented to control basic posture of athlete robot stepping. Successful simulation results show the motion of athlete robot.

  2. Robustness and Actuator Bandwidth of MRP-Based Sliding Mode Control for Spacecraft Attitude Control Problems

    Science.gov (United States)

    Keum, Jung-Hoon; Ra, Sung-Woong

    2009-12-01

    Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

  3. Mapping stain distribution in pathology slides using whole slide imaging

    Directory of Open Access Journals (Sweden)

    Fang-Cheng Yeh

    2014-01-01

    Full Text Available Background: Whole slide imaging (WSI offers a novel approach to digitize and review pathology slides, but the voluminous data generated by this technology demand new computational methods for image analysis. Materials and Methods: In this study, we report a method that recognizes stains in WSI data and uses kernel density estimator to calculate the stain density across the digitized pathology slides. The validation study was conducted using a rat model of acute cardiac allograft rejection and another rat model of heart ischemia/reperfusion injury. Immunohistochemistry (IHC was conducted to label ED1 + macrophages in the tissue sections and the stained slides were digitized by a whole slide scanner. The whole slide images were tessellated to enable parallel processing. Pixel-wise stain classification was conducted to classify the IHC stains from those of the background and the density distribution of the identified IHC stains was then calculated by the kernel density estimator. Results: The regression analysis showed a correlation coefficient of 0.8961 between the number of IHC stains counted by our stain recognition algorithm and that by the manual counting, suggesting that our stain recognition algorithm was in good agreement with the manual counting. The density distribution of the IHC stains showed a consistent pattern with those of the cellular magnetic resonance (MR images that detected macrophages labeled by ultrasmall superparamagnetic iron-oxide or micron-sized iron-oxide particles. Conclusions: Our method provides a new imaging modality to facilitate clinical diagnosis. It also provides a way to validate/correlate cellular MRI data used for tracking immune-cell infiltration in cardiac transplant rejection and cardiac ischemic injury.

  4. Controllable Sliding Bearings and Controllable Lubrication Principles—An Overview

    Directory of Open Access Journals (Sweden)

    Ilmar F. Santos

    2018-02-01

    Full Text Available Hydrodynamic and aerodynamic lubrication regimes in their controllable forms have been intensively investigated over the last two decades. With the aim of reducing friction and improving thermal, static, and dynamic characteristics of radial sliding bearings, different types of electro-mechanical actuators have been coupled to such bearings. Depending on (i the actuator type; (ii the actuation principle, i.e., hydraulic, pneumatic, piezoelectric or magnetic among others; and (iii how such an actuator is coupled to the sliding bearings, different regulation and control actions of fluid film pressure and lubricant flow can be obtained. The most common actions are: (a the control of the injection pressure to modify the fluid film pressure statically as well as dynamically; (b the adjustment of the angle and direction of injection flow (mostly passive action; (c the control of the sliding bearing gap and its preload via moveable and compliant sliding surfaces; and (d the control of the lubricant viscosity. All four parameters, i.e., pressure, flow (velocity profiles, gap and viscosity, are explicit parameters in the modified form of Reynolds’ equations for active lubrication. In this framework, this paper gives one main original contribution to the state-of-the-art of radial sliding bearings and controllable lubrication: a comprehensive overview about the different types of controllable sliding bearings and principles used by several authors. The paper ends with some conclusive remarks about advantages and drawbacks of the different design solutions for controllable sliding bearings and the main challenges to be overcome towards industrial applications.

  5. Robust Neural Sliding Mode Control of Robot Manipulators

    International Nuclear Information System (INIS)

    Nguyen Tran Hiep; Pham Thuong Cat

    2009-01-01

    This paper proposes a robust neural sliding mode control method for robot tracking problem to overcome the noises and large uncertainties in robot dynamics. The Lyapunov direct method has been used to prove the stability of the overall system. Simulation results are given to illustrate the applicability of the proposed method

  6. Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

    DEFF Research Database (Denmark)

    Hansen, Michael Rygaard; Andersen, Torben Ole; Pedersen, Henrik Clemmensen

    2005-01-01

    This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness...... towards structured (parametric) and unstructured (unmodeled dynamics) uncertainties. A third-order model of the actuated system is used to develop a sliding mode control which is implemented and tested on a simulation model. To avoid measurement of velocity and acceleration a simple first-order model...... is furthermore used to develop a simple sliding mode control (SSMC). The performance of the two controllers are compared and discussed....

  7. Adaptive Global Sliding Mode Control for MEMS Gyroscope Using RBF Neural Network

    Directory of Open Access Journals (Sweden)

    Yundi Chu

    2015-01-01

    Full Text Available An adaptive global sliding mode control (AGSMC using RBF neural network (RBFNN is proposed for the system identification and tracking control of micro-electro-mechanical system (MEMS gyroscope. Firstly, a new kind of adaptive identification method based on the global sliding mode controller is designed to update and estimate angular velocity and other system parameters of MEMS gyroscope online. Moreover, the output of adaptive neural network control is used to adjust the switch gain of sliding mode control dynamically to approach the upper bound of unknown disturbances. In this way, the switch item of sliding mode control can be converted to the output of continuous neural network which can weaken the chattering in the sliding mode control in contrast to the conventional fixed gain sliding mode control. Simulation results show that the designed control system can get satisfactory tracking performance and effective estimation of unknown parameters of MEMS gyroscope.

  8. Speed Control of Switched Reluctance Motor Using Fuzzy Sliding Mode

    Directory of Open Access Journals (Sweden)

    TAHOUR, A.

    2008-04-01

    Full Text Available In this paper, a fuzzy logic controller (FLC is designed, based on the similarity between the FLC and the sliding mode control (SMC, for a class of nonlinear system to tackle the nonlinear control problems with modelling uncertainties, plant parameters variations and external disturbances. The proposed scheme gives fast dynamic response with no overshoot and zero steady-state error. To show the validity and the effectiveness of the control method, simulations are performed for the speed control of a switched reluctance motor. The simulation results show that the controller designed is more effective than the conventional sliding mode controller in enhancing the robustness of control systems with high accuracy.

  9. Slide-based ergometer rowing

    DEFF Research Database (Denmark)

    Vinther, Anders; Alkjær, T; Kanstrup, I-L

    2012-01-01

    Force production profile and neuromuscular activity during slide-based and stationary ergometer rowing at standardized submaximal power output were compared in 14 male and 8 female National Team rowers. Surface electromyography (EMG) was obtained in selected thoracic and leg muscles along with sy...

  10. SlideDog / Siim Sein

    Index Scriptorium Estoniae

    Sein, Siim

    2015-01-01

    SlideDog on multimeediumi esitluse tööriist, mis võimaldab ühendada PowerPointi esitlused, PDF-failid, Prezi esitlused, videoklipid, helifailid, veebilehed ja palju muud üheks sujuvaks esitluskogemuseks konverentsil, seminaril või muul üritusel

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

    OpenAIRE

    Etxebarria, Victor; Sanz, Arantza; Lizarraga, Ibone

    2006-01-01

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

  12. Response of sliding structures to seismic excitation: bibliographical study

    International Nuclear Information System (INIS)

    Sarh, K.; Duval, C.

    1992-11-01

    Calculation of the seismic response of structures on sliding supports involves the dual problem of ''non-linear'' and ''random'' dynamic behaviour. After a review of the non-linearities common in dynamics, slipping is compared with a hysteresis phenomenon. Simple examples are then used to present the Fokker-Planck equation and the equivalent linearization method. Finally, the methods for modification of the excitation spectrum intended for the engineering calculations are recalled. (authors). 21 figs., 23 refs

  13. Linear Classification of Dairy Cattle. Slide Script.

    Science.gov (United States)

    Sipiorski, James; Spike, Peter

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with principles of the linear classification of dairy cattle. Included in the guide are narrations for use with 63 slides, which illustrate the following areas that are considered in the linear classification system: stature, strength,…

  14. Diseases of Landscape Ornamentals. Slide Script.

    Science.gov (United States)

    Powell, Charles C.; Sydnor, T. Davis

    This slide script, part of a series of slide scripts designed for use in vocational agriculture classes, deals with recognizing and controlling diseases found on ornamental landscape plants. Included in the script are narrations for use with a total of 80 slides illustrating various foliar diseases (anthracnose, black spot, hawthorn leaf blight,…

  15. Sliding mode control of a "Soft" 2-DOF Planar Pneumatic Manipulator

    Science.gov (United States)

    Van Damme, M.; Vanderborght, B.; Beyl, P.; Versluys, R.; Vanderniepen, I.; Van Ham, R.; Cherelle, P.; Daerden, F.; Lefeber, D.

    2008-10-01

    This paper presents a sliding mode controller for a "Soft" 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed

  16. Sliding wear of cemented carbides

    International Nuclear Information System (INIS)

    Engqvist, H.; Ederyd, S.; Uhrenius, B.; Hogmark, S.

    2001-01-01

    Cemented carbides are known to be very hard and wear resistant and are therefor often used in applications involving surface damage and wear. The wear rate of cemented carbides is often measured in abrasion. In such tests it has been shown that the wear rate is inversely dependent on the material hardness. The sliding wear is even more of a surface phenomenon than a abrasion, making it difficult to predict friction and wear from bulk properties. This paper concentrates on the sliding wear of cemented carbides and elucidates some wear mechanisms. It is especially shown that a fragmenting wear mechanism of WC is very important for the description of wear of cemented carbides. (author)

  17. Sliding through a superlight granular medium.

    Science.gov (United States)

    Pacheco-Vázquez, F; Ruiz-Suárez, J C

    2009-12-01

    We explore the penetration dynamics of an intruder in a granular medium composed of expanded polystyrene spherical particles. Three features distinguish our experiment from others studied so far in granular physics: (a) the impact is horizontal, decoupling the effects of gravity and the drag force; (b) the density of the intruder rho(i) is up to 350 times larger than the density of the granular medium rho(m); and (c) the way the intruder moves through the material, sliding at the bottom of the column with small friction. Under these conditions we find that the final penetration D scales with (rho(i)/rho(m)) and the drag force Fd and D saturate with the height of the granular bed.

  18. Computer-generated slide technology.

    Science.gov (United States)

    Palmer, D S

    1994-03-01

    Presentation technology is available, and it does not have to be expensive. This article describes computer hardware and software concepts for graphics use, and recommends principles for making cost-effective buying decisions. Also included is a previously published technique for making custom computer graphic 35-mm slides at minimal expense. This information is vital to anyone lecturing without the support of a custom graphics laboratory.

  19. Sliding-Mode Control of PEM Fuel Cells

    CERN Document Server

    Kunusch, Cristian; Mayosky, Miguel

    2012-01-01

    Recent advances in catalysis technologies and new materials make fuel cells an economically appealing and clean energy source with massive market potential in portable devices, home power generation and the automotive industry. Among the more promising fuel-cell technologies are proton exchange membrane fuel cells (PEMFCs). Sliding-Mode Control of PEM Fuel Cells demonstrates the application of higher-order sliding-mode control to PEMFC dynamics. Fuel-cell dynamics are often highly nonlinear and the text shows the advantages of sliding modes in terms of robustness to external disturbance, modelling error and system-parametric disturbance using higher-order control to reduce chattering. Divided into two parts, the book first introduces the theory of fuel cells and sliding-mode control. It begins by contextualising PEMFCs both in terms of their development and within the hydrogen economy and today’s energy production situation as a whole. The reader is then guided through a discussion of fuel-cell operation pr...

  20. Adaptive Fuzzy Integral Sliding-Mode Regulator for Induction Motor Using Nonlinear Sliding Surface

    OpenAIRE

    Yong-Kun Lu

    2015-01-01

    An adaptive fuzzy integral sliding-mode controller using nonlinear sliding surface is designed for the speed regulator of a field-oriented induction motor drive in this paper. Combining the conventional integral sliding surface with fractional-order integral, a nonlinear sliding surface is proposed for the integral sliding-mode speed control, which can overcome the windup problem and the convergence speed problem. An adaptive fuzzy control term is utilized to approximate the uncertainty. The ...

  1. Pressure vessel sliding support unit and system using the sliding support unit

    Science.gov (United States)

    Breach, Michael R.; Keck, David J.; Deaver, Gerald A.

    2013-01-15

    Provided is a sliding support and a system using the sliding support unit. The sliding support unit may include a fulcrum capture configured to attach to a support flange, a fulcrum support configured to attach to the fulcrum capture, and a baseplate block configured to support the fulcrum support. The system using the sliding support unit may include a pressure vessel, a pedestal bracket, and a plurality of sliding support units.

  2. The Microseismicity of Glacier Sliding

    Science.gov (United States)

    Walter, Fabian; Röösli, Claudia; Kissling, Edi

    2017-04-01

    Our understanding of glacier and ice sheet basal motion remains incomplete. The past decades have witnessed a shift away from initially proposed hard bed theories towards soft, till-laden beds, which deform and thus participate in basal motion. The theoretical treatment of deformable beds is subject to debate, yet our capability to predict ice sheet flow and ultimately sea level rise is contingent upon correct parameterization of basal motion (Ritz et al., 2015). Both hard and soft bed theories neglect frictional sliding across distinct basal fault planes and elastic deformation in response to sudden dislocation. Over recent years, this view has been repeatedly challenged as more and more studies report seismogenic faulting associated with basal sliding. For instance, large parts of the Whillans Ice Stream at Antarctica's Siple Coast move nearly exclusively during sudden sliding episodes (Wiens et al., 2008). This "stick-slip motion" is difficult to explain with traditional glacier sliding theories but more analogous to earthquake dislocation on tectonic faults. Although the Whillans Ice Stream motion may be an extreme example, there exists evidence for much smaller microseismic stick-slip events beneath the Greenland Ice Sheet and non-polar glaciers (Podolskiy and Walter, 2016). This raises the question how relevant and widespread the stick-slip phenomenon is and if it is necessary to include it into ice sheet models. Here we discuss recent seismic deployments, which focused on detection of stick-slip events beneath the Greenland Ice Sheet and European Alpine Glaciers. For all deployments, a considerable challenge lies in detection of stick-slip seismograms in the presence of a dominant background seismicity associated with surface crevassing. Nevertheless, automatic search algorithms and waveform characteristics provide important insights into temporal variation of stick-slip activity as well as information about fault plane geometry and co-seismic sliding

  3. Adaptive Sliding Control for a Class of Fractional Commensurate Order Chaotic Systems

    Directory of Open Access Journals (Sweden)

    Jian Yuan

    2015-01-01

    Full Text Available This paper proposes adaptive sliding mode control design for a class of fractional commensurate order chaotic systems. We firstly introduce a fractional integral sliding manifold for the nominal systems. Secondly we prove the stability of the corresponding fractional sliding dynamics. Then, by introducing a Lyapunov candidate function and using the Mittag-Leffler stability theory we derive the desired sliding control law. Furthermore, we prove that the proposed sliding manifold is also adapted for the fractional systems in the presence of uncertainties and external disturbances. At last, we design a fractional adaptation law for the perturbed fractional systems. To verify the viability and efficiency of the proposed fractional controllers, numerical simulations of fractional Lorenz’s system and Chen’s system are presented.

  4. A novel sliding-mode control of induction motor using space vector modulation technique.

    Science.gov (United States)

    Fu, Tian-Jun; Xie, Wen-Fang

    2005-10-01

    This paper presents a novel sliding-mode control method for torque control of induction motors. The control principle is based on sliding-mode control combined with space vector modulation technique. The sliding-mode control contributes to the robustness of induction motor drives, and the space vector modulation improves the torque, flux, and current steady-state performance by reducing the ripple. The Lyapunov direct method is used to ensure the reaching and sustaining of sliding mode and stability of the control system. The performance of the proposed system is compared with those of conventional sliding-mode controller and classical PI controller. Finally, computer simulation results show that the proposed control scheme provides robust dynamic characteristics with low torque ripple.

  5. Applications of sliding mode control

    CERN Document Server

    Ghommam, Jawhar; Zhu, Quanmin

    2017-01-01

    This book presents essential studies and applications in the context of sliding mode control, highlighting the latest findings from interdisciplinary theoretical studies, ranging from computational algorithm development to representative applications. Readers will learn how to easily tailor the techniques to accommodate their ad hoc applications. To make the content as accessible as possible, the book employs a clear route in each paper, moving from background to motivation, to quantitative development (equations), and lastly to case studies/illustrations/tutorials (simulations, experiences, curves, tables, etc.). Though primarily intended for graduate students, professors and researchers from related fields, the book will also benefit engineers and scientists from industry. .

  6. Digital Sliding Mode Control of Anti-Lock Braking System

    Directory of Open Access Journals (Sweden)

    MITIC, D. B.

    2013-02-01

    Full Text Available The control of anti-lock braking system is a great challenge, because of the nonlinear and complex characteristics of braking dynamics, unknown parameters of vehicle environment and system parameter variations. Using some of robust control methods, such as sliding mode control, can be a right solution for these problems. In this paper, we introduce a novel approach to design of ABS controllers, which is based on digital sliding mode control with only input/output measurements. The relay term of the proposed digital sliding mode control is filtered through digital integrator, reducing the chattering phenomenon in that way, and the additional signal of estimated modelling error is introduced into control algorithm to enhance the system steady-state accuracy. The given solution was verified in real experimental framework and the obtained results were compared with the results of implementation of two other digital sliding mode control algorithms. It is shown that it gives better system response, higher steady-state accuracy and smaller chattering.

  7. Steel surface modifications in magnetised sliding contact

    Energy Technology Data Exchange (ETDEWEB)

    Paulmier, D. [CNRS, 54 - Vandoeuvre les Nancy (France). Lab. de Physique et Mecanique des Materiaux; Zaidi, H. [CNRS, 54 - Vandoeuvre les Nancy (France). Lab. de Physique et Mecanique des Materiaux; Bedri, R. [CNRS, 54 - Vandoeuvre les Nancy (France). Lab. de Physique et Mecanique des Materiaux; Kadiri, E.K. [CNRS, 54 - Vandoeuvre les Nancy (France). Lab. de Physique et Mecanique des Materiaux; Pan, L. [Beijing Metall. Management Inst. (China); Jiang, Q. [Beijing Metall. Management Inst. (China)

    1995-12-01

    Modifications in the mechanical properties of a ferromagnetic steel surface in sliding contact under the influence of a d.c. magnetic field were investigated. A magnetic field was applied to the steel pin, remaining constant during each test. Experiments were conducted at ambient temperature under different applied normal loads, sliding velocities and magnetic field ensities. Experimental results show that at ambient temperature the application of a magnetic field decreases the fluctuations in the friction coefficient and wear rate and increases the microhardness of the sliding surfaces. The dislocation density increases in the thin coating of the magnetised sliding contact erface. A simple model for the agglomeration of dislocations on the sliding contact is proposed. The results were erpreted by observation and analysis of the surface. Optical microscopy shows that when a magnetic field was applied the sliding surface was covered with thin black particles. The magnetic field promoted the oxidation of the surface. (orig.)

  8. Design of Second-Order Sliding Mode Guidance Law Based on the Nonhomogeneous Disturbance Observer

    Directory of Open Access Journals (Sweden)

    Huibo Zhou

    2014-01-01

    Full Text Available Considering the guidance problem of relative motion of missile target without the dynamic characteristics of missile autopilot in the interception planar, non-homogeneous disturbance observer is applied for finite-time estimation with respect to the target maneuvering affecting the guidance performance. Two guidance laws with finite-time convergence are designed by using a fast power rate reaching law and the prescribed sliding variable dynamics. The nonsingular terminal sliding mode surface is selected to improve dynamic characteristics of missile autopilot. Furthermore, the finite-time guidance law with dynamic delay characteristics is designed for the target maneuvering through adopting variable structure dynamic compensation. The simulation results demonstrate that, for different target maneuvering, the proposed guidance laws can restrain the sliding mode chattering problem effectively and make the missile hit the maneuvering target quickly and accurately with condition of corresponding assumptions.

  9. Self-adapted sliding scale spectroscopy ADC

    International Nuclear Information System (INIS)

    Xu Qichun; Wang Jingjin

    1992-01-01

    The traditional sliding scale technique causes a disabled range that is equal to the sliding length, thus reduces the analysis range of a MCA. A method for reduce ADC's DNL, which is called self-adapted sliding scale method, has been designed and tested. With this method, the disabled range caused by a traditional sliding scale method can be eliminated by a random trial scale and there is no need of an additional amplitude discriminator with swing threshold. A special trial-and-correct logic is presented. The tested DNL of the spectroscopy ADC described here is less than 0.5%

  10. Application of Sensorless Sliding Mode Observer in Control of Induction Motor Drive

    Directory of Open Access Journals (Sweden)

    Chau Si Thien Dong

    2017-01-01

    Full Text Available Induction motors are widely used in an industry and it is necessary to improve control methods for induction motors to increase the efficiency of them. In this paper, sliding mode controllers are proposed instead of traditional PI controllers in vector control of induction motor drives. Moreover, rotor speed is estimated by a sliding mode observer. In addition, the robustness of control and observer algorithms are also proved by Lyapunov’s criterion. The experiments are obtained in different speed changes of an induction motor drive. These experimental results confirm the dynamic properties of a sensorless sliding mode control of an induction motor drive.

  11. Synchronization of a modified Chua's circuit system via adaptive sliding mode control

    International Nuclear Information System (INIS)

    Yan, J.-J.; Lin, J.-S.; Liao, T.-L.

    2008-01-01

    This study addresses the adaptive synchronization of a modified Chua's circuit system with both unknown system parameters and the nonlinearity in the control input. An adaptive switching surface is newly adopted such that it becomes easy to ensure the stability of the error dynamics in the sliding mode. Based on this adaptive switching surface, an adaptive sliding mode controller (ASMC) is derived to guarantee the occurrence of the sliding motion, even when the system is undergoing input nonlinearity. This method can also be easily extended to a general class of Chua's circuits. An illustrative example is given to show the applicability of the proposed ASMC design

  12. Projective synchronization of uncertain scale-free network based on modified sliding mode control technique

    Science.gov (United States)

    Li, Chengren; Lü, Ling; Zhao, Guannan; Li, Gang; Tian, Jing; Gu, Jiajia; Wang, Zhouyang

    2017-05-01

    We modify sliding mode control technique from the synchronization of a single dynamic system to the synchronization of complex network. Projective synchronization of uncertain scale-free network is investigated based on modified sliding mode control technique. Further, the sliding surfaces, the identification laws of uncertain parameters and the control inputs are designed, and the condition of realizing projective synchronization of uncertain scale-free network is obtained. Finally, the Logistic systems with chaotic behavior are taken as nodes to constitute the scale-free network and the synchronization target. The simulation results show that the synchronization mechanism is effective.

  13. Nonlinear disturbance observer based sliding mode control of a cable-driven rehabilitation robot.

    Science.gov (United States)

    Niu, Jie; Yang, Qianqian; Chen, Guangtao; Song, Rong

    2017-07-01

    This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller is compared with a PID controller and a traditional sliding mode controller. Results show that the proposed controller can effectively improve the tracking performance as compared with the other two controllers and cause lower chattering as compared with a traditional sliding mode controller.

  14. Frequency-shaped and observer-based discrete-time sliding mode control

    CERN Document Server

    Mehta, Axaykumar

    2015-01-01

    It is well established that the sliding mode control strategy provides an effective and robust method of controlling the deterministic system due to its well-known invariance property to a class of bounded disturbance and parameter variations. Advances in microcomputer technologies have made digital control increasingly popular among the researchers worldwide. And that led to the study of discrete-time sliding mode control design and its implementation. This brief presents, a method for multi-rate frequency shaped sliding mode controller design based on switching and non-switching type of reaching law. In this approach, the frequency dependent compensator dynamics are introduced through a frequency-shaped sliding surface by assigning frequency dependent weighing matrices in a linear quadratic regulator (LQR) design procedure. In this way, the undesired high frequency dynamics or certain frequency disturbance can be eliminated. The states are implicitly obtained by measuring the output at a faster rate than th...

  15. Robust Sliding Mode Control of Permanent Magnet Synchronous Generator-Based Wind Energy Conversion Systems

    Directory of Open Access Journals (Sweden)

    Guangping Zhuo

    2016-12-01

    Full Text Available The subject of this paper pertains to sliding mode control and its application in nonlinear electrical power systems as seen in wind energy conversion systems. Due to the robustness in dealing with unmodeled system dynamics, sliding mode control has been widely used in electrical power system applications. This paper presents first and high order sliding mode control schemes for permanent magnet synchronous generator-based wind energy conversion systems. The application of these methods for control using dynamic models of the d-axis and q-axis currents, as well as those of the high speed shaft rotational speed show a high level of efficiency in power extraction from a varying wind resource. Computer simulation results have shown the efficacy of the proposed sliding mode control approaches.

  16. On sliding mode control design for UAV using realistic aerodynamic coefficients

    OpenAIRE

    Perozzi, Gabriele; Efimov, Denis; Biannic, Jean-Marc; Planckaert, Laurent; Coton, Patricia

    2017-01-01

    International audience; The goal of this paper is to design a control of mini quadrotor under wind perturbations. Taking into account a detailed unmanned aerial vehicle (UAV) model, the aim is to find a sliding mode control law minimizing the impact of the wind field on UAV dynamics. For this purpose an aerodynamic modelization of external disturbance is introduced. After that, upper bounds of these disturbances are computed. Lastly, the sliding mode altitude and attitude controls are designe...

  17. Adaptive Neural Network Sliding Mode Control for Quad Tilt Rotor Aircraft

    OpenAIRE

    Yanchao Yin; Hongwei Niu; Xiaobao Liu

    2017-01-01

    A novel neural network sliding mode control based on multicommunity bidirectional drive collaborative search algorithm (M-CBDCS) is proposed to design a flight controller for performing the attitude tracking control of a quad tilt rotors aircraft (QTRA). Firstly, the attitude dynamic model of the QTRA concerning propeller tension, channel arm, and moment of inertia is formulated, and the equivalent sliding mode control law is stated. Secondly, an adaptive control algorithm is presented to eli...

  18. Eurosafe-2011 - Papers and slides

    International Nuclear Information System (INIS)

    2012-01-01

    This document gathers some slides, papers and posters that were presented at the 2011 annual EUROSAFE forum. This forum focuses in its plenary part on 'Nuclear safety: new challenges, gained experience and public expectations' in the light of the Fukushima nuclear power station (NPS) accident. The topic will be considered from the point of view of Japanese safety authorities, of a regulator, of an international organisation, of a utility and of a Technical Safety Organisation (TSO). The first part of the second day will be devoted to presentations of the Fukushima NPS accident. The second part of this day will present the latest work carried out by ETSON (European Technical Safety Organizations Network) and EUROSAFE members and their partners worldwide through three seminars (nuclear safety research and safety assessment, radiation protection and environment, nuclear material and nuclear facilities security) and a workshop on operating experience feedback on nuclear fuel cycle facilities

  19. Modelling of piezoresistance sliding coatings

    International Nuclear Information System (INIS)

    Kot, M.; Rakowski, W.

    2000-01-01

    Polymer composites based on PEI filling metal powders and lubricating additions: graphite and MoS 2 have strong sensor properties appearing as resistance change with external load and temperature. These materials have also good tribological properties and can be applied as slide bearings material or coatings on steel substrate, which in the same time are diagnostic elements - sensors. Electrical conductance of these coatings is strongly correlated with thermomechanical model of composites. The mean distance between conducting particles of filler has decisive influence on resistivity of coatings. modelling of semi-conducting polymer composites allows for designating of materials, whose mechanical properties and sensor characteristics will assure high reliability of bearings and gives the possibility their diagnosis without additional sensors. (author)

  20. Were the Trænadjupet and Nyk Slides multi-staged?

    Science.gov (United States)

    Allin, Joshua; Mozzato, Alessandro; Tappin, David; Talling, Peter; Hunt, James

    2016-04-01

    Submarine landslides originating from active and extinct trough mouth fans are some of the largest single mass movements evident on Earth. These landslides are capable of damaging offshore infrastructure and can also trigger far-reaching tsunamis. For these reasons understanding the timing, dynamics, and triggering mechanisms of large submarine landslides is important for regional geohazard assessment. The Trænadjupet Slide occurred 4,000 ca. years ago and originated from the Trænadjupet paleo-ice stream on the Central Norwegian margin. The Trænadjupet Slide partially buried the deposits of a previous slide originating from the same section of the Norwegian margin; the Nyk Slide, which occurred at 16,000 ca years ago. Although the Trænadjupet Slide had an estimated volume of 900 km3 and originated from a shallow water depth, it does not appear to have triggered a tsunami. This is in contrast to the comparably-sized Storegga Slide, which produced a tsunami that devastated coastal areas as far away as Scotland. The apparent absence of a tsunami suggests that the failure dynamics for the Trænadjupet slide were different to that of other large slides along the Norwegian Margin. The deposits of both the Trænadjupet and Nyk Slides consist of several blocky lobes extending out into the Lofoten Basin. The lobate morphology of the deposits may imply that both slides occurred in a number of different and possibly temporally-disparate stages. Importantly, multi-staged failures have a much lower tsunamigenic potential due to the lower initial volume displacement. These staggered failures consisting of smaller sediment volumes might explain why no contemporaneous onshore tsunami deposits are found on nearby coastlines, particularly in the case of the post-glacial Trænadjupet Slide. Here we present a new sediment core dataset collected from the previously un-sampled lobes of the Trænadjupet and Nyk Slides. These cores will help us better characterise the deposit types

  1. Evaluating the visibility of presentation slides

    Science.gov (United States)

    Sugawara, Genki; Umezu, Nobuyuki

    2017-03-01

    Presentations using slide software such as PowerPoint are widely performed in offices and schools. The improvement of presentation skills among ordinary people is required because these days such an opportunity of giving presentation is becoming so common. One of the key factors for making successful presentation is the visibility of the slides, as well as the contents themselves. We propose an algorithm to numerically evaluate the visibility of presentation slides. Our method receives a presentation as a set of images and eliminates the background from the slides to extract characters and figures. This algorithm then evaluates the visibility according to the number and size of characters, their colors, and figure layouts. The slide evaluation criteria are based on the series of experiments with 20 participants to parameterize typical values for visual elements in slides. The algorithm is implemented on an iMac and takes 0.5 sec. to evaluate a slide image. The evaluation score is given as a value between 0 and 100 and the users can improve their slide pages with lower scores. Our future work includes a series of experiments with various presentations and extending our method to publish as a web-based rating service for learning presentation skills.

  2. Ergometer rowing with and without slides

    DEFF Research Database (Denmark)

    Larsen, Anders Holsgaard; Jensen, K

    2010-01-01

    A rowing ergometer can be placed on a slide to imitate 'on-water' rowing. The present study examines I) possible differences in biomechanical and physiological variables of ergometer rowing with and without slides and II) potential consequences on training load during exercise. 7 elite oars-women...... frequency was higher (%-difference between conditions) at each intensity level (1-11.4%, p...

  3. Discrete-time nonlinear sliding mode controller

    African Journals Online (AJOL)

    user

    desired trajectory. In Bandhyopadhyay and Deepak (2009), nonlinear sliding surface is created for varying the damping factor for improving the performance of the multi-input and multi-output linear systems with matched conditions. Some of the concepts and theoretical advances of continuous time sliding mode control are ...

  4. FUZZY SLIDING MODE CONTROLLER FOR DOUBLY FED ...

    African Journals Online (AJOL)

    2010-12-31

    Dec 31, 2010 ... Hence it is found to be very effective in controlling electric drives systems. Large torque chattering at steady state may be considered as the main drawback for such a control scheme [6]. One way to improve sliding mode controller performance is to combine it with Fuzzy Logic (FL) to form a Fuzzy Sliding ...

  5. Monitoring environmental change with color slides

    Science.gov (United States)

    Arthur W. Magill

    1989-01-01

    Monitoring human impact on outdoor recreation sites and view landscapes is necessary to evaluate influences which may require corrective action and to determine if management is achieving desired goals. An inexpensive method to monitor environmental change is to establish camera points and use repeat color slides. Successful monitoring from slides requires the observer...

  6. Experimental research on distributed fiber sensor for sliding damage monitoring

    Science.gov (United States)

    Tian Guo, Tang; Qing Yuan, Wang; Hao Wu, Liu

    2009-01-01

    A distributed optical fiber sensor (DOFS) with the principle of microbend loss has been developed for concrete or rock-sliding damage measurement. The combination of multiple microbend sensors can form a sensor array for distributed sensing application in monitoring local slippage or deformation along the rock mass of the high slope, and the optical time-domain reflectometry (OTDR) can be conveniently used for interrogation of each sensor point. The sensor sensitivity can be obtained at a specific range according to the requirement of the model test condition. Connected with multiplexed sensing processing schemes, its sliding range of dynamic sensing response reached 0-3.6 mm and semi-empirical formula was fitted according to data from model tests. The DOFS array may find a potential application in real-time monitoring and damage detection of large and critical slope engineering structures.

  7. Sliding mode control of a simulated MEMS gyroscope.

    Science.gov (United States)

    Batur, C; Sreeramreddy, T; Khasawneh, Q

    2006-01-01

    The microelectromechanical systems (MEMS) are penetrating more and more into measurement and control problems because of their small size, low cost, and low power consumption. The vibrating gyroscope is one of those MEMS devices that will have a significant impact on the stability control systems in transportation industry. This paper studies the design and control of a vibrating gyroscope. The device has been constructed in a Pro-E environment and its model has been simulated in the finite-element domain in order to approximate its dynamic characteristics with a lumped model. A model reference adaptive feedback controller and the sliding mode controller have been considered to guarantee the stability of the device. It is shown that the sliding mode controller of the vibrating proof mass results in a better estimate of the unknown angular velocity than that of the model reference adaptive feedback controller.

  8. Maximum Power Point Tracking Based on Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Nimrod Vázquez

    2015-01-01

    Full Text Available Solar panels, which have become a good choice, are used to generate and supply electricity in commercial and residential applications. This generated power starts with the solar cells, which have a complex relationship between solar irradiation, temperature, and output power. For this reason a tracking of the maximum power point is required. Traditionally, this has been made by considering just current and voltage conditions at the photovoltaic panel; however, temperature also influences the process. In this paper the voltage, current, and temperature in the PV system are considered to be a part of a sliding surface for the proposed maximum power point tracking; this means a sliding mode controller is applied. Obtained results gave a good dynamic response, as a difference from traditional schemes, which are only based on computational algorithms. A traditional algorithm based on MPPT was added in order to assure a low steady state error.

  9. Long-term subglacial sliding patterns based on a sliding law with cavitation

    DEFF Research Database (Denmark)

    Ugelvig, Sofie Vej; Egholm, D.L.

    In ice-sheet models and glacial landscape evolution models, subglacial sliding rates are often related to basal shear stress by a power-law. However, the power-law relationship implies that the subglacial bed can provide unlimited levels of basal drag as sliding rates increases, which is recognized......-water pressures are relatively low, whereas fast sliding spreads to the valley bottoms when melt-water pressure increases. We couple equations for glacial sliding to a model for subglacial bedrock erosion and test the implications of the sliding law for long-term glacial landscape evolution. Schoof, C. The effect...

  10. Methodology for evaluating sliding potential under seismic loading

    International Nuclear Information System (INIS)

    Constantopoulos, I.V.; Guerpinar, A.; Davenport, C.A.; Levadoux, J.N.; Massa, G.

    1981-01-01

    As part of the development of the PEC Nuclear Plant in Italy, a potential sliding problem arose, as the horizontal seismic loads exceeded the resisting frictional forces between the foundation mat of the Edificio Intercapedine and the underlying foundation rock surface, when computed using the conventional 'rigid body' motion considerations. A rigorous approach which accounts for the non-continuous application of seismic excitation forces, as well as for the irregularities in the rock surface, was developed to more realistically evaluate the sliding issue. As a first approach, the intact rock mass and the concrete mat were modeled as linearly elastic finite elements and the interface between the foundation mat and the rock exposure was represented by means of a series of joint elements. A key input to the analysis was the geometry and nature of the interface between rock surface and foundation mat. On the basis of geologic mapping of the discontinuity-controlled rock surface, ranges and probability density functions of apparent dip angle, peak friction angle and frequency of the joints were estimated for the potential sliding of the foundation in the most critical direction. Seven joint configurations were thus developed and analyzed with the finite element approach. The corresponding models represented possible planar cross-sections of the foundation mat and underlying rock. The dynamic lead factor, defined as the ratio of the applied loads to the dynamic forces predicted to occur under SSE conditions, was then determined at the load for which sliding is expected to commence and was found to be greater than 1.5 for all cases. (orig./RW)

  11. Slides with no attached paper

    International Nuclear Information System (INIS)

    Warin, Dominique; Wallenius, Janne; Ouzounian, Gerald; Wikberg, Peter; Todd, Terry A.; Kormilitsyn, Mikhael V.; Osipenko, Alexander G.; Mayorshin, A.A.; McLachlan, Fiona; Nash, Ken L.; Nilsson, M.; Grimes, T.; Braley, J.C.; TAKESHITA, Kenji; Babain, Vasiliy A.; Spendlikova, I.; Distler, P.; John, J.; Sebesta, F.; VU, Trong-Hung; SIMONIN, Jean-Pierre; PAULENOVA, Alena; PRECEK, Martin; HARTIG, Kyle; KNAPP, Nathan; Vidick, Geoffrey; Bouslimani, Nouri; Desreux, Jean F.; Lewis, F.W.; Hudson, M.J.; Harwood, L.M.; Nunez, Ana; Nagarajan, K.; Vasudeva Rao, P.R.; Raj, Baldev; Ignatiev, Victor; Surenkov, Alexander; Pouchon, Manuel A.; Skarnemark, Gunnar; Allard, Stefan; Ekberg, Christian; Retegan, Teodora; Nordlund, Anders; John, Jan; Maershin, Alexander; Zakirov, R.; Panov, A.; Toropov, Andrey

    2010-01-01

    This document brings together the different presentations (slides) given at the workshop but with no attached paper. These slides refer to the following presentations: - Presentation of ITN (Instituto Tecnologico e Nuclear); - Minor Actinide Partitioning (Dominique Warin); - Transmutation (Janne Wallenius); - Radioactive Waste Management, IGD-TP (Gerald Ouzounian); - Present status of the Swedish nuclear waste management programme (Peter Wikberg); - The U.S. Fuel Cycle Research and Development Program - Separations Research and Development (Terry Todd); - Strategies and national programs of closed fuel cycles - Russian Expert Vision (Mikhael Kormilitsyn) - Extraction Studies Of Potential Solvent Formulations For The GANEX Process (Fiona MacLachlan); - Investigations of The Fundamental Chemistry of the TALSPEAK Process (Ken Nash); - Extraction Separation of Trivalent Minor Actinides and Lanthanides by Hexa-dentate Nitrogen-donor Extractant, TPEN, and its Analogs (Kenji Takeshita); - Fluorinated Diluents for HLW Processing - technological point of view (Vasiliy Babain); - Extraction properties of some new pyridine molecules and search for better diluents (Irena Spendlikova); - Kinetics of extraction of Eu 3+ ion by TODGA and CyMe 4 -BTBP studied using the RMC technique (Trong Hung Vu); - Redox Chemistry of Neptunium in Solutions of Nitric Acid (Alena Paulenova); - NMR applied to actinide ions and their complexes. In search of covalency effects (Geoffrey Vidick); - Towards 'Stability Rules' for Radiolysis of bis-DGA compounds (Ana Nunez); - Pyroprocess Research Activities at IGCAR, Kalpakkam, India (K. Nagarajan); - Critical issues of nuclear energy systems employing molten salt fluorides: from ISTC No. 1606 to No. 3749 (1. year of project activity) and MARS/EVOL cooperation (Victor Ignatiev); - Conversion processes: Internal Gelation and the Sphere-pac concept (Manuel Pouchon); - A Combined Nuclear Technology and Nuclear Chemistry Master. A Unique

  12. Fuzzy Sliding Mode Control of Plate Vibrations

    Directory of Open Access Journals (Sweden)

    Manu Sharma

    2010-01-01

    Full Text Available In this paper, fuzzy logic is meshed with sliding mode control, in order to control vibrations of a cantilevered plate. Test plate is instrumented with a piezoelectric sensor patch and a piezoelectric actuator patch. Finite element method is used to obtain mathematical model of the test plate. A design approach of a sliding mode controller for linear systems with mismatched time-varying uncertainties is used in this paper. It is found that chattering around the sliding surface in the sliding mode control can be checked by the proposed fuzzy sliding mode control approach. With presented fuzzy sliding mode approach the actuator voltage time response has a smooth decay. This is important because an abrupt decay can excite higher modes in the structure. Fuzzy rule base consisting of nine rules, is generated from the sliding mode inequality. Experimental implementation of the control approach verify the theoretical findings. For experimental implementation, size of the problem is reduced using modal truncation technique. Modal displacements as well as velocities of first two modes are observed using real-time kalman observer. Real time implementation of fuzzy logic based control has always been a challenge because a given set of rules has to be executed in every sampling interval. Results in this paper establish feasibility of experimental implementation of presented fuzzy logic based controller for active vibration control.

  13. Adaptive Neural Network Sliding Mode Control for Quad Tilt Rotor Aircraft

    Directory of Open Access Journals (Sweden)

    Yanchao Yin

    2017-01-01

    Full Text Available A novel neural network sliding mode control based on multicommunity bidirectional drive collaborative search algorithm (M-CBDCS is proposed to design a flight controller for performing the attitude tracking control of a quad tilt rotors aircraft (QTRA. Firstly, the attitude dynamic model of the QTRA concerning propeller tension, channel arm, and moment of inertia is formulated, and the equivalent sliding mode control law is stated. Secondly, an adaptive control algorithm is presented to eliminate the approximation error, where a radial basis function (RBF neural network is used to online regulate the equivalent sliding mode control law, and the novel M-CBDCS algorithm is developed to uniformly update the unknown neural network weights and essential model parameters adaptively. The nonlinear approximation error is obtained and serves as a novel leakage term in the adaptations to guarantee the sliding surface convergence and eliminate the chattering phenomenon, which benefit the overall attitude control performance for QTRA. Finally, the appropriate comparisons among the novel adaptive neural network sliding mode control, the classical neural network sliding mode control, and the dynamic inverse PID control are examined, and comparative simulations are included to verify the efficacy of the proposed control method.

  14. SlideToolkit: an assistive toolset for the histological quantification of whole slide images.

    Directory of Open Access Journals (Sweden)

    Bastiaan G L Nelissen

    Full Text Available The demand for accurate and reproducible phenotyping of a disease trait increases with the rising number of biobanks and genome wide association studies. Detailed analysis of histology is a powerful way of phenotyping human tissues. Nonetheless, purely visual assessment of histological slides is time-consuming and liable to sampling variation and optical illusions and thereby observer variation, and external validation may be cumbersome. Therefore, within our own biobank, computerized quantification of digitized histological slides is often preferred as a more precise and reproducible, and sometimes more sensitive approach. Relatively few free toolkits are, however, available for fully digitized microscopic slides, usually known as whole slides images. In order to comply with this need, we developed the slideToolkit as a fast method to handle large quantities of low contrast whole slides images using advanced cell detecting algorithms. The slideToolkit has been developed for modern personal computers and high-performance clusters (HPCs and is available as an open-source project on github.com. We here illustrate the power of slideToolkit by a repeated measurement of 303 digital slides containing CD3 stained (DAB abdominal aortic aneurysm tissue from a tissue biobank. Our workflow consists of four consecutive steps. In the first step (acquisition, whole slide images are collected and converted to TIFF files. In the second step (preparation, files are organized. The third step (tiles, creates multiple manageable tiles to count. In the fourth step (analysis, tissue is analyzed and results are stored in a data set. Using this method, two consecutive measurements of 303 slides showed an intraclass correlation of 0.99. In conclusion, slideToolkit provides a free, powerful and versatile collection of tools for automated feature analysis of whole slide images to create reproducible and meaningful phenotypic data sets.

  15. Friction of Droplets Sliding on Microstructured Superhydrophobic Surfaces.

    Science.gov (United States)

    Qiao, Shasha; Li, Shen; Li, Qunyang; Li, Bo; Liu, Kesong; Feng, Xi-Qiao

    2017-11-28

    Liquid transport is a fundamental process relevant to a wide range of applications, for example, heat transfer, anti-icing, self-cleaning, drag reduction, and microfluidic systems. For these applications, a deeper understanding of the sliding behavior of water droplets on solid surfaces is of particular importance. In this study, the frictional behavior of water droplets sliding on superhydrophobic surfaces decorated with micropillar arrays was studied using a nanotribometer. Our experiments show that surfaces with a higher solid area fraction generally exhibited larger friction, although friction might drop when the solid area fraction was close to unity. More interestingly, we found that the sliding friction of droplets was enhanced when the dimension of the microstructures increased, showing a distinct size effect. The nonmonotonic dependence of friction force on solid area fraction and the apparent size effect can be qualitatively explained by the evolution of two governing factors, that is, the true length of the contact line and the coordination degree of the depinning events. The mechanisms are expected to be generally applicable for other liquid transport processes involving the dynamic motion of a three-phase contact line, which may provide a new means of tuning liquid-transfer behavior through surface microstructures.

  16. SlideJ: An ImageJ plugin for automated processing of whole slide images.

    Directory of Open Access Journals (Sweden)

    Vincenzo Della Mea

    Full Text Available The digital slide, or Whole Slide Image, is a digital image, acquired with specific scanners, that represents a complete tissue sample or cytological specimen at microscopic level. While Whole Slide image analysis is recognized among the most interesting opportunities, the typical size of such images-up to Gpixels- can be very demanding in terms of memory requirements. Thus, while algorithms and tools for processing and analysis of single microscopic field images are available, Whole Slide images size makes the direct use of such tools prohibitive or impossible. In this work a plugin for ImageJ, named SlideJ, is proposed with the objective to seamlessly extend the application of image analysis algorithms implemented in ImageJ for single microscopic field images to a whole digital slide analysis. The plugin has been complemented by examples of macro in the ImageJ scripting language to demonstrate its use in concrete situations.

  17. Lubrication of sliding bearings for hydropower applications

    OpenAIRE

    McCarthy, Donald

    2005-01-01

    The term "sliding bearing" refers to types of bearing where two conformal surfaces (usually the stationary bearing and a moving shaft) slide relative to one another with load distributed directly across the interface. A suitable lubricant may be employed to reduce the friction between these two surfaces. In "fluid film" bearings, this lubricant builds up a layer of sufficient thickness such that the two surfaces are completely separated. Examples include journal and thrust bearings and shaft ...

  18. Mechanism of opening a sliding clamp

    OpenAIRE

    Douma, Lauren G.; Yu, Kevin K.; England, Jennifer K.; Levitus, Marcia; Bloom, Linda B.

    2017-01-01

    Abstract Clamp loaders load ring-shaped sliding clamps onto DNA where the clamps serve as processivity factors for DNA polymerases. In the first stage of clamp loading, clamp loaders bind and stabilize clamps in an open conformation, and in the second stage, clamp loaders place the open clamps around DNA so that the clamps encircle DNA. Here, the mechanism of the initial clamp opening stage is investigated. Mutations were introduced into the Escherichia coli β-sliding clamp that destabilize t...

  19. Regularization of discontinuous foliations: Blowing up and sliding conditions via Fenichel theory

    Science.gov (United States)

    Panazzolo, Daniel; da Silva, Paulo R.

    2017-12-01

    We study the regularization of an oriented 1-foliation F on M ∖ Σ where M is a smooth manifold and Σ ⊂ M is a closed subset, which can be interpreted as the discontinuity locus of F. In the spirit of Filippov's work, we define a sliding and sewing dynamics on the discontinuity locus Σ as some sort of limit of the dynamics of a nearby smooth 1-foliation and obtain conditions to identify whether a point belongs to the sliding or sewing regions.

  20. Preparing Scientific Papers, Posters, and Slides.

    Science.gov (United States)

    Lefor, Alan Kawarai; Maeno, Misato

    2016-01-01

    Publications and presentations are important in academic medicine. The ability to present information in a standard fashion is critically important. Papers, posters, and slides must be prepared appropriately to maximize their chance of being accepted. The first step is to use word processing software correctly. English language usage must conform to standard scientific English usage. Abbreviations should be avoided as much as possible. Numerical data must be presented with the appropriate number of significant figures. The first step in preparing a paper is to decide the target journal. Papers should always be written in 12 point Times New Roman font, while slides and posters should be in Arial or Helvetica. The Results section must contain actual data with appropriate statistical analysis. Take great care to prepare figures and tables according to the journal's instructions. Posters must be prepared to allow easy reading at a distance of 2m. Use a white background and dark letters. The majority of the area of your poster should be Results, and there is no need to include the abstract or references on a poster. Slide presentations should be limited to about one slide for each minute of the talk. Avoid the use of animations and excessive use of color. Do not use abbreviations on slides. Following these simple guidelines will meet the requirements of most journals and allow your audience to appreciate the data on your posters and slides. Copyright © 2015 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  1. Corrosion of amalgams under sliding wear.

    Science.gov (United States)

    Lian, K; Meletis, E I

    1996-05-01

    During mastication, dental amalgams are simultaneously subjected to corrosion by the oral environment and to a sliding-wear process by biting forces. In the present study, the effect of sliding wear on the corrosion behavior of two high-copper dental amalgams was investigated. An experimental apparatus was utilized that allows electrochemical testing under sliding-wear conditions. Corrosion potential measurements and anodic polarization scans were conducted in 0.1 M NaCl solution under sliding wear to characterize the behavior of two commercial, high-copper, single composition dental amalgams. In addition, long duration tests were conducted to assess possible corrosion and wear synergistic effects. The results showed that sliding wear caused a sharp reduction in the corrosion potential, a significant increase in the corrosion rate and a decrease in the repassivation rate of both amalgams. These effects are due to the mechanical removal by the wear process of the surface protective film formed on dental amalgams. The simultaneous action of sliding wear and corrosion can also induce embrittlement that leads to cracking. The present evidence suggests that this cracking may be one of the major contributors to marginal failures of dental amalgam restorations.

  2. WTP Pretreatment Facility Potential Design Deficiencies--Sliding Bed and Sliding Bed Erosion Assessment

    Energy Technology Data Exchange (ETDEWEB)

    Hansen, E. K. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL)

    2015-05-06

    This assessment is based on readily available literature and discusses both Newtonian and non-Newtonian slurries with respect to sliding beds and erosion due to sliding beds. This report does not quantify the size of the sliding beds or erosion rates due to sliding beds, but only assesses if they could be present. This assessment addresses process pipelines in the Pretreatment (PT) facility and the high level waste (HLW) transfer lines leaving the PT facility to the HLW vitrification facility concentrate receipt vessel.

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

    Directory of Open Access Journals (Sweden)

    Wang Congqing

    2013-02-01

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

  4. Are slide-hold-slide tests a good analogue for the seismic cycle?

    Science.gov (United States)

    van den Ende, Martijn; Niemeijer, André; Marketos, George; Spiers, Christopher

    2017-04-01

    Earthquakes are among the most disruptive of natural hazards known to man. Owing to their destructive potential and poor predictability, earthquakes and unstable frictional sliding in general receive considerable attention, both in experimental and in modelling studies. For reliable seismic hazard assessments, accurate predictions of the failure strength of seismogenic faults is paramount. To study the time-dependent restrengthening (or "healing") of faults in a laboratory setting, the slide-hold-slide (SHS) method is commonly employed as an analogue for the seismic cycle. Using this method, it is assumed that the rate of restrengthening as observed in SHS tests is similar to the rate of restrengthening of natural faults during the interseismic phase. However, the dynamic and kinematic boundary conditions of SHS tests are inherently different to those of a fault that is being tectonically loaded. As such, it can be questioned whether SHS tests (in which the interseismic period is characterised by stress relaxation) yield the same rate of restrengthening as would be expected from laboratory stick-slip or natural seismic cycles (characterised by a more complex stress history). This question could in principle be addressed experimentally by comparing the results from SHS tests with the stress drop and recurrence time of regular stick-slips. However, due to technical limitations, direct comparison between SHS and stick-slips is non-trivial, and uncertainties in extrapolating the laboratory results remain. To assess the validity of SHS tests as an analogue for the seismic cycle, we simulate laboratory SHS tests as well as stick-slips using the Discrete Element Method (DEM). DEM is a particle-based numerical technique that is suitable for modelling granular media, such as fault gouges. Its constitutive relations are linked to grain-scale micro-processes, and, in the work presented here, we incorporate pressure solution creep and frictional sliding. The simultaneous

  5. Universal fuzzy integral sliding-mode controllers for stochastic nonlinear systems.

    Science.gov (United States)

    Gao, Qing; Liu, Lu; Feng, Gang; Wang, Yong

    2014-12-01

    In this paper, the universal integral sliding-mode controller problem for the general stochastic nonlinear systems modeled by Itô type stochastic differential equations is investigated. One of the main contributions is that a novel dynamic integral sliding mode control (DISMC) scheme is developed for stochastic nonlinear systems based on their stochastic T-S fuzzy approximation models. The key advantage of the proposed DISMC scheme is that two very restrictive assumptions in most existing ISMC approaches to stochastic fuzzy systems have been removed. Based on the stochastic Lyapunov theory, it is shown that the closed-loop control system trajectories are kept on the integral sliding surface almost surely since the initial time, and moreover, the stochastic stability of the sliding motion can be guaranteed in terms of linear matrix inequalities. Another main contribution is that the results of universal fuzzy integral sliding-mode controllers for two classes of stochastic nonlinear systems, along with constructive procedures to obtain the universal fuzzy integral sliding-mode controllers, are provided, respectively. Simulation results from an inverted pendulum example are presented to illustrate the advantages and effectiveness of the proposed approaches.

  6. Terminal Sliding Mode Control with Unidirectional Auxiliary Surfaces for Hypersonic Vehicles Based on Adaptive Disturbance Observer

    Directory of Open Access Journals (Sweden)

    Naibao He

    2015-01-01

    Full Text Available A novel flight control scheme is proposed using the terminal sliding mode technique, unidirectional auxiliary surfaces and the disturbance observer model. These proposed dynamic attitude control systems can improve control performance of hypersonic vehicles despite uncertainties and external disturbances. The terminal attractor is employed to improve the convergence rate associated with the critical damping characteristics problem noted in short-period motions of hypersonic vehicles. The proposed robust attitude control scheme uses a dynamic terminal sliding mode with unidirectional auxiliary surfaces. The nonlinear disturbance observer is designed to estimate system uncertainties and external disturbances. The output of the disturbance observer aids the robust adaptive control scheme and improves robust attitude control performance. Finally, simulation results are presented to illustrate the effectiveness of the proposed terminal sliding mode with unidirectional auxiliary surfaces.

  7. A Discrete-Time Chattering Free Sliding Mode Control with Multirate Sampling Method for Flight Simulator

    Directory of Open Access Journals (Sweden)

    Yunjie Wu

    2013-01-01

    Full Text Available In order to improve the tracking accuracy of flight simulator and expend its frequency response, a multirate-sampling-method-based discrete-time chattering free sliding mode control is developed and imported into the systems. By constructing the multirate sampling sliding mode controller, the flight simulator can perfectly track a given reference signal with an arbitrarily small dynamic tracking error, and the problems caused by a contradiction of reference signal period and control period in traditional design method can be eliminated. It is proved by theoretical analysis that the extremely high dynamic tracking precision can be obtained. Meanwhile, the robustness is guaranteed by sliding mode control even though there are modeling mismatch, external disturbances and measure noise. The validity of the proposed method is confirmed by experiments on flight simulator.

  8. Bedrock erosion by sliding wear in channelized granular flow

    Science.gov (United States)

    Hung, C. Y.; Stark, C. P.; Capart, H.; Smith, B.; Maia, H. T.; Li, L.; Reitz, M. D.

    2014-12-01

    Boundary forces generated by debris flows can be powerful enough to erode bedrock and cause considerable damage to infrastructure during runout. Bedrock wear can be separated into impact and sliding wear processes. Here we focus on sliding wear. We have conducted experiments with a 40-cm-diameter grainflow-generating rotating drum designed to simulate dry channelized debris flows. To generate sliding erosion, we placed a 20-cm-diameter bedrock plate axially on the back wall of the drum. The rotating drum was half filled with 2.3-mm-diameter grains, which formed a thin grain-avalanching layer with peak flow speed and depth close to the drum axis. The whole experimental apparatus was placed on a 100g-ton geotechnical centrifuge and, in order to scale up the stress level, spun to a range of effective gravity levels. Rates and patterns of erosion of the bedrock plate were mapped after each experiment using 3d micro-photogrammetry. High-speed video and particle tracking were employed to measure granular flow dynamics. The resulting data for granular velocities and flow geometry were used to estimate impulse exchanges and forces on the bedrock plate. To address some of the complexities of granular flow under variable gravity levels, we developed a continuum model framed around a GDR MiDi rheology. This model allowed us to scale up boundary forcing while maintaining the same granular flow regime, and helped us to understand important aspects of the flow dynamics including e.g. fluxes of momentum and kinetic energy. In order to understand the detailed processes of boundary forcing, we performed numerical simulations with a new contact dynamics model. This model confirmed key aspects of our continuum model and provided information on second-order behavior such as fluctuations in the forces acting on the wall. By combining these measurements and theoretical analyses, we have developed and calibrated a constitutive model for sliding wear that is a threshold function of

  9. Accurate Sliding-Mode Control System Modeling for Buck Converters

    DEFF Research Database (Denmark)

    Høyerby, Mikkel Christian Wendelboe; Andersen, Michael Andreas E.

    2007-01-01

    This paper shows that classical sliding mode theory fails to correctly predict the output impedance of the highly useful sliding mode PID compensated buck converter. The reason for this is identified as the assumption of the sliding variable being held at zero during sliding mode, effectively...... approach also predicts the self-oscillating switching action of the sliding-mode control system correctly. Analytical findings are verified by simulation as well as experimentally in a 10-30V/3A buck converter....

  10. Ultrasound artifacts mimicking pleural sliding after pneumonectomy.

    Science.gov (United States)

    Cavaliere, Franco; Zamparelli, Roberto; Soave, Maurizio P; Gargaruti, Riccardo; Scapigliati, Andrea; De Paulis, Stefano

    2014-03-01

    To determine the presence of pleural sliding on chest ultrasonography (US) in a series of patients admitted to a surgical intensive care unit (SICU). Prospective, observational study. 16-bed SICU of a University hospital. 8 patients (7 men, 1 woman), aged 64 - 73 years (mean 67.5 yrs). Seven patients underwent pneumonectomy for pulmonary neoplasms; one patient underwent an atypical lung resection after having undergone a pneumonectomy one year before. None. Chest ultrasounds were performed during mechanical ventilation and spontaneous ventilation after endotracheal tube removal. In both examinations, pleural sliding was searched bilaterally in brightness mode (B-mode) and motion mode (M-mode) on the anterior thoracic wall in the least gravitationally dependent areas. During mechanical ventilation, pleural sliding was always absent on the side of the pneumonectomy and present on the other side. During spontaneous ventilation, some artifacts mimicking pleural sliding were noted on the side of the pneumonectomy both in B-mode and M-mode (presence of the seashore sign) in all patients, except for the one patient who had undergone a pneumonectomy one year earlier. Those artifacts became more pronounced during deep breaths. Ultrasound artifacts mimicking pleural sliding may be observed in the absence of the lung and may originate from the activity of intercostal muscles since they become more evident during deep breathing. Copyright © 2014 Elsevier Inc. All rights reserved.

  11. Long-term subglacial sliding patterns based on a sliding law with cavitation

    DEFF Research Database (Denmark)

    Ugelvig, Sofie Vej; Egholm, D.L.

    In ice-sheet models and glacial landscape evolution models, subglacial sliding rates are often related to basal shear stress by a power-law. However, the power-law relationship implies that the subglacial bed can provide unlimited levels of basal drag as sliding rates increases, which is recognized...... as an inadequate assumption, particularly when the effects of subglacial cavities are considered (Schoof 2005). We have implemented a glacial sliding law suggested by Schoof (2005) in a depth-integrated higher-order ice-sheet model (Egholm et al. 2011) and coupled this to a model for glacial hydrology. The sliding...... law includes an upper bound to the basal drag and depends on the effects of longitudinal and transverse stress components for obtaining force balance along the glacier bed. Computational experiments indicate that high annually averaged sliding rates concentrate along valley sides when basal melt...

  12. Compensation of significant parametric uncertainties using sliding mode online learning

    Science.gov (United States)

    Schnetter, Philipp; Kruger, Thomas

    An augmented nonlinear inverse dynamics (NID) flight control strategy using sliding mode online learning for a small unmanned aircraft system (UAS) is presented. Because parameter identification for this class of aircraft often is not valid throughout the complete flight envelope, aerodynamic parameters used for model based control strategies may show significant deviations. For the concept of feedback linearization this leads to inversion errors that in combination with the distinctive susceptibility of small UAS towards atmospheric turbulence pose a demanding control task for these systems. In this work an adaptive flight control strategy using feedforward neural networks for counteracting such nonlinear effects is augmented with the concept of sliding mode control (SMC). SMC-learning is derived from variable structure theory. It considers a neural network and its training as a control problem. It is shown that by the dynamic calculation of the learning rates, stability can be guaranteed and thus increase the robustness against external disturbances and system failures. With the resulting higher speed of convergence a wide range of simultaneously occurring disturbances can be compensated. The SMC-based flight controller is tested and compared to the standard gradient descent (GD) backpropagation algorithm under the influence of significant model uncertainties and system failures.

  13. NEMD simulations for ductile metal sliding

    Energy Technology Data Exchange (ETDEWEB)

    Hammerberg, James E [Los Alamos National Laboratory; Germann, Timothy C [Los Alamos National Laboratory; Ravelo, Ramon J [Los Alamos National Laboratory; Holian, Brad L [Los Alamos National Laboratory

    2011-01-31

    We have studied the sliding behavior for a 19 M Al(110)/Al(110) defective crystal at 15 GPa as a function of relative sliding velocity. The general features are qualitatively similar to smaller scale (1.4 M) atom simulations for Al(111)/Al(110) nondefective single crystal sliding. The critical velocity, v{sub c}, is approximately the same for the defective crystal as the size scaled v{sub c}. The lower velocity tangential force is depressed relative to the perfect crystal. The critical temperature, T*, is depressed relative to the perfect crystal. These conclusions are consistent with a lower value for f{sub c} for the defective crystal. The detailed features of structural transformation and the high velocity regime remain to be mapped.

  14. A new method to minimize the chattering phenomenon in sliding mode control based on intelligent control for induction motor drives

    Directory of Open Access Journals (Sweden)

    Bendaas Ismail

    2013-01-01

    Full Text Available This paper presents new method toward the design of hybrid control with sliding-mode (SMC plus fuzzy logic control (FLC for induction motors. As the variations of both control system parameters and operating conditions occur, the conventional control methods may not be satisfied further. Sliding mode control is robust with respect to both induction motor parameter variations and external disturbances. By embedding a fuzzy logic control into the sliding mode control, the chattering (torque-ripple problem with varying parameters, which are the main disadvantage in sliding-mode control, can be suppressed, Simulation results of the proposed control theme present good dynamic and steady-state performances as compared to the classical SMC from aspects for torque-ripple minimization, the quick dynamic torque response and robustness to disturbance and variation of parameters.

  15. Develop and Manufacture an airlock sliding tray

    Energy Technology Data Exchange (ETDEWEB)

    Lawton, Cindy M. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2014-02-26

    The goal of this project is to continue to develop an airlock sliding tray and then partner with an industrial manufacturing company for production. The sliding tray will be easily installed into and removed from most glovebox airlocks in a few minutes. Technical Approach: A prototype of a sliding tray has been developed and tested in the LANL cold lab and 35 trays are presently being built for the plutonium facility (PF-4). The current, recently approved design works for a 14-inch diameter round airlock and has a tray length of approximately 20 inches. The grant will take the already tested and approved round technology and design for the square airlock. These two designs will be suitable for the majority of the existing airlocks in the multitude of DOE facilities. Partnering with an external manufacturer will allow for production of the airlock trays at a much lower cost and increase the availability of the product for all DOE sites. Project duration is estimated to be 12-13 months. Benefits: The purpose of the airlock sliding trays is fourfold: 1) Mitigate risk of rotator cuff injuries, 2) Improve ALARA, 3) Reduce risk of glovebox glove breaches and glove punctures, and 4) Improve worker comfort. I have had the opportunity to visit many other DOE facilities including Savannah, Y-12, ORNL, Sandia, and Livermore for assistance with ergonomic problems and/or injuries. All of these sites would benefit from the airlock sliding tray and I can assume all other DOE facilities with gloveboxes built prior to 1985 could also use the sliding trays.

  16. Parameter-free dissipation in simulated sliding friction

    Science.gov (United States)

    Benassi, A.; Vanossi, A.; Santoro, G. E.; Tosatti, E.

    2010-08-01

    Nonequilibrium molecular-dynamics simulations, of crucial importance in sliding friction, are hampered by arbitrariness and uncertainties in the way Joule heat is removed. We implement in a realistic frictional simulation a parameter-free, non-Markovian, stochastic dynamics, which, as expected from theory, absorbs Joule heat precisely as a semi-infinite harmonic substrate would. Simulating stick-slip friction of a slider over a two-dimensional Lennard-Jones solid, we compare our virtually exact frictional results with approximate ones from commonly adopted empirical dissipation schemes. While the latter are generally in serious error, we show that the exact results can be closely reproduced by a viscous Langevin dissipation at the boundary layer, once the backreflected frictional energy is variationally optimized.

  17. Sliding mode observers for automotive alternator

    Science.gov (United States)

    Chen, De-Shiou

    Estimator development for synchronous rectification of the automotive alternator is a desirable approach for estimating alternator's back electromotive forces (EMFs) without a direct mechanical sensor of the rotor position. Recent theoretical studies show that estimation of the back EMF may be observed based on system's phase current model by sensing electrical variables (AC phase currents and DC bus voltage) of the synchronous rectifier. Observer design of the back EMF estimation has been developed for constant engine speed. In this work, we are interested in nonlinear observer design of the back EMF estimation for the real case of variable engine speed. Initial back EMF estimate can be obtained from a first-order sliding mode observer (SMO) based on the phase current model. A fourth-order nonlinear asymptotic observer (NAO), complemented by the dynamics of the back EMF with time-varying frequency and amplitude, is then incorporated into the observer design for chattering reduction. Since the cost of required phase current sensors may be prohibitive, the most applicable approach in real implementation by measuring DC current of the synchronous rectifier is carried out in the dissertation. It is shown that the DC link current consists of sequential "windows" with partial information of the phase currents, hence, the cascaded NAO is responsible not only for the purpose of chattering reduction but also for necessarily accomplishing the process of estimation. Stability analyses of the proposed estimators are considered for most linear and time-varying cases. The stability of the NAO without speed information is substantiated by both numerical and experimental results. Prospective estimation algorithms for the case of battery current measurements are investigated. Theoretical study indicates that the convergence of the proposed LAO may be provided by high gain inputs. Since the order of the LAO/NAO for the battery current case is one order higher than that of the link

  18. Minimal-Learning-Parameter Technique Based Adaptive Neural Sliding Mode Control of MEMS Gyroscope

    Directory of Open Access Journals (Sweden)

    Bin Xu

    2017-01-01

    Full Text Available This paper investigates an adaptive neural sliding mode controller for MEMS gyroscopes with minimal-learning-parameter technique. Considering the system uncertainty in dynamics, neural network is employed for approximation. Minimal-learning-parameter technique is constructed to decrease the number of update parameters, and in this way the computation burden is greatly reduced. Sliding mode control is designed to cancel the effect of time-varying disturbance. The closed-loop stability analysis is established via Lyapunov approach. Simulation results are presented to demonstrate the effectiveness of the method.

  19. Model-based Sliding Mode Controller of Anti-lock Braking System

    Science.gov (United States)

    Zheng, Lin; Luo, Yue-Gang; Kang, Jing; Shi, Zhan-Qun

    2016-05-01

    The anti-lock braking system (ABS) used in automobiles is used to prevent wheel from lockup and to maintain the steering ability and stability. The sliding mode controller is able to control nonlinear system steadily. In this research, a one-wheel dynamic model with ABS control is built up using model-based method. Using the sliding model controller, the simulation results by using Matlab/Simulink show qualified data compared with optimal slip rate. By using this method, the ABS brake efficiency is improved efficiently.

  20. TARG2 Workshop - Slides of the presentations

    International Nuclear Information System (INIS)

    Malka, V.; Koehler, A.; Beaurepaire, B.; Krishnan, M.; Guillaume, E.; Chowdhury, E.; Volpe, L.; Nakatsutsumi, M.; Chatain, D.; Legare, F.; Wachulak, P.; Bocoum, M.; Leblanc, A.; Schreiber, J.; Ter-Avetisyan, S.; Zeil, K.; Fukuda, Y.; Levecq, X.; Svensson, K.; Mollica, F.; Brandi, F.; Ruiz, C.

    2016-01-01

    The topics tackled in this workshop involved: laser-plasma interaction, innovative targets from gases to solids, targetry recycling and debris management, mass fabrication of laser targets, high repetition rate capability, integrated plasma diagnostics, wakefield acceleration and radiation sources. This document is made up of the slides of the presentations

  1. SCHISTOSOMAL APPENDICITIS IN A SLIDING HERNIA (CASE ...

    African Journals Online (AJOL)

    We report a rare case of a forty-seven year old Nigeria male with schistosomal appendicitis in a sliding hernia. The clinical and pathological features of the case are discussed, followed by a review of the literature. It is concluded that a high index of suspicion is necessary to diagnose unusual presentations of ...

  2. Boundary lubrication of glass: rubber sliding contacts

    NARCIS (Netherlands)

    Heide, E. van der; Lossie, C.M.; Bommel, K.J.C. van; Reinders, S.A.F.; Lenting, H.B.M.

    2009-01-01

    Polymer brush coatings represent a promising class of coatings for friction control [1], especially in a humid environment [2]. A study on the feasibility of a specific class of polymer brush coatings [5] was done for a sliding system that involves ‘silicon skin L7350’: a silicon rubber used by FIFA

  3. Edit Distance to Monotonicity in Sliding Windows

    DEFF Research Database (Denmark)

    Chan, Ho-Leung; Lam, Tak-Wah; Lee, Lap Kei

    2011-01-01

    of a data stream is becoming well-understood over the past few years. Motivated by applications on network quality monitoring, we extend the study to estimating the edit distance to monotonicity of a sliding window covering the w most recent items in the stream for any w ≥ 1. We give a deterministic...

  4. Adaptive Sliding Mode Control for Hydraulic Drives

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

    2013-01-01

    . The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems, without requiring extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller...

  5. Impact Driver With Integral Sliding Hammer

    Science.gov (United States)

    Wallace, Bilby J.

    1987-01-01

    Tool combines impact driver with sliding dead-blow hammer. Used for any purpose for which ordinary impact driver used; tightening fasteners or driving starter holes for drill. Tool protects user from accidental injury and surrounding equipment from damage that might occur from ordinary arm-wielded hammer. Especially useful in underwater work.

  6. Experimental Investigation on Caisson Breakwater Sliding

    DEFF Research Database (Denmark)

    Ruol, Piero; Martin, Paolo; Andersen, Thomas Lykke

    2014-01-01

    This note presents wave flume experiments, carried out at Aalborg University, measuring the horizontal sliding distance of a vertical breakwater in 1:40 scale. Horizontal and uplift wave induced pressures were accurately measured simultaneously with the caisson movements. Caissons of different...

  7. Sliding Friction on Liquid-Infused Surfaces

    Science.gov (United States)

    Rashed, Ziad; Habibi, Mohammad; Boreyko, Jonathan

    2017-11-01

    Slippery porous liquid-infused surfaces (SLIPS) are well-known for their ability to stably minimize the hysteresis of a wide variety of liquids. However, whether SLIPS could also reduce the sliding friction of solid objects has not been given much consideration. Here, we measure the friction force associated with dragging an aluminum cube across an array of ordered silicon micropillars impregnated with silicone oil. The solid fraction of the micropillars was either 0.025 or 0.25, while the viscosity of the silicone oil was 10, 100, or 1,000 cSt. Non-intuitively, it was observed that the sliding friction decreased with increasing lubricant viscosity or increasing solid fraction. These findings suggest that the key parameter is therefore the hydraulic resistance of the alleys between the micropillars, which should be as large as possible to minimize lateral oil drainage from underneath the sliding body. This would indicate that scaling down to nano-roughness would be optimal for minimizing the sliding friction, which was confirmed by additional experiments on a disordered nanostructured substrate.

  8. A Frequency Response Approach to Sliding Control Design for Hydraulic Drives

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Johansen, Per; Andersen, Torben Ole

    2014-01-01

    . However, when considering hydraulic cylinder drives, such full state feedback may not be available, and alternative approaches to conventional methods may be considered. This issue is addressed in this paper in regard to tracking control design for valve controlled hydraulic cylinder drives, and a design......, the application of so-called boundary layers are commonly applied, guaranteeing sliding precision in some well-defined vicinity of the control target. Commonly the control target, or sliding manifold, is designed as some desired closed loop dynamics of the controlled plant, utilizing multiple states as feedback...... method taking its offset in linear analysis is proposed. The sliding manifold is designed based on a PI controller design, and the resulting controller provides for robustness outside a predefined boundary layer, and performance equivalent to the PI controller within the boundary layer. Results...

  9. Onset of frictional sliding of rubber-glass contact under dry and lubricated conditions.

    Science.gov (United States)

    Tuononen, Ari J

    2016-06-13

    Rubber friction is critical in many applications ranging from automotive tyres to cylinder seals. The process where a static rubber sample transitions to frictional sliding is particularly poorly understood. The experimental and simulation results in this paper show a completely different detachment process from the static situation to sliding motion under dry and lubricated conditions. The results underline the contribution of the rubber bulk properties to the static friction force. In fact, simple Amontons' law is sufficient as a local friction law to produce the correct detachment pattern when the rubber material and loading conditions are modelled properly. Simulations show that micro-sliding due to vertical loading can release initial shear stresses and lead to a high static/dynamic friction coefficient ratio, as observed in the measurements.

  10. Sliding mode control of photoelectric tracking platform based on the inverse system method

    Directory of Open Access Journals (Sweden)

    Yao Zong Chen

    2016-01-01

    Full Text Available In order to improve the photoelectric tracking platform tracking performance, an integral sliding mode control strategy based on inverse system decoupling method is proposed. The electromechanical dynamic model is established based on multi-body system theory and Newton-Euler method. The coupled multi-input multi-output (MIMO nonlinear system is transformed into two pseudo-linear single-input single-output (SISO subsystems based on the inverse system method. An integral sliding mode control scheme is designed for the decoupled pseudo-linear system. In order to eliminate system chattering phenomenon caused by traditional sign function in sliding-mode controller, the sign function is replaced by the Sigmoid function. Simulation results show that the proposed decoupling method and the control strategy can restrain the influences of internal coupling and disturbance effectively, and has better robustness and higher tracking accuracy.

  11. Sliding mode disturbance observer-based control of a twin rotor MIMO system.

    Science.gov (United States)

    Rashad, Ramy; El-Badawy, Ayman; Aboudonia, Ahmed

    2017-07-01

    This work proposes a robust tracking controller for a helicopter laboratory setup known as the twin rotor MIMO system (TRMS) using an integral sliding mode controller. To eliminate the discontinuity in the control signal, the controller is augmented by a sliding mode disturbance observer. The actuator dynamics is handled using a backstepping approach which is applicable due to the continuous chattering-free nature of the command signals generated using the disturbance observer based controller. To avoid the complexity of analytically differentiating the command signals, a first order sliding mode differentiator is used. Stability analysis of the closed loop system and the ultimate boundedness of the tracking error is proved using Lyapunov stability arguments. The proposed controller is validated by several simulation studies and is compared to other schemes in the literature. Experimental results using a hardware-in-the-loop system validate the robustness and effectiveness of the proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Adaptive Sliding Mode Control of MEMS AC Voltage Reference Source

    Directory of Open Access Journals (Sweden)

    Ehsan Ranjbar

    2017-01-01

    Full Text Available The accuracy of physical parameters of a tunable MEMS capacitor, as the major part of MEMS AC voltage reference, is of great importance to achieve an accurate output voltage free of the malfunctioning noise and disturbance. Even though strenuous endeavors are made to fabricate MEMS tunable capacitors with desiderated accurate physical characteristics and ameliorate exactness of physical parameters’ values, parametric uncertainties ineluctably emerge in fabrication process attributable to imperfections in micromachining process. First off, this paper considers applying an adaptive sliding mode controller design in the MEMS AC voltage reference source so that it is capable of giving off a well-regulated output voltage in defiance of jumbling parametric uncertainties in the plant dynamics and also aggravating external disturbance imposed on the system. Secondly, it puts an investigatory comparison with the designed model reference adaptive controller and the pole-placement state feedback one into one’s prospective. Not only does the tuned adaptive sliding mode controller show remarkable robustness against slow parameter variation and external disturbance being compared to the pole-placement state feedback one, but also it immensely gets robust against the external disturbance in comparison with the conventional adaptive controller. The simulation results are promising.

  13. Sliding Mode Control Strategy for Wind Turbine Power Maximization

    Directory of Open Access Journals (Sweden)

    Oscar Barambones

    2012-07-01

    Full Text Available The efficiency of the wind power conversions systems can be greatly improved using an appropriate control algorithm. In this work, a sliding mode control for variable speed wind turbine that incorporates a doubly fed induction generator is described. The electrical system incorporates a wound rotor induction machine with back-to-back three phase power converter bridges between its rotor and the grid. In the presented design the so-called vector control theory is applied, in order to simplify the electrical equations. The proposed control scheme uses stator flux-oriented vector control for the rotor side converter bridge control and grid voltage vector control for the grid side converter bridge control. The stability analysis of the proposed sliding mode controller under disturbances and parameter uncertainties is provided using the Lyapunov stability theory. Finally simulated results show, on the one hand, that the proposed controller provides high-performance dynamic characteristics, and on the other hand, that this scheme is robust with respect to the uncertainties that usually appear in the real systems.

  14. Sliding mode predictive guidance for terminal rendezvous in eccentric orbits

    Science.gov (United States)

    Kasaeian, Seyed Aliakbar; Assadian, Nima; Ebrahimi, Masoud

    2017-11-01

    This paper presents a robust guidance algorithm for a chaser spacecraft to rendezvous with a target spacecraft in Earth orbit. The basis of the proposed guidance method is finding an appropriate set of states as close as possible to the current states that would lead the spacecraft to the target in the desired mission time. In order to provide the prediction of states, the relative dynamics equations of motion are solved analytically for the chaser spacecraft rendezvous considering constant acceleration. Although the equations are solved for rendezvous with circular orbit target, it is shown by several simulations that the proposed guidance algorithm is applicable in perturbed elliptical orbits rendezvous as well. The sliding mode method as a robust nonlinear method is utilized as the steering law. The robust steering law tracks the desired states computed by the predictive guidance method. The Lyapunov stability method proves the asymptotic stability of the integrated guidance and steering laws. Because the proposed closed-loop guidance is simple and computationally easy, it is suitable for implementation in real-time applications. Some numerical simulations are conducted to show the performance of the proposed guidance method in different conditions. It is illustrated that compared with other steering laws, the fuel consumption is reduced utilizing the proposed guidance approach. The results reveal that the sliding mode guarantees the tracking of the required states and minimum final errors even in the presence of uncertainties and disturbances.

  15. PID Controller of Sprayer Chassis by Sliding Mode

    Directory of Open Access Journals (Sweden)

    Hua Zhang

    2017-01-01

    Full Text Available In order to solve the straight line drive coordinated control problem of the four-wheel independent drive sprayer chassis, the dynamic model of sprayer chassis and electromagnetic proportional valve controlled hydraulic motor model are established. The additional yaw moment is designed to rectify the deviation with sliding mode variable structure control. PID control strategy is used to calculate the control voltage adjustment of the electromagnetic proportional valve. The simulation results show that the accumulative deviation of the chassis is 0.2 m out of 100 m when the coordinated control strategy is adopted on different adhesive coefficient pavement, which is much smaller than the value without control. The test results of test prototype show that the yaw acceleration of the chassis can be as low as −0.0132 m/s2 on different adhesive coefficient pavement with coordinated control, which is smaller than the value without control, and the straight line drive requirements are met. It is feasible to combine sliding mode variable structure with PID control and use the electromagnetic proportional control technology in the straight line drive coordinated control of sprayer chassis by adding the yaw moment to rectify the deviation of chassis based on the yaw acceleration detection.

  16. Sliding Mode Control of Induction Motor Phase Currents

    DEFF Research Database (Denmark)

    Hansen, R.B.; Hattel, T.; Bork, J

    1995-01-01

    Sliding mode control of induction motor phase currents are investigated through development of two control concepts.......Sliding mode control of induction motor phase currents are investigated through development of two control concepts....

  17. Current Cigarette Use Among Adults (BRFSS) PDF Slides

    Data.gov (United States)

    U.S. Department of Health & Human Services — Download the current cigarette use among adults slides. These slides are available in PDF and PowerPoint formats. The PowerPoint version can be found at:...

  18. Current Cigarette Use Among Youth (YRBSS) PDF Slides

    Data.gov (United States)

    U.S. Department of Health & Human Services — Download the current cigarette use among youth slides. These slides are available in PDF and PowerPoint formats. The PowerPoint version can be found at:...

  19. Applications of sliding mode control in science and engineering

    CERN Document Server

    Lien, Chang-Hua

    2017-01-01

    Gathering 20 chapters contributed by respected experts, this book reports on the latest advances in and applications of sliding mode control in science and engineering. The respective chapters address applications of sliding mode control in the broad areas of chaos theory, robotics, electrical engineering, physics, chemical engineering, memristors, mechanical engineering, environmental engineering, finance, and biology. Special emphasis has been given to papers that offer practical solutions, and which examine design and modeling involving new types of sliding mode control such as higher order sliding mode control, terminal sliding mode control, super-twisting sliding mode control, and integral sliding mode control. This book serves as a unique reference guide to sliding mode control and its recent applications for graduate students and researchers with a basic knowledge of electrical and control systems engineering.

  20. Excise Tax Rates On Packs Of Cigarettes PDF Slides

    Data.gov (United States)

    U.S. Department of Health & Human Services — Download the current excise tax rates on packs of cigarettes slides. These slides are available in PDF and PowerPoint formats. The PowerPoint version can be found...

  1. Effect of Sliding Rate on the Activity of Acoustic Emission During Stable Sliding

    Science.gov (United States)

    Yabe, Y.; Kato, N.; Yamamoto, K.; Hirasawa, T.

    The mechanical and statistical characteristics of acoustic emission (AE) events during stable sliding are investigated through a laboratory experiment using a granite specimen with a pre-cut fault. Numerous AE events are found to be generated on the pre-cut fault, indicating that microscopically unstable fracture occurs during macroscopically stable sliding. The composite focal mechanism solution of AE events is determined from the first motion directions of P-waves. The determined mechanism is consistent with the double-couple one expected for the slip on the pre-cut fault. The source radii of large AE events are estimated to be about 10 mm from the widths of the first P-wave pulses. These indicate that the AE events are generated by shear fracture whose faulting area is a part of the pre-cut fault plane. The occurrence of AE events as a stochastic process approximately obeys the Poisson process, if the effect of mutually dependent events consti tuting clusters is corrected. The observed amplitude-frequency relation of AE events approximately follows a power law for a limited amplitude range. As the macroscopic sliding rate increases, the number of AE events per unit sliding distance decreases. This rate dependence of the AE activity is qualitatively consistent with the observation that the real area of contact between sliding surfaces decreases with an increase in the sliding rate as reported in the literature.

  2. DESIGN VISUAL COMPONENT SLIDES FOR TEACHING COMPUTER PRESENTATIONS

    Directory of Open Access Journals (Sweden)

    A. Bryantseva

    2013-03-01

    Full Text Available The article analyzes the common mistakes that allow educators and teachers in the design of the visual component of computer slide presentations to lessons. Detail the most common technological and conceptual errors: the use of photographic images of low resolution, "distortion" of the image on the slide, abuse banal images, the image on the slide, not "correlated" with the educational context. Methodical recommendations to address the negative impact of technological and conceptual errors in the visual perception of the slide.

  3. Slides and the Foreign Language Teacher: A Bibliography.

    Science.gov (United States)

    Galt, Alan

    This bibliography lists 275 items relating to the use of visual and audiovisual aids in the foreign language classroom. The items are entered under the following major headings: (1) Audiovisual Aids; (2) Photography; (3) Picture Composition; (4) Slides and Photographs for Teaching; and (5) Slides and Slide Shows: Production and Presentation.…

  4. Robust antisynchronization of chaos using sliding mode control ...

    Indian Academy of Sciences (India)

    The paper proposes a sliding mode control strategy-based scheme for achieving anti-synchronization between two coupled non-linear chaotic systems. The method works irrespective of whether the systems under consideration possess or lack inverse symmetry. Using a linear sliding surface, a sliding mode control input ...

  5. Hydrogen Bond Dynamics in Aqueous Solutions: Ab initio Molecular ...

    Indian Academy of Sciences (India)

    Rate equation for the decay of CHB(t) · Definition of Hydrogen Bonds · Results of Molecular Dynamics · Dynamics of anion-water and water-water hydrogen bonds · Structural relaxation of anion-water & water-water H-bonds · Ab initio Molecular Dynamics : · Slide 14 · Dynamics of hydrogen bonds : CPMD results · Slide 16.

  6. Controlling chaos based on a novel intelligent integral terminal sliding mode control in a rod-type plasma torch

    Science.gov (United States)

    Safa, Khari; Zahra, Rahmani; Behrooz, Rezaie

    2016-05-01

    An integral terminal sliding mode controller is proposed in order to control chaos in a rod-type plasma torch system. In this method, a new sliding surface is defined based on a combination of the conventional sliding surface in terminal sliding mode control and a nonlinear function of the integral of the system states. It is assumed that the dynamics of a chaotic system are unknown and also the system is exposed to disturbance and unstructured uncertainty. To achieve a chattering-free and high-speed response for such an unknown system, an adaptive neuro-fuzzy inference system is utilized in the next step to approximate the unknown part of the nonlinear dynamics. Then, the proposed integral terminal sliding mode controller stabilizes the approximated system based on Lyapunov’s stability theory. In addition, a Bee algorithm is used to select the coefficients of integral terminal sliding mode controller to improve the performance of the proposed method. Simulation results demonstrate the improvement in the response speed, chattering rejection, transient response, and robustness against uncertainties.

  7. Sliding Mode Control of a Bidirectional Buck/Boost DC-DC Converter with Constant Switching Frequency

    Directory of Open Access Journals (Sweden)

    A. Safari

    2018-03-01

    Full Text Available In this paper, sliding mode control (SMC for a bidirectional buck/boost DC-DC converter (BDC with constant frequency in continuous conduction mode (CCM is discussed. Since the converter is a high-order converter, the reduced-order sliding manifold is exploited. Because of right-half-plan zero (RHPZ in the converter’s duty ratio to output voltage transfer function, sliding mode current controller is used. This controller benefits from various advantages such as fast dynamic response, robustness, stable and small variation of the settling time over a wide range of operation conditions. Because the converter operates in both step-down and step-up modes, two sliding manifold is derived for each mode. The existence and stability conditions are analyzed for both SMC in step-down and step-up modes. Finally, Simulation results are also provided to justify the feasibility of the controller using MATLAB/Simulink.

  8. Interpretation of the Friction Coefficient During Reciprocating Sliding of Ti6Al4V Alloy Against Al2O3

    Directory of Open Access Journals (Sweden)

    S. Mitrovic

    2011-03-01

    Full Text Available Tribological behaviour of Ti6Al4V alloy, during linear reciprocating sliding against alumina, at nanotribometer (ball-on-flat type of contact was investigated. Experiments were carried out for sliding in Ringer's solution, over a range of loads (100 - 1000 mN and speeds (4 - 12 mm/s. Friction behaviour of the contact pairs was investigated by analysis of the dynamic friction coefficient plots and effective root mean square (rms coefficient of friction, COFrms. Presented mathematical envelopes of dynamic coefficient of friction curves and averaged envelope signals provided additional explanation of one calculated COFrms value. Envelopes of dynamic coefficient of friction enabled easier determination of different periods during sliding, which were further related to wear mechanisms.

  9. Mini-implant-supported sliding jig.

    Science.gov (United States)

    Pattabiraman, Vinod; Kumari, Shashikala; Sood, Raghav

    2011-01-01

    Maximum anchorage situations require appropriate anchorage control from the very beginning. This includes control of anchorage in the anteroposterior as well as vertical directions. The requirement is more critical in patients with vertical growth patterns. Loss of anchorage in such situations requires recovery mechanics that will not tax the anchor teeth in any direction while maximizing efficiency. This article describes the use of a mini-implant-supported sliding jig in one such case where unilateral anchor loss in the maxillary arch was observed. A modified sliding jig was supported with Class II elastics stretched from a mini-implant placed in the mandible. With little patient compliance, the mini-implant was used to distalize the maxillary molar to regain the lost space and achieve ideal results in the most efficient way.

  10. Contact Sliding under Relatively Low Loads

    Directory of Open Access Journals (Sweden)

    Kyeong Hee Kang

    2011-01-01

    Full Text Available ZnO nanowires have received much interest owing to their particular structural and piezoelectric properties. For widespread application of ZnO nanowires in various nanotechnologies, the mechanical reliability of the nanowires should be assessed. In this paper, the damage characteristics of vertically grown ZnO nanowires due to contact sliding against a 2 mm diameter steel ball under relatively low loads were investigated. Frictional behavior and wear characteristics of the specimens were assessed. Furthermore, contact sliding tests were performed inside an SEM to monitor the progression of damage of the nanowires. It was found that the friction coefficient was about 0.35 under all loads while the damage characteristics of the nanowires were quite different for each load. The large diameter nanowires tended to fracture earlier than the small diameter nanowires. Wear tests performed inside the SEM confirmed the surface damage characteristics observed during the friction tests.

  11. Simulations of atomic-scale sliding friction

    DEFF Research Database (Denmark)

    Sørensen, Mads Reinholdt; Jacobsen, Karsten Wedel; Stoltze, Per

    1996-01-01

    Simulation studies of atomic-scale sliding friction have been performed for a number of tip-surface and surface-surface contacts consisting of copper atoms. Both geometrically very simple tip-surface structures and more realistic interface necks formed by simulated annealing have been studied....... Kinetic friction is observed to be caused by atomic-scale Stick and slip which occurs by nucleation and subsequent motion of dislocations preferably between close-packed {111} planes. Stick and slip seems ro occur in different situations. For single crystalline contacts without grain boundaries...... at the interface the stick and slip process is clearly observed for a large number of contact areas, normal loads, and sliding velocities. If the tip and substrate crystal orientations are different so that a mismatch exists in the interface, the stick and slip process is more fragile. It is then caused by local...

  12. Adaptive and Robust Sliding Mode Position Control of IPMSM Drives

    Directory of Open Access Journals (Sweden)

    ZAKY, M.

    2017-02-01

    Full Text Available This paper proposes an adaptive and robust sliding mode control (SMC for the position control of Interior Permanent Magnet Synchronous Motor (IPMSM drives. A switching surface of SMC is designed using a Linear Quadratic Regulator (LQR technique to simultaneously control the tracking trajectory and load torque changes. The quadratic optimal control method is used to select the state feedback control gain that constitutes the system dynamic performance under uncertainties and disturbances. Feedback and switching gains are selected to satisfy both stability and fast convergence of the IPMSM. Matlab/Simulink is used to build the drive system. Experimental implementation of the IPMSM drive is carried out using DSP-DS1102 control board. The efficacy of the proposed position control method is validated using theoretical analysis and simulation and experimental results.

  13. Terminal Sliding Modes In Nonlinear Control Systems

    Science.gov (United States)

    Venkataraman, Subramanian T.; Gulati, Sandeep

    1993-01-01

    Control systems of proposed type called "terminal controllers" offers increased precision and stability of robotic operations in presence of unknown and/or changing parameters. Systems include special computer hardware and software implementing novel control laws involving terminal sliding modes of motion: closed-loop combination of robot and terminal controller converge, in finite time, to point of stable equilibrium in abstract space of velocity and/or position coordinates applicable to particular control problem.

  14. Foundational Terminal Operations HITL: Experimental Design Slides

    Science.gov (United States)

    Rorie, Robert Conrad

    2017-01-01

    The UAS (Unmanned Aircraft Systems) in the NAS (National Airspace System) project is conducting its first investigation of UAS operations in the terminal environment. A workshop is being held to get input from key stakeholders on the experimental design and scenario development occuring for this simulation, which intends to begin data collection in September 2017. These slides cover the proposed design and methodolgy for the experiment.

  15. Bifurcation of elastic solids with sliding interfaces

    Science.gov (United States)

    Bigoni, D.; Bordignon, N.; Piccolroaz, A.; Stupkiewicz, S.

    2018-01-01

    Lubricated sliding contact between soft solids is an interesting topic in biomechanics and for the design of small-scale engineering devices. As a model of this mechanical set-up, two elastic nonlinear solids are considered jointed through a frictionless and bilateral surface, so that continuity of the normal component of the Cauchy traction holds across the surface, but the tangential component is null. Moreover, the displacement can develop only in a way that the bodies in contact do neither detach, nor overlap. Surprisingly, this finite strain problem has not been correctly formulated until now, so this formulation is the objective of the present paper. The incremental equations are shown to be non-trivial and different from previously (and erroneously) employed conditions. In particular, an exclusion condition for bifurcation is derived to show that previous formulations based on frictionless contact or `spring-type' interfacial conditions are not able to predict bifurcations in tension, while experiments-one of which, ad hoc designed, is reported-show that these bifurcations are a reality and become possible when the correct sliding interface model is used. The presented results introduce a methodology for the determination of bifurcations and instabilities occurring during lubricated sliding between soft bodies in contact.

  16. Virtual slides: application in pulmonary pathology consultations.

    Directory of Open Access Journals (Sweden)

    Michał Wojciechowski

    2008-02-01

    Full Text Available The Virtual Slide (VS is an interactive microscope emulator that presents a complete digitized tissue section via the Internet. A successful implementation of VS has been observed for educational, research venues and quality control. VS acquisition for consultative pathology is not so common. The purpose of this study was to explore the efficacy and usability of VS in the consultative pulmonary telepathology. 20 lung tumors entered the study. The performance was programmed for 2 medical centers specialized in pulmonary pathology (beginner and advancer in telepathology. A high-quality VSs were prepared by Coolscope (Nikon, Eclipsnet VSL, Japan, and were evaluated via the Internet. The cases were reviewed for the second time with conventional light microscope. VS diagnostic accuracy and the interobserver variability were evaluated. Also the time taken by examiners to render the diagnoses and time needed to scan the microscopic slide were analyzed. Percentage concordance between original glass-slides diagnosis and diagnosis for VSs was very high. Pathologists found the download speed of VSs adequate; experience in telepathology reduced the time of VS diagnosis. VS implementation suggests advantages for teleconsulation and education but also indicate some technical limitations. This is the first Polish trial of VS implementation in telepathology consultative service.

  17. Mechanism of opening a sliding clamp.

    Science.gov (United States)

    Douma, Lauren G; Yu, Kevin K; England, Jennifer K; Levitus, Marcia; Bloom, Linda B

    2017-09-29

    Clamp loaders load ring-shaped sliding clamps onto DNA where the clamps serve as processivity factors for DNA polymerases. In the first stage of clamp loading, clamp loaders bind and stabilize clamps in an open conformation, and in the second stage, clamp loaders place the open clamps around DNA so that the clamps encircle DNA. Here, the mechanism of the initial clamp opening stage is investigated. Mutations were introduced into the Escherichia coli β-sliding clamp that destabilize the dimer interface to determine whether the formation of an open clamp loader-clamp complex is dependent on spontaneous clamp opening events. In other work, we showed that mutation of a positively charged Arg residue at the β-dimer interface and high NaCl concentrations destabilize the clamp, but neither facilitates the formation of an open clamp loader-clamp complex in experiments presented here. Clamp opening reactions could be fit to a minimal three-step 'bind-open-lock' model in which the clamp loader binds a closed clamp, the clamp opens, and subsequent conformational rearrangements 'lock' the clamp loader-clamp complex in a stable open conformation. Our results support a model in which the E. coli clamp loader actively opens the β-sliding clamp. © The Author(s) 2017. Published by Oxford University Press on behalf of Nucleic Acids Research.

  18. Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy

    Directory of Open Access Journals (Sweden)

    Niu Xuemei

    2015-05-01

    Full Text Available This paper presents a decoupled nonsingular terminal sliding mode controller (DNTSMC for a novel 3-DOF parallel manipulator with actuation redundancy. According to kinematic analysis, the inverse dynamic model for a novel 3-DOF redundantly actuated parallel manipulator is formulated in the task space using Lagrangian formalism and decoupled into three entirely independent subsystems under generalized coordinates to significantly reduce system complexity. Based on the dynamic model, a decoupled sliding mode control strategy is proposed for the parallel manipulator; the idea behind this strategy is to design a nonsingular terminal sliding mode controller for each subsystem, which can drive states of three subsystems to the original equilibrium points simultaneously by two intermediate variables. Additionally, a RBF neural network is used to compensate the cross-coupling force and gravity to enhance the control precision. Simulation and experimental results show that the proposed DNTSMC can achieve better control performances compared with the conventional sliding mode controller (SMC and the DNTSMC without compensator.

  19. Sliding-window analysis tracks fluctuations in amygdala functional connectivity associated with physiological arousal and vigilance during fear conditioning.

    Science.gov (United States)

    Baczkowski, Blazej M; Johnstone, Tom; Walter, Henrik; Erk, Susanne; Veer, Ilya M

    2017-06-01

    We evaluated whether sliding-window analysis can reveal functionally relevant brain network dynamics during a well-established fear conditioning paradigm. To this end, we tested if fMRI fluctuations in amygdala functional connectivity (FC) can be related to task-induced changes in physiological arousal and vigilance, as reflected in the skin conductance level (SCL). Thirty-two healthy individuals participated in the study. For the sliding-window analysis we used windows that were shifted by one volume at a time. Amygdala FC was calculated for each of these windows. Simultaneously acquired SCL time series were averaged over time frames that corresponded to the sliding-window FC analysis, which were subsequently regressed against the whole-brain seed-based amygdala sliding-window FC using the GLM. Surrogate time series were generated to test whether connectivity dynamics could have occurred by chance. In addition, results were contrasted against static amygdala FC and sliding-window FC of the primary visual cortex, which was chosen as a control seed, while a physio-physiological interaction (PPI) was performed as cross-validation. During periods of increased SCL, the left amygdala became more strongly coupled with the bilateral insula and anterior cingulate cortex, core areas of the salience network. The sliding-window analysis yielded a connectivity pattern that was unlikely to have occurred by chance, was spatially distinct from static amygdala FC and from sliding-window FC of the primary visual cortex, but was highly comparable to that of the PPI analysis. We conclude that sliding-window analysis can reveal functionally relevant fluctuations in connectivity in the context of an externally cued task. Copyright © 2017 Elsevier Inc. All rights reserved.

  20. Accurate Sliding-Mode Control System Modeling for Buck Converters

    DEFF Research Database (Denmark)

    Høyerby, Mikkel Christian Wendelboe; Andersen, Michael Andreas E.

    2007-01-01

    This paper shows that classical sliding mode theory fails to correctly predict the output impedance of the highly useful sliding mode PID compensated buck converter. The reason for this is identified as the assumption of the sliding variable being held at zero during sliding mode, effectively mod...... approach also predicts the self-oscillating switching action of the sliding-mode control system correctly. Analytical findings are verified by simulation as well as experimentally in a 10-30V/3A buck converter....

  1. Computer generated slides: a need to curb our enthusiasm.

    Science.gov (United States)

    Dalal, M D; Daver, B M

    1996-12-01

    The popular use of computer generated slides for presentations during plastic surgery scientific meetings has opened a fresh chapter in audiovisual techniques. Although the profusion of colours seen during presentations is a visual treat, the information imparted by these slides leaves much to be desired and raises the question of whether such attractive and apparently professionally made slides are visual aids during such presentations. Presentation slides are displayed for a very short time (10-15 seconds) as compared to slides displayed during a lecture and therefore these presentation slides should have the ability to impart their information very quickly. We conducted a study wherein 36 slides, each having a different colour combination, were displayed to a class of third year medical students who were asked to judge the efficacy of each slide. The attractiveness, clarity and recall of each slide was graded by every student and, with the information obtained, the most effective format and colour combinations to be used while making slides for presentations were established. We conclude that the best format for slides is a plain dark coloured background (blue, purple or green) and a separate, contrasting plain dark coloured title text background (red, green or purple), with white letters for the text and yellow letters for the title.

  2. Validation of diagnostic accuracy using digital slides in routine histopathology

    Directory of Open Access Journals (Sweden)

    Fónyad László

    2012-03-01

    Full Text Available Abstract Background Robust hardware and software tools have been developed in digital microscopy during the past years for pathologists. Reports have been advocated the reliability of digital slides in routine diagnostics. We have designed a retrospective, comparative study to evaluate the scanning properties and digital slide based diagnostic accuracy. Methods 8 pathologists reevaluated 306 randomly selected cases from our archives. The slides were scanned with a 20× Plan-Apochromat objective, using a 3-chip Hitachi camera, resulting 0.465 μm/pixel resolution. Slide management was supported with dedicated Data Base and Viewer software tools. Pathologists used their office PCs for evaluation and reached the digital slides via intranet connection. The diagnostic coherency and uncertainty related to digital slides and scanning quality were analyzed. Results Good to excellent image quality of slides was recorded in 96%. In half of the critical 61 digital slides, poor image quality was related to section folds or floatings. In 88.2% of the studied cases the digital diagnoses were in full agreement with the consensus. Out of the overall 36 incoherent cases, 7 (2.3% were graded relevant without any recorded uncertainty by the pathologist. Excluding the non-field specific cases from each pathologist's record this ratio was 1.76% of all cases. Conclusions Our results revealed that: 1 digital slide based histopathological diagnoses can be highly coherent with those using optical microscopy; 2 the competency of pathologists is a factor more important than the quality of digital slide; 3 poor digital slide quality do not endanger patient safety as these errors are recognizable by the pathologist and further actions for correction could be taken. Virtual slides The virtual slide(s for this article can be found here: http://www.diagnosticpathology.diagnomx.eu/vs/1913324336747310.

  3. Dynamical systems

    CERN Document Server

    Sternberg, Shlomo

    2010-01-01

    Celebrated mathematician Shlomo Sternberg, a pioneer in the field of dynamical systems, created this modern one-semester introduction to the subject for his classes at Harvard University. Its wide-ranging treatment covers one-dimensional dynamics, differential equations, random walks, iterated function systems, symbolic dynamics, and Markov chains. Supplementary materials offer a variety of online components, including PowerPoint lecture slides for professors and MATLAB exercises.""Even though there are many dynamical systems books on the market, this book is bound to become a classic. The the

  4. Second-order sliding-mode control for a pressurized water nuclear reactor considering the xenon concentration feedback

    Directory of Open Access Journals (Sweden)

    Gholam Reza Ansarifar

    2015-02-01

    Full Text Available This paper presents findings on the second-order sliding-mode controller for a nuclear research reactor. Sliding-mode controllers for nuclear reactors have been used for some time, but higher-order sliding-mode controllers have the added advantage of reduced chattering. The nonlinear model of Pakistan Research Reactor-1 has been used for higher-order sliding-mode controller design and performance evaluation. The reactor core is simulated based on point kinetics equations and one delayed neutron groups. The model assumes feedback from lumped fuel and coolant temperatures. The effect of xenon concentration is also considered. The employed method is easy to implement in practical applications, and the second-order sliding-mode control exhibits the desired dynamic properties during the entire output-tracking process. Simulation results are presented to demonstrate the effectiveness of the proposed controller in terms of performance, robustness, and stability.

  5. Adaptive Fuzzy Sliding Mode Control for a Model-Scaled Unmanned Helicopter

    Directory of Open Access Journals (Sweden)

    Amir Razzaghian

    2016-11-01

    Full Text Available This paper presents a novel Adaptive Fuzzy Sliding Mode Controller (AFSMC for a model-scaled unmanned helicopter as real nonlinear plant. First, in order to efficient control law design, the nonlinear model of the helicopter is reformulated as an affine nonlinear system. To do this aim, a Dynamic Inverter (DI is introduced as a bijective function. The proposed DI is used to interconnect the helicopter actuators' main inputs to the helicopter dynamic inputs. Then, AFSMC is designed to control it, and the asymptotic stability of the closed loop system is proved using Lyapunov stability theorem. To verify the merits of the proposed controller, it is compared with traditional sliding mode control system. Simulation results confirmed that the controller as a robust and stable control method has desired controlling performance and well cope with the undesirable chattering phenomenon.

  6. Adaptive Nonsingular Terminal Sliding Model Control and Its Application to Permanent Magnet Synchronous Motor Drive System

    Directory of Open Access Journals (Sweden)

    Liu Yue

    2016-01-01

    Full Text Available To improve the dynamic performance of permanent magnet synchronous motor(PMSM drive system, a adaptive nonsingular terminal sliding model control((NTSMC strategy was proposed. The proposed control strategy presents an adaptive variable-rated exponential reaching law which the L1 norm of state variables is introduced. Exponential and constant approach speed can adaptively adjust according to the state variables’ distance to the equilibrium position.The proposed scheme can shorten the reaching time and weaken system chatting. The method was applied to the PMSM speed servo system, and compared with the traditional terminal-sliding-mode regulator and PI regulator. Simulation results show that the proposed control strategy can improve dynamic, steady performance and robustness.

  7. Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity

    Directory of Open Access Journals (Sweden)

    Dongqi Ma

    2017-01-01

    Full Text Available Considering the backlash nonlinearity and parameter time-varying characteristics in electromechanical actuators, a chattering-free sliding-mode control strategy is proposed in this paper to regulate the rudder angle and suppress unknown external disturbances. Different from most existing backlash compensation methods, a special continuous function is addressed to approximate the backlash nonlinear dead-zone model. Regarding the approximation error, unmodeled dynamics, and unknown external disturbances as a disturbance-like term, a strict feedback nonlinear model is established. Based on this nonlinear model, a chattering-free nonsingular terminal sliding-mode controller is proposed to achieve the rudder angle tracking with a chattering elimination and tracking dynamic performance improvement. A Lyapunov-based proof ensures the asymptotic stability and finite-time convergence of the closed-loop system. Experimental results have verified the effectiveness of the proposed method.

  8. Free chattering hybrid sliding mode control for a class of non-linear systems

    DEFF Research Database (Denmark)

    Khooban, Mohammad-Hassan; Niknam, Taher; Blaabjerg, Frede

    2016-01-01

    In current study, in order to find the control of general uncertain nonlinear systems, a new optimal hybrid control approach called Optimal General Type II Fuzzy Sliding Mode (OGT2FSM) is presented. In order to estimate unknown nonlinear activities in monitoring dynamic uncertainties, the benefits...... of general type-2 fuzzy logic systems (GT2FLS) is utilized by the suggested controller. The suggested controller not only warranties the constancy and hardiness against uncertainties of the lumped resulted by external disturbances and un-modeled dynamics, but also considerably decreases the control...... on the same topic, which are an Adaptive Interval Type-2 Fuzzy Logic Controller (AGT2FLC) and Conventional Sliding Mode Controller (CSMC), to assess the efficiency of the suggested controller. The suggested control scheme is finally used to the Electric Vehicles type as a case study. Results of simulation...

  9. Nonlinear dynamics of a sliding beam on two supports under ...

    Indian Academy of Sciences (India)

    with nonlinear stiffness and linear damping in a random vibration environment. ... interconnected joints imparted the means of energy dissipation to the system. .... slope angle. For this reason a polynomial fit is developed. The best fit is found to be of order eleven in the form,. Pl2. EI. = a1. ( d l. ) + a3. ( d l. )3. + a5. ( d l. )5.

  10. Fluid dynamics of the sliding plate | Makinde | Quaestiones ...

    African Journals Online (AJOL)

    A fluid with viscosity which depends on temperature and concentration is placed between two infinite parallel plates moving relative to each other with constant velocity. On the basis of certain simplifying assumptions, the fluid equations of continuity, momentum, energy and concentration are obtained and solved analytically ...

  11. Meetings on Particle Physics - Abstracts and Slides

    International Nuclear Information System (INIS)

    Hirsch, M.; Machado, P.; Bertuzzo, E.; Villanova del Moral, A.; Wingerter, A.; Lellouch, L.; Garron, N.; Portelli, A.; Vulvert, G.; Zerwas, D.; Djouadi, A.; Drieu la Rochelle, G.; Fairbairn, M.; Le Boulc'h, Q.; Dumont, B.; Da Silva, J.; Brax, P.; Weiland, C.; Gelis, F.; Mehtar-Tani, Y.; Epelbaum, T.; Meunier, E.; Dudas, E.; Jezo, T.; Urbano, A.; Smith, C.; Machet, B.; Nezri, E.; Salam, G.; Kosnik, N.; Greynat, D.; Petrov, K.

    2014-01-01

    RPP (Meetings on Particle Physics) annual meetings are aimed at gathering the theoretical particle physicists' community, providing the participants with the opportunity not only to present their research topics, but also to make contact with the latest developments in adjacent fields. RPP-2012 will have a few review talks on topics such as flavors, Higgs bosons, astro-particle physics and cosmology, heavy ions, physics beyond the standard model, and quantum chromodynamics. This document gathers the slides of the presentations, a few presentations are accompanied by an abstract.

  12. A new radiographic method for evaluating the degree of sliding in devices used in hip-fracture surgery

    International Nuclear Information System (INIS)

    Lunsjoe, K.; Ceder, L.; Aastroem, K.; Sparr, G.; Heyden, A.; Spanne, S.; Stigsson, L.; Hauggaard, A.

    1997-01-01

    Purpose: To find a practical method for estimating the degree of sliding that occurs in screw-plate devices used in hip-fracture surgery. Greater understanding of the sliding mechanisms in different fracture types should improve surgical technique and reduce the failure rate. Methods and Results: In dynamic screw-plate devices, the lag screw slides inside the barrel of the plate. A recent innovation allows the barrel-plate to slide inside a side-plate, thus making possible a combined fracture compression along the neck and the shaft of femur. The lengths of the different parts and the angle of a device in vivo, measured on a radiograph, depend on the position of the femur relative to the photographic film and the roentgen source. We obtained these measurements with a ruler and a protractor from sequential a.p. radiographs of the hip and implemented them in a special computerized program that used the principles of the scaled orthographic and the central projection models. These calculations provided the correct amount of sliding by the lag screw and by the barrel-plate within the side-plate. Conclusion: The method presented here can establish the real degree of sliding in screw-plate devices from standard a.p. radiographs independently of the position of the hip. (orig.)

  13. Adaptive Nonsingular Terminal Sliding Model Control and Its Application to Permanent Magnet Synchronous Motor Drive System

    OpenAIRE

    Liu Yue; Zhou Shuo

    2016-01-01

    To improve the dynamic performance of permanent magnet synchronous motor(PMSM) drive system, a adaptive nonsingular terminal sliding model control((NTSMC) strategy was proposed. The proposed control strategy presents an adaptive variable-rated exponential reaching law which the L1 norm of state variables is introduced. Exponential and constant approach speed can adaptively adjust according to the state variables’ distance to the equilibrium position.The proposed scheme can shorten the reachin...

  14. Fission 2009 4. International Workshop on Nuclear Fission and Fission Product Spectroscopy - Compilation of slides

    International Nuclear Information System (INIS)

    2009-01-01

    This conference is dedicated to the last achievements in experimental and theoretical aspects of the nuclear fission process. The topics include: mass, charge and energy distribution, dynamical aspect of the fission process, nuclear data evaluation, quasi-fission and fission lifetime in super heavy elements, fission fragment spectroscopy, cross-section and fission barrier, and neutron and gamma emission. This document gathers the program of the conference and the slides of the presentations

  15. Design of Power System Stabilizer Based on Sliding Mode Control Theory for Multi- Machine Power System

    OpenAIRE

    Hossein Shahinzadeh; Ladan Darougaran; Ebrahim Jalili Sani; Hamed Yavari; Mahdi Mozaffari Legha

    2012-01-01

    This paper present a new method for design of power system stabilizer (PSS) based on sliding mode control (SMC) technique. The control objective is to enhance stability and improve the dynamic response of the multi-machine power system. In order to test effectiveness of the proposed scheme, simulation will be carried out to analyze the small signal stability characteristics of the system about the steady state operating condition following the change in reference mechanic...

  16. Sliding bifurcations and chaos induced by dry friction in a braking system

    International Nuclear Information System (INIS)

    Yang, F.H.; Zhang, W.; Wang, J.

    2009-01-01

    In this paper, non-smooth bifurcations and chaotic dynamics are investigated for a braking system. A three-degree-of-freedom model is considered to capture the complicated nonlinear characteristics, in particular, non-smooth bifurcations in the braking system. The stick-slip transition is analyzed for the braking system. From the results of numerical simulation, it is observed that there also exist the grazing-sliding bifurcation and stick-slip chaos in the braking system.

  17. Control and fault diagnosis based sliding mode observer of a multicellular converter: Hybrid approach

    KAUST Repository

    Benzineb, Omar

    2013-01-01

    In this article, the diagnosis of a three cell converter is developed. The hybrid nature of the system represented by the presence of continuous and discrete dynamics is taken into account in the control design. The idea is based on using a hybrid control and an observer-type sliding mode to generate residuals from the observation errors of the system. The simulation results are presented at the end to illustrate the performance of the proposed approach. © 2013 FEI STU.

  18. A modeling of sliding joint on one-dimensional flexible medium

    International Nuclear Information System (INIS)

    Hong Difeng; Ren Gexue

    2011-01-01

    The dynamic modeling of a sliding joint on a one-dimensional medium, such as a cable or a beam, is studied in this paper. The sliding joint is implemented by positioning it at a moving node on the one-dimensional medium, which is realized by variable-length elements at either side of the joint. The variable-length element is established with an absolute nodal coordinate formulation (ANCF) in the framework of the Arbitrary Lagrange–Euler (ALE) description. The sliding of the joint is described by the increasing of the length on one side of the one-dimensional medium and a corresponding decreasing of the other side. In order to capture the discontinuity of the slopes at the position of the sliding joint, the moving node has two slopes as generalized coordinates which are equal to each other in the case of a beam but not in the case of a cable, and in order to avoid the addition–deletion constraint, the node adjacent to the moving node is added or deleted if the element is too long or too short. The governing equations for the coupled system are derived in terms of D’Alembert’s principle and the resulting equations of motion are formulated in the standard form of differential algebraic equations of multibody systems. Numerical examples are presented to validate the method proposed by comparing with analytical results which are available or are made possible by simplifying the model.

  19. Polymer friction Molecular Dynamics

    DEFF Research Database (Denmark)

    Sivebæk, Ion Marius; Samoilov, Vladimir N.; Persson, Bo N. J.

    We present molecular dynamics friction calculations for confined hydrocarbon solids with molecular lengths from 20 to 1400 carbon atoms. Two cases are considered: a) polymer sliding against a hard substrate, and b) polymer sliding on polymer. In the first setup the shear stresses are relatively...... independent of molecular length. For polymer sliding on polymer the friction is significantly larger, and dependent on the molecular chain length. In both cases, the shear stresses are proportional to the squeezing pressure and finite at zero load, indicating an adhesional contribution to the friction force....

  20. Articular cartilage response to a sliding load using two different-sized spherical indenters1.

    Science.gov (United States)

    Schätti, Oliver R; Colombo, Vera; Torzilli, Peter A; Gallo, Luigi M

    2018-01-01

    Cartilage surface contact geometry influences the deformational behavior and stress distribution throughout the extracellular matrix (ECM) under load. To test the correlation between the mechanical and cellular response of articular cartilage when loaded with two different-sized spherical indenters under dynamic reciprocating sliding motion. Articular cartilage explants were subjected to a reciprocating sliding load using a 17.6 mm or 30.2 mm spherical ball for 2000 cycles at 10 mm/s and 4 kg axial load. Deformation of the cartilage was recorded and contact parameters were calculated according to Hertzian theory. After mechanical loading cartilage samples were collected and analyzed for ECM collagen damage, gene regulation and proteoglycan (PG) loss. Significantly higher ECM deformation and strain and lower dynamic effective modulus were found for explants loaded with the smaller diameter indenter whereas contact radius and stress remained unaffected. Also, the 17.6 mm indenter increased PG loss and significantly upregulated genes for ECM proteins and enzymes as compared to the 30.2 mm indenter. Sliding loads that increase ECM deformation/strain were found to induce enzyme-mediated catabolic processes in articular cartilage explants. These observations provide further understanding of how changes in cartilage contact mechanics under dynamic conditions can affect the cellular response.

  1. Sliding-spark spectrometry of sediment samples.

    Science.gov (United States)

    Angeyo, H; Flórían, K; Golloch, A; Vojtekovà, V

    2002-10-01

    Direct analysis of non-conducting solids and dielectric surface layers for elements at trace levels has been shown to be feasible by the new so-called sliding-spark spectroscopy, in which a discharge plasma is bound by, and propagates on, the surface of a dielectric sample matrix. By using a river sediment as a model matrix, bound in PVC to improve elemental atomization and excitation efficiency, as a result of the formation of volatile chlorides, the potential of the technique for environmental applications has been investigated by studying the characteristic UV-visible radiation emitted in the wavelength range 210-510 nm for the elements Fe, Cr, Ni, Cu, Pb, Cd, Zn, Co, V, Ti, and Mn. The radiation was detected by means of a CCD spectrometer and analysed for spectral line identification, selection, and the linearity of the spectral response, to determine whether this was suitable for establishing a calibration strategy for quantitative analysis using the sliding-spark source.

  2. Presentation video retrieval using automatically recovered slide and spoken text

    Science.gov (United States)

    Cooper, Matthew

    2013-03-01

    Video is becoming a prevalent medium for e-learning. Lecture videos contain text information in both the presentation slides and lecturer's speech. This paper examines the relative utility of automatically recovered text from these sources for lecture video retrieval. To extract the visual information, we automatically detect slides within the videos and apply optical character recognition to obtain their text. Automatic speech recognition is used similarly to extract spoken text from the recorded audio. We perform controlled experiments with manually created ground truth for both the slide and spoken text from more than 60 hours of lecture video. We compare the automatically extracted slide and spoken text in terms of accuracy relative to ground truth, overlap with one another, and utility for video retrieval. Results reveal that automatically recovered slide text and spoken text contain different content with varying error profiles. Experiments demonstrate that automatically extracted slide text enables higher precision video retrieval than automatically recovered spoken text.

  3. Preparing glass slides and coverslips for in situ hybridization.

    Science.gov (United States)

    Nagy, Andras; Gertsenstein, Marina; Vintersten, Kristina; Behringer, Richard

    2007-11-01

    INTRODUCTIONPrecleaned glass slides are of high enough quality for both in situ and immunohistochemical techniques. However, for in situ hybridization, the slides need to be treated with diethyl pyrocarbonate (DEPC) so that any RNase attached to them is destroyed. The slides also need to be coated with 3-triethoxysilylpropylamine (TESPA) or poly-L-lysine so that the sections adhere tightly and do not detach during subsequent extensive washing procedures. This protocol describes techniques for coating slides with TESPA and poly-L-lysine. There are advantages and disadvantages to each coating method. TESPA-treated slides can be stored for a long time, but the sections do not adhere tightly until after drying. Poly-L-lysine-coated slides need to be made fresh, but the sections adhere immediately on contact with the surface. This protocol also describes how to prepare coverslips for in situ hybrization by coating them in a siliconizing solution.

  4. Adaptive Sliding Mode Observer for a Class of Systems

    OpenAIRE

    D.Elleuch; T.Damak

    2010-01-01

    In this paper, the performance of two adaptive observers applied to interconnected systems is studied. The nonlinearity of systems can be written in a fractional form. The first adaptive observer is an adaptive sliding mode observer for a Lipchitz nonlinear system and the second one is an adaptive sliding mode observer having a filtered error as a sliding surface. After comparing their performances throughout the inverted pendulum mounted on a car system, it was shown tha...

  5. Sensorless Sliding Mode Vector Control of Induction Motor Drives

    OpenAIRE

    Gouichiche Abdelmadjid; Boucherit Mohamed Seghir; Safa Ahmed; Messlem Youcef

    2012-01-01

    In this paper we present the design of sliding mode controllers for sensorless field oriented control of induction motor. In order to improve the performance of controllers, the motor speed is controlled by sliding mode regulator with integral sliding surface. The estimated rotor speed used in speed feedback loop is calculated by an adaptive observer based on MRAS (model reference adaptive system) technique .the validity of the proposed scheme is demonstrated by experimental results.

  6. Expected sliding distance of vertical slit caisson breakwater

    Science.gov (United States)

    Kim, Dong Hyawn

    2017-06-01

    Evaluating the expected sliding distance of a vertical slit caisson breakwater is proposed. Time history for the wave load to a vertical slit caisson is made. It consists of two impulsive wave pressures followed by a smooth sinusoidal pressure. In the numerical analysis, the sliding distance for an attack of single wave was shown and the expected sliding distance during 50 years was also presented. Those results were compared with a vertical front caisson breakwater without slit. It was concluded that the sliding distance of a vertical slit caisson may be over-estimated if the wave pressure on the caisson is evaluated without considering vertical slit.

  7. A Sliding Mode LCO Regulation Strategy for Dual-Parallel Underactuated UAV Systems Using Synthetic Jet Actuators

    Directory of Open Access Journals (Sweden)

    N. Ramos-Pedroza

    2015-01-01

    careful algebraic manipulation in the regulation error system development, along with innovative design of the sliding surface. A detailed model of the UAV LCO dynamics is utilized, and a rigorous analysis is provided to prove asymptotic regulation of the pitching and plunging displacements. Numerical simulation results are provided to demonstrate the performance of the control law.

  8. Experiments on vibration-driven stick-slip locomotion: A sliding bifurcation perspective

    Science.gov (United States)

    Du, Zhouwei; Fang, Hongbin; Zhan, Xiong; Xu, Jian

    2018-05-01

    Dry friction appears at the contact interface between two surfaces and is the source of stick-slip vibrations. Instead of being a negative factor, dry friction is essential for vibration-driven locomotion system to take effect. However, the dry-friction-induced stick-slip locomotion has not been fully understood in previous research, especially in terms of experiments. In this paper, we experimentally study the stick-slip dynamics of a vibration-driven locomotion system from a sliding bifurcation perspective. To this end, we first design and build a vibration-driven locomotion prototype based on an internal piezoelectric cantilever. By utilizing the mechanical resonance, the small piezoelectric deformation is significantly amplified to drive the prototype to achieve effective locomotion. Through identifying the stick-slip characteristics in velocity histories, we could categorize the system's locomotion into four types and obtain a stick-slip categorization diagram. In each zone of the diagram the locomotion exhibits qualitatively different stick-slip dynamics. Such categorization diagram is actually a sliding bifurcation diagram; crossing from one stick-slip zone to another corresponds to the triggering of a sliding bifurcation. In addition, a simplified single degree-of-freedom model is established, with the rationality of simplification been explained theoretically and numerically. Based on the equivalent model, a numerical stick-slip categorization is also obtained, which shows good agreement with the experiments both qualitatively and quantitatively. To the best of our knowledge, this is the first work that experimentally generates a sliding bifurcation diagram. The obtained stick-slip categorizations deepen our understanding of stick-slip dynamics in vibration-driven systems and could serve as a base for system design and optimization.

  9. Influence of normal loads and sliding velocities on friction properties of engineering plastics sliding against rough counterfaces

    Science.gov (United States)

    Nuruzzaman, D. M.; Chowdhury, M. A.; Rahaman, M. L.; Oumer, A. N.

    2016-02-01

    Friction properties of plastic materials are very important under dry sliding contact conditions for bearing applications. In the present research, friction properties of engineering plastics such as polytetrafluoroethylene (PTFE) and nylon are investigated under dry sliding contact conditions. In the experiments, PTFE and nylon slide against different rough counterfaces such as mild steel and stainless steel 316 (SS 316). Frictional tests are carried out at low loads 5, 7.5 and 10 N, low sliding velocities 0.5, 0.75 and 1 m/s and relative humidity 70%. The obtained results reveal that friction coefficient of PTFE increases with the increase in normal loads and sliding velocities within the observed range. On the other hand, frictional values of nylon decrease with the increase in normal loads and sliding velocities. It is observed that in general, these polymers show higher frictional values when sliding against SS 316 rather than mild steel. During running-in process, friction coefficient of PTFE and nylon steadily increases with the increase in rubbing time and after certain duration of rubbing, it remains at steady level. At identical operating conditions, the frictional values are significantly different depending on normal load, sliding velocity and material pair. It is also observed that in general, the influence of normal load on the friction properties of PTFE and nylon is greater than that of sliding velocity.

  10. Screening and dotting virtual slides: A new challenge for cytotechnologists

    Directory of Open Access Journals (Sweden)

    Walid E Khalbuss

    2013-01-01

    Full Text Available Digital images are increasingly being used in cytopathology. Whole-slide imaging (WSI is a digital imaging modality that uses computerized technology to scan and convert entire cytology glass slides into digital images that can be viewed on a digital display using the image viewer software. Digital image acquisition of cytology glass slides has improved significantly over the years due to the use of liquid-based preparations and advances in WSI scanning technology such as automatic multipoint pre-scan focus technology or z-stack scanning technology. Screening cytotechnologists are responsible for every cell that is present on an imaged slide. One of the challenges users have to overcome is to establish a technique to review systematically the entire imaged slide and to dot selected abnormal or significant findings. The scope of this article is to review the current user interface technology available for virtual slide navigation when screening digital slides in cytology. WSI scanner vendors provide tools, built into the image viewer software that allow for a more systematic navigation of the virtual slides, such as auto-panning, keyboard-controlled slide navigation and track map. Annotation tools can improve communication between the screener and the final reviewer or can be used for education. The tracking functionality allows recording of the WSI navigation process and provides a mechanism for confirmation of slide coverage by the screening cytotechnologist as well as a useful tool for quality assurance. As the WSI technology matures, additional features and tools to support navigation of a cytology virtual slide are anticipated.

  11. Robust Sliding Mode Control for Tokamaks

    Directory of Open Access Journals (Sweden)

    I. Garrido

    2012-01-01

    Full Text Available Nuclear fusion has arisen as an alternative energy to avoid carbon dioxide emissions, being the tokamak a promising nuclear fusion reactor that uses a magnetic field to confine plasma in the shape of a torus. However, different kinds of magnetohydrodynamic instabilities may affect tokamak plasma equilibrium, causing severe reduction of particle confinement and leading to plasma disruptions. In this sense, numerous efforts and resources have been devoted to seeking solutions for the different plasma control problems so as to avoid energy confinement time decrements in these devices. In particular, since the growth rate of the vertical instability increases with the internal inductance, lowering the internal inductance is a fundamental issue to address for the elongated plasmas employed within the advanced tokamaks currently under development. In this sense, this paper introduces a lumped parameter numerical model of the tokamak in order to design a novel robust sliding mode controller for the internal inductance using the transformer primary coil as actuator.

  12. Instability of the sliding Luttinger liquid

    Science.gov (United States)

    Fleurov, V.; Kagalovsky, V.; Lerner, I. V.; Yurkevich, I. V.

    2018-05-01

    We revise a phase diagram for the sliding Luttinger liquid (SLL) of coupled one-dimensional quantum wires packed in two- or three-dimensional arrays in the absence of a magnetic field. We analyse whether physically justifiable (reasonable) inter-wire interactions, i.e. either the screened Coulomb or ‘Coulomb-blockade’ type interactions, stabilise the SLL phase. Calculating the scaling dimensions of the most relevant perturbations (the inter-wire single-particle hybridisation, charge-density wave, and superconducting inter-wire couplings), we find that their combination always destroys the SLL phase for the repulsive intra-wire interaction. However, suppressing the inter-wire tunnelling of repulsive fermions (when the charge-density wave is the only remaining perturbation), one can observe a stability region emerging due to the inter-wire forward scattering interaction.

  13. 23. Blois meeting 2011- Slides and abstracts

    International Nuclear Information System (INIS)

    Grannis, P.; LeCompte, T.J.; Godbole, R.; Silk, J.; Glover, N.; Verzocchi, M.; Punzi, G.; Maltoni, F.; Narain, M.; Golutvin, A.; Swanson, E.; Iijima, T.; Loizides, C.; Salgado, C.; Oz, Y.; Buchmueller, O.; Pomarol, A.; Taffard, A.; Myers, S.; Lisi, E.; Lindner, M.; Pascoli, S.; Lunardini, C.; Terning, J.; Horava, P.; Gomez, C.; Oberlack, U.; Gunion, J.; Patanchon, G.; Kowalski, M.; Binetruy, P.; Rezzolla, L.; Barsuglia, M.; Montaruli, T.; Sigl, G.; Lykken, J.; Tsybychev, D.; Blanc, F.; Yusa, Yosuke; Oakes, L.; Deschamps, O.; Kolomensky, Y.; Etzion, E.; Espagnon, B.; Niebuhr, C.; Grebenyuk, J.; Blessing, S.; Saoulidou, L.; Bifani, S.; Benhabib, L.; Piskunova, O.; Santel, D.; Fulsom, B.; Zhong, Bin; Tian, Haolai; Fantechi, R.; Daskalakis, G.; Marrouche, J.; Ubiali, M.; Petroff, P.; Bernhard, R.; Kuehn, S.; Aharrouche, M.; Jorda Lope, C.; Sorin, V.; Venturi, N.; Zaro, M.; Desai, Satish; Yu, Geum Bong; Elmsheuser, J.; Botta, C.; Couderc, F.; Rauch, M.; Lister, A.; Saleem, M.; Aldaya Martin, M.; Takeuchi, M.; Soustruznik, K.; Rao, Kanishka; Moreau, G.; Janicsko, J.; Garrido, X.; Mueller, T.; Mehdiyev, R.; Zimmerman, E.; Li, T.; Raselli, G.L.; Bellerive, A.; Manecki, S.M.; Studenikin, A.; Lamblin, J.; Censier, B.; Cooley, J.; Moulin, E.; Baldini, L.; Carmona-Benitez, C.; Tytgat, M.; Faldowski, A.; Rao, Soumya; Serra, J.; Neiman, Y.; Novikov, V.; De Aquino, P.; Vazquez-Jauregui, E.; Canonica, L.; Cattaneo, P.; Gruenendahl, S.; Widl, E.E.; Cote, D.; Falkowski, A.; Torre, R.; Vidal, M.; De Guio, F.; Cuhadar, Donszelmann; Colin, P.; Komin, Nukri; Palioselitis, D.; Baret, B.; Toscano, S.; Roth, M.; Deligny, O.; Guy, Julien; Chotard, N.; Rapetti, D.; Lychkovskiy, O.; Staggs, S.; Wehus, I.C.

    2013-01-01

    This conference on 'Particle Physics and Cosmology' will emphasize the increasing interplay between high energy accelerator based physics and cosmology. The meeting will be articulated around the results and their impact on current theories from the 3 major new experimental and observational facilities which are coming on line or have recently been commissioned: the Large Hadron Collider at CERN, the Planck satellite, and the Herschel satellite. The topics will include: -) the Standard Model in particle physics, in new data and analyses, -) the search for the Higgs boson, -) theories of and searches for physics beyond the Standard Model, -) heavy flavour physics, -) neutrino physics (astrophysical and laboratory), -) dark matter, dark energy and recent advances in cosmology. This document gathers the program, the slides and some abstracts of the presentations

  14. The Temperature Dependence of Macroscopic Sliding Friction

    Science.gov (United States)

    Burton, J. C.; Taborek, P.; Rutledge, J. E.

    2006-03-01

    We present measurements of the static and kinetic coefficients of friction of gold-plated copper on gold-plated copper and sapphire on sapphire as a function of temperature from 10K to 400K. The measurements were done by sliding a block down a controllable incline plane and using high-speed video to extract the acceleration. The large size of our optical cryostat allowed linear motion of 7.5 cm over which to measure the acceleration. Surfaces were baked under high vacuum at 400K, and data was taken as they cooled. Preliminary results indicate that the coefficient of friction for gold plated copper surfaces change by 10 percent from room temperature to 10K.

  15. Effects of pore fluid chemistry on stable sliding of Berea sandstone

    Science.gov (United States)

    Dunning, J. D.; Miller, M. E.

    1984-03-01

    Single-cycle and multiple-cycle frictional-sliding experiments were employed to evaluate the effects of pore fluid environments on yield strength, frictional-sliding dynamics, and gouge production and morphology. Circular right cylinders cored from Berea sandstone sawcut at 35° to the axes were saturated in water, an inorganic brine, and various anionic, cationic, and nonionic aqueous surface-active agents. Samples were deformed under an effective confining pressure of 50 MPa and an axial strain rate of 6×10-5 sec-1 until a 2% axial strain beyond yield (defined as the onset of sliding) was achieved. All samples were displaced by stable sliding. In the single-cycle tests the unsaturated and water-saturated samples displayed small stress peaks at yield. During stable sliding samples saturated with DTAB and SDS displayed slight increases in differential stress and statistically significant higher frictional coefficients than other environments (including water) but were very similar in behavior to dry, unsaturated samples. In the multiple-cycle tests, samples were loaded to 2% strain beyond yield and unloaded to a differential stress of approximately 5 10 MPa a total of four times. These results further suggest that DTAB exerts a ‘strengthening’ effect on the sandstone relative to water which, to a limiting value, increased with displacement. The DTAB and SDS environments also produced a coarser grain-size distribution in the gouge relative to gouge produced in the other environments. Investigation of the gouge by scanning electron microscope revealed that these larger ‘grains’ were composed of dense, apparently cemented aggregates of ultrafine, platy quartz particles.

  16. Terminal Sliding Mode Control with Adaptive Law for Uncertain Nonlinear System

    Directory of Open Access Journals (Sweden)

    Zhanshan Zhao

    2015-01-01

    Full Text Available A novel nonsingular terminal sliding mode controller is proposed for a second-order system with unmodeled dynamics uncertainties and external disturbances. We need not achieve the knowledge for boundaries of uncertainties and external disturbances in advance. The adaptive control gains are obtained to estimate the uncertain parameters and external disturbances which are unknown but bounded. The closed loop system stability is ensured with robustness and adaptation by the Lyapunov stability theorem in finite time. An illustrative example of second-order nonlinear system with unmodeled dynamics and external disturbances is given to demonstrate the effectiveness of the presented scheme.

  17. Creep model of unsaturated sliding zone soils and long-term deformation analysis of landslides

    Science.gov (United States)

    Zou, Liangchao; Wang, Shimei; Zhang, Yeming

    2015-04-01

    Sliding zone soil is a special soil layer formed in the development of a landslide. Its creep behavior plays a significant role in long-term deformation of landslides. Due to rainfall infiltration and reservoir water level fluctuation, the soils in the slide zone are often in unsaturated state. Therefore, the investigation of creep behaviors of the unsaturated sliding zone soils is of great importance for understanding the mechanism of the long-term deformation of a landslide in reservoir areas. In this study, the full-process creep curves of the unsaturated soils in the sliding zone in different net confining pressure, matric suctions and stress levels were obtained from a large number of laboratory triaxial creep tests. A nonlinear creep model for unsaturated soils and its three-dimensional form was then deduced based on the component model theory and unsaturated soil mechanics. This creep model was validated with laboratory creep data. The results show that this creep model can effectively and accurately describe the nonlinear creep behaviors of the unsaturated sliding zone soils. In order to apply this creep model to predict the long-term deformation process of landslides, a numerical model for simulating the coupled seepage and creep deformation of unsaturated sliding zone soils was developed based on this creep model through the finite element method (FEM). By using this numerical model, we simulated the deformation process of the Shuping landslide located in the Three Gorges reservoir area, under the cycling reservoir water level fluctuation during one year. The simulation results of creep displacement were then compared with the field deformation monitoring data, showing a good agreement in trend. The results show that the creeping deformations of landslides have strong connections with the changes of reservoir water level. The creep model of unsaturated sliding zone soils and the findings obtained by numerical simulations in this study are conducive to

  18. Flight Control Design for an Autonomous Rotorcraft Using Pseudo-Sliding Mode Control and Waypoint Navigation

    Science.gov (United States)

    Mallory, Nicolas Joseph

    The design of robust automated flight control systems for aircraft of varying size and complexity is a topic of continuing interest for both military and civilian industries. By merging the benefits of robustness from sliding mode control (SMC) with the familiarity and transparency of design tradeoff offered by frequency domain approaches, this thesis presents pseudo-sliding mode control as a viable option for designing automated flight control systems for complex six degree-of-freedom aircraft. The infinite frequency control switching of SMC is replaced, by necessity, with control inputs that are continuous in nature. An introduction to SMC theory is presented, followed by a detailed design of a pseudo-sliding mode control and automated flight control system for a six degree-of-freedom model of a Hughes OH6 helicopter. This model is then controlled through three different waypoint missions that demonstrate the stability of the system and the aircraft's ability to follow certain maneuvers despite time delays, large changes in model parameters and vehicle dynamics, actuator dynamics, sensor noise, and atmospheric disturbances.

  19. Neural network-based sliding mode control for atmospheric-actuated spacecraft formation using switching strategy

    Science.gov (United States)

    Sun, Ran; Wang, Jihe; Zhang, Dexin; Shao, Xiaowei

    2018-02-01

    This paper presents an adaptive neural networks-based control method for spacecraft formation with coupled translational and rotational dynamics using only aerodynamic forces. It is assumed that each spacecraft is equipped with several large flat plates. A coupled orbit-attitude dynamic model is considered based on the specific configuration of atmospheric-based actuators. For this model, a neural network-based adaptive sliding mode controller is implemented, accounting for system uncertainties and external perturbations. To avoid invalidation of the neural networks destroying stability of the system, a switching control strategy is proposed which combines an adaptive neural networks controller dominating in its active region and an adaptive sliding mode controller outside the neural active region. An optimal process is developed to determine the control commands for the plates system. The stability of the closed-loop system is proved by a Lyapunov-based method. Comparative results through numerical simulations illustrate the effectiveness of executing attitude control while maintaining the relative motion, and higher control accuracy can be achieved by using the proposed neural-based switching control scheme than using only adaptive sliding mode controller.

  20. Robust spatiotemporal matching of electronic slides to presentation videos.

    Science.gov (United States)

    Fan, Quanfu; Barnard, Kobus; Amir, Arnon; Efrat, Alon

    2011-08-01

    We describe a robust and efficient method for automatically matching and time-aligning electronic slides to videos of corresponding presentations. Matching electronic slides to videos provides new methods for indexing, searching, and browsing videos in distance-learning applications. However, robust automatic matching is challenging due to varied frame composition, slide distortion, camera movement, low-quality video capture, and arbitrary slides sequence. Our fully automatic approach combines image-based matching of slide to video frames with a temporal model for slide changes and camera events. To address these challenges, we begin by extracting scale-invariant feature-transformation (SIFT) keypoints from both slides and video frames, and matching them subject to a consistent projective transformation (homography) by using random sample consensus (RANSAC). We use the initial set of matches to construct a background model and a binary classifier for separating video frames showing slides from those without. We then introduce a new matching scheme for exploiting less distinctive SIFT keypoints that enables us to tackle more difficult images. Finally, we improve upon the matching based on visual information by using estimated matching probabilities as part of a hidden Markov model (HMM) that integrates temporal information and detected camera operations. Detailed quantitative experiments characterize each part of our approach and demonstrate an average accuracy of over 95% in 13 presentation videos.

  1. A Simple Measurement of the Sliding Friction Coefficient

    Science.gov (United States)

    Gratton, Luigi M.; Defrancesco, Silvia

    2006-01-01

    We present a simple computer-aided experiment for investigating Coulomb's law of sliding friction in a classroom. It provides a way of testing the possible dependence of the friction coefficient on various parameters, such as types of materials, normal force, apparent area of contact and sliding velocity.

  2. Optimizing Student Learning: Examining the Use of Presentation Slides

    Science.gov (United States)

    Strauss, Judy; Corrigan, Hope; Hofacker, Charles F.

    2011-01-01

    Sensory overload and split attention result in reduced learning when instructors read slides with bullet points and complex graphs during a lecture. Conversely, slides containing relevant visual elements, when accompanied by instructor narration, use both the visual and verbal channels of a student's working memory, thus improving the chances of…

  3. Focusing in on the Slide: Its Practical Applications

    Science.gov (United States)

    Runte, Roseann

    1977-01-01

    Slides can be used in the foreign language classroom as a free conversation stimulus, for vocabulary building and grammar exercises as well as in composition, culture, and literature. No more than ten slides should be used. Students should participate fully, not merely listen to the teacher's monologue. (CFM)

  4. The Easy Way to Create Computer Slide Shows.

    Science.gov (United States)

    Anderson, Mary Alice

    1995-01-01

    Discusses techniques for creating computer slide shows. Topics include memory; format; color use; HyperCard and CD-ROM; font styles and sizes; graphs and graphics; the slide show option; special effects; and tips for effective presentation. (Author/AEF)

  5. Computer Slide Shows: A Trap for Bad Teaching

    Science.gov (United States)

    Klemm, W. R.

    2007-01-01

    Slide shows presented with software such as PowerPoint or WordPerfect Presentations can trap instructors into bad teaching practices. Research on memory suggests that slide-show instruction can actually be less effective than traditional lecturing when the teacher uses a blackboard or overhead projector. The author proposes a model of classroom…

  6. Model-free adaptive sliding mode controller design for generalized ...

    Indian Academy of Sciences (India)

    L M WANG

    2017-08-16

    Aug 16, 2017 ... A novel model-free adaptive sliding mode strategy is proposed for a generalized projective synchronization (GPS) ... the neural network theory, a model-free adaptive sliding mode controller is designed to guarantee asymptotic stability of the generalized ..... following optimization parameters are needed: ⎧.

  7. A modified sliding spectral method and its application to COSMIC ...

    Indian Academy of Sciences (India)

    In the moist lower troposphere, a limitation of the sliding spectral (SS) method is the restriction of the resolution of bending angle profiles because of the atmospheric multipath effect and noise. A modified sliding spectral (MSS) method is proposed in this paper to improve the inversion resolution of SS method in the moist ...

  8. Determining the Ecosystem Services Important for Urban Landscapes-Slides

    Science.gov (United States)

    This presentation consists of introductory slides on ecosystem services in urban landscapes and then a discussion of two case studies concerning the provision of water quality in urban landscapes. The introductory slides will explore the range of ecosystem services provided by u...

  9. Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

    Science.gov (United States)

    Chen, Hongbin

    2018-03-01

    Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

  10. Sliding inguinal hernia is a risk factor for recurrence

    DEFF Research Database (Denmark)

    Andresen, Kristoffer; Bisgaard, Thue; Rosenberg, Jacob

    2015-01-01

    PURPOSE: A sliding inguinal hernia is defined as a hernia where part of the hernial sac wall is formed by an organ, e.g., the colon or bladder. Thus, repair of a sliding inguinal hernia may have higher risk of complications and recurrence compared with non-sliding inguinal hernia. The aim......: In total, 70,091 primary hernia repairs were included for analysis. The occurrence of sliding inguinal hernias of the total group of included hernia repairs was 9.4 % among males and 2.9 % among females (p ... compared with non-sliding inguinal hernias (6.0 versus 4.2 %, log-rank p = 0.001). A Cox regression model was fitted and showed that the type of repair affected the risk for reoperation for recurrence; hazard ratio (95 % confidence interval): open non-mesh: reference, Lichtenstein 0.43 (0.39-0.48), other...

  11. Teaching Veterinary Histopathology: A Comparison of Microscopy and Digital Slides.

    Science.gov (United States)

    Brown, Peter J; Fews, Debra; Bell, Nick J

    2016-01-01

    Virtual microscopy using digitized slides has become more widespread in teaching in recent years. There have been no direct comparisons of the use of virtual microscopy and the use of microscopes and glass slides. Third-year veterinary students from two different schools completed a simple objective test, covering aspects of histology and histopathology, before and after a practical class covering relevant material presented as either glass slides viewed with a microscope or as digital slides. There was an overall improvement in performance by students at both veterinary schools using both practical formats. Neither format was consistently better than the other, and neither school consistently outperformed the other. In a comparison of student appraisal of use of digital slides and microscopes, the digital technology was identified as having many advantages.

  12. Sliding Spotlight Mode Imaging with GF-3 Spaceborne SAR Sensor

    Directory of Open Access Journals (Sweden)

    Qingjun Zhang

    2017-12-01

    Full Text Available Synthetic aperture radar (SAR sliding spotlight work mode can achieve high resolutions and wide swath (HRWS simultaneously by steering the radar antenna beam. This paper aims to obtain well focused images using sliding spotlight mode with the Chinese Gaofen-3 SAR sensor. We proposed an integrated imaging scheme with sliding spotlight echoes. In the imaging scheme, the two-step approach is applied to the spaceborne sliding spotlight SAR imaging algorithm, followed by the Doppler parameter estimation algorithm. The azimuth spectral folding phenomenon is overcome by the two-step approach. The results demonstrate a high Doppler parameter estimation accuracy. The proposed imaging process is accurate and highly efficient for sliding spotlight SAR mode.

  13. Sliding mode control the delta-sigma modulation approach

    CERN Document Server

    Sira-Ramírez, Hebertt

    2015-01-01

    This monograph presents a novel method of sliding mode control for switch-regulated nonlinear systems. The Delta Sigma modulation approach allows one to implement a continuous control scheme using one or multiple, independent switches, thus effectively merging the available linear and nonlinear controller design techniques with sliding mode control.   Sliding Mode Control: The Delta-Sigma Modulation Approach, combines rigorous mathematical derivation of the unique features of Sliding Mode Control and Delta-Sigma modulation with numerous illustrative examples from diverse areas of engineering. In addition, engineering case studies demonstrate the applicability of the technique and the ease with which one can implement the exposed results. This book will appeal to researchers in control engineering and can be used as graduate-level textbook for a first course on sliding mode control.

  14. Advances in sliding mode control concept, theory and implementation

    CERN Document Server

    Janardhanan, S; Spurgeon, Sarah

    2013-01-01

    The sliding mode control paradigm has become a mature technique for the design of robust controllers for a wide class of systems including nonlinear, uncertain and time-delayed systems. This book is a collection of plenary and invited talks delivered at the 12th IEEE International Workshop on Variable Structure System held at the Indian Institute of Technology, Mumbai, India in January 2012. After the workshop, these researchers were invited to develop book chapters for this edited collection in order to reflect the latest results and open research questions in the area. The contributed chapters have been organized by the editors to reflect the various themes of sliding mode control which are the current areas of theoretical research and applications focus; namely articulation of the fundamental underpinning theory of the sliding mode design paradigm, sliding modes for decentralized system representations, control of time-delay systems, the higher order sliding mode concept, results applicable to nonlinear an...

  15. Transient wave behaviour over an underwater sliding hump from experiments and analytical and numerical modelling

    Science.gov (United States)

    Callaghan, David P.; Ahmadi, Afshin; Nielsen, Peter

    2011-12-01

    ). Nevertheless, the forced wave transient development required non-linear and non-hydrostatic terms for higher sliding hump speeds. The forward free wave, controversially, does not need non-linear and non-hydrostatic terms until much higher hump speeds, suggesting that the forward free wave falls in the parameter space where long-wave equations apply whereas the forced wave more often falls into the parameter space requiring non-linear and non-hydrostatic terms. It does raise the question of why the forced wave transient dynamics does not impact on the initial transient dynamics where the forward free wave is in the long-wave theory, escaping the forced wave (at least for speeds less than 80% of the shallow-water wave celerity).

  16. Transient wave behaviour over an underwater sliding hump from experiments and analytical and numerical modelling

    Energy Technology Data Exchange (ETDEWEB)

    Callaghan, David P.; Nielsen, Peter [The University of Queensland, School of Civil Engineering, Brisbane (Australia); Ahmadi, Afshin [Kellogg Brown and Root Pty Ltd, Brisbane, QLD (Australia)

    2011-12-15

    ). Nevertheless, the forced wave transient development required non-linear and non-hydrostatic terms for higher sliding hump speeds. The forward free wave, controversially, does not need non-linear and non-hydrostatic terms until much higher hump speeds, suggesting that the forward free wave falls in the parameter space where long-wave equations apply whereas the forced wave more often falls into the parameter space requiring non-linear and non-hydrostatic terms. It does raise the question of why the forced wave transient dynamics does not impact on the initial transient dynamics where the forward free wave is in the long-wave theory, escaping the forced wave (at least for speeds less than 80% of the shallow-water wave celerity). (orig.)

  17. Predictive Sliding Mode Control for Attitude Tracking of Hypersonic Vehicles Using Fuzzy Disturbance Observer

    Directory of Open Access Journals (Sweden)

    Xianlei Cheng

    2015-01-01

    Full Text Available We propose a predictive sliding mode control (PSMC scheme for attitude control of hypersonic vehicle (HV with system uncertainties and external disturbances based on an improved fuzzy disturbance observer (IFDO. First, for a class of uncertain affine nonlinear systems with system uncertainties and external disturbances, we propose a predictive sliding mode control based on fuzzy disturbance observer (FDO-PSMC, which is used to estimate the composite disturbances containing system uncertainties and external disturbances. Afterward, to enhance the composite disturbances rejection performance, an improved FDO-PSMC (IFDO-PSMC is proposed by incorporating a hyperbolic tangent function with FDO to compensate for the approximate error of FDO. Finally, considering the actuator dynamics, the proposed IFDO-PSMC is applied to attitude control system design for HV to track the guidance commands with high precision and strong robustness. Simulation results demonstrate the effectiveness and robustness of the proposed attitude control scheme.

  18. Adaptive Sliding-Mode Control in Bus Voltage for an Islanded DC Microgrid

    Directory of Open Access Journals (Sweden)

    Dan Zhang

    2017-01-01

    Full Text Available The control of bus voltage is a crucial task for the stable operation of islanded DC microgrids. To improve the DC bus voltage control dynamics and stability, this paper proposes an adaptive sliding-mode control method based on large-signal model. The sliding-mode control, adaptive observation, and fix-frequency pulse width modulation technology are adopted and combined efficiently, which guarantee stable bus voltage and the constant switching frequency of closed-loop system, regardless of how the parameters vary with the variable constant-power loads and uncertainties. In addition, the reference values can be quickly tracked by the state variables using the proposed method without any additional sensors/hardware circuits. Therefore, this method is beneficial for the scalability and plug-play of the distributed generators and loads within the DC microgrids. The performance of the proposed control method has been successfully verified in simulation.

  19. Physical essence of the multibody contact-sliding at atomic scale

    Science.gov (United States)

    Han, Xuesong

    2014-01-01

    Investigation the multibody contact-sliding occurred at atomic discrete contact spot will play an important role in determine the origin of tribology behavior and evaluates the micro-mechanical property of nanomaterials and thus optimizing the design of surface texture. This paper carries out large scale parallel molecular dynamics simulation on contact-sliding at atomic scale to uncover the special physical essence. The research shows that some kind of force field exists between nanodot pair and the interaction can be expressed by the linear combination of exponential function while the effective interaction distance limited in 1 angstrom for nanodot with several tens of nanometer diameter. The variation tendency about the interaction force between nanodot array is almost the same between nanodot pairs and thus the interaction between two nanodot array can be characterized by parallel mechanical spring. Multibody effect which dominates the interaction between atoms or molecules will gradually diminish with the increasing of length scales.

  20. Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane

    Directory of Open Access Journals (Sweden)

    Wei Chen

    2016-01-01

    Full Text Available The depth tracking issue of underactuated autonomous underwater vehicle (AUV in vertical plane is addressed in this paper. Considering the complicated dynamics and kinematics model for underactuated AUV, a more simplified model is obtained based on assumptions. Then a nonlinear disturbance observer (NDO is presented to estimate the external disturbance acting on AUV, and an adaptive terminal sliding mode control (ATSMC based on NDO is applied to enhance the depth tracking performance of underactuated AUV considering both internal and external disturbance. Compared with the traditional sliding mode controller, the static error and chattering problem of the depth tracking process have been clearly improved by adopting NDO-based ATSMC. The stability of control system is proven to be guaranteed according to Lyapunov theory. In the end, simulation results imply that the proposed controller owns strong robustness and satisfied control effectiveness in comparison with the traditional controller.

  1. Adaptive fuzzy sliding-mode control for multi-input multi-output chaotic systems

    International Nuclear Information System (INIS)

    Poursamad, Amir; Markazi, Amir H.D.

    2009-01-01

    This paper describes an adaptive fuzzy sliding-mode control algorithm for controlling unknown or uncertain, multi-input multi-output (MIMO), possibly chaotic, dynamical systems. The control approach encompasses a fuzzy system and a robust controller. The fuzzy system is designed to mimic an ideal sliding-mode controller, and the robust controller compensates the difference between the fuzzy controller and the ideal one. The parameters of the fuzzy system, as well as the uncertainty bound of the robust controller, are tuned adaptively. The adaptive laws are derived in the Lyapunov sense to guarantee the asymptotic stability and tracking of the controlled system. The effectiveness of the proposed method is shown by applying it to some well-known chaotic systems.

  2. Adaptive Sliding Mode Control of MEMS Gyroscope Based on Neural Network Approximation

    Directory of Open Access Journals (Sweden)

    Yuzheng Yang

    2014-01-01

    Full Text Available An adaptive sliding controller using radial basis function (RBF network to approximate the unknown system dynamics microelectromechanical systems (MEMS gyroscope sensor is proposed. Neural controller is proposed to approximate the unknown system model and sliding controller is employed to eliminate the approximation error and attenuate the model uncertainties and external disturbances. Online neural network (NN weight tuning algorithms, including correction terms, are designed based on Lyapunov stability theory, which can guarantee bounded tracking errors as well as bounded NN weights. The tracking error bound can be made arbitrarily small by increasing a certain feedback gain. Numerical simulation for a MEMS angular velocity sensor is investigated to verify the effectiveness of the proposed adaptive neural control scheme and demonstrate the satisfactory tracking performance and robustness.

  3. Design of Power System Stabilizer based on Sliding Mode Control Theory for Multi- Machine Power System

    Directory of Open Access Journals (Sweden)

    Ghazanfar Shahgholian

    2010-01-01

    Full Text Available This paper presents a new method for designing of power system stabilizer (PSS based on sliding mode control (SMC technique. The control objective is to enhance stability and improve the dynamic response of the multi-machine power system. The mathematical model of the synchronous generator is first transformed into a form that facilitates the design of nonlinear control schemes. Then, a sliding mode controller is proposed. In order to test effectiveness of the proposed scheme, simulation will be carried out to analyze the small signal stability characteristics of the system about the steady state operating condition following the change in the parameters of the system and to the disturbances. For comparison, simulation of a conventional control PSS (lead-lag compensation type will be carried out. The main approach is to focus on the control performance which later is proven to have the degree of shorter reaching time and lower spike.

  4. Finite-time synchronization for second-order nonlinear multi-agent system via pinning exponent sliding mode control.

    Science.gov (United States)

    Hou, Huazhou; Zhang, Qingling

    2016-11-01

    In this paper we investigate the finite-time synchronization for second-order multi-agent system via pinning exponent sliding mode control. Firstly, for the nonlinear multi-agent system, differential mean value theorem is employed to transfer the nonlinear system into linear system, then, by pinning only one node in the system with novel exponent sliding mode control, we can achieve synchronization in finite time. Secondly, considering the 3-DOF helicopter system with nonlinear dynamics and disturbances, the novel exponent sliding mode control protocol is applied to only one node to achieve the synchronization. Finally, the simulation results show the effectiveness and the advantages of the proposed method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

    Science.gov (United States)

    Kapoor, Neha; Ohri, Jyoti

    2017-02-01

    Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

  6. Vehicle Hybrid Braking Control Using Sliding Mode Control

    Science.gov (United States)

    Kasahara, Misawa; Kanai, Yuki; Shiraki, Ryoko; Mori, Yasuchika

    Anti-lock brake system and brake-by-wire are proposed in the vehicle control using a brake, and the braking power is expected to be improved more than ever. The researches such as an application to the ABS of Siliding mode control which considered a actuator dynamics and a hybrid control of the brake using model reference adaptive control are done so far. However, in the former case, speed following that becomes a target exists physically impossible situation by saturation of tire frictional force because only speed following is done. In the latter, the model error is caused because the simulation model and the controller design model are different. Therefore, there is a problem that an accurate follow cannot be done. In this paper, the braking control is performed using the sliding mode control which has high robustness for disturbance that fulfils matching conditions. In so doing, it aims at the achievement of optimal braking control to switch wheel speed following to slip ratio following.

  7. Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

    Directory of Open Access Journals (Sweden)

    Ismail Ben Abdallah

    2016-01-01

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

  8. VSMURF: A Novel Sliding Window Cleaning Algorithm for RFID Networks

    Directory of Open Access Journals (Sweden)

    He Xu

    2017-01-01

    Full Text Available Radio Frequency Identification (RFID is one of the key technologies of the Internet of Things (IoT and is used in many areas, such as mobile payments, public transportation, smart lock, and environment protection. However, the performance of RFID equipment can be easily affected by the surrounding environment, such as electronic productions and metal appliances. These can impose an impact on the RF signal, which makes the collection of RFID data unreliable. Usually, the unreliability of RFID source data includes three aspects: false negatives, false positives, and dirty data. False negatives are the key problem, as the probability of false positives and dirty data occurrence is relatively small. This paper proposes a novel sliding window cleaning algorithm called VSMURF, which is based on the traditional SMURF algorithm which combines the dynamic change of tags and the value analysis of confidence. Experimental results show that VSMURF algorithm performs better in most conditions and when the tag’s speed is low or high. In particular, if the velocity parameter is set to 2 m/epoch, our proposed VSMURF algorithm performs better than SMURF. The results also show that VSMURF algorithm has better performance than other algorithms in solving the problem of false negatives for RFID networks.

  9. Least square based sliding mode control for a quad-rotor helicopter and energy saving by chattering reduction

    Science.gov (United States)

    Sumantri, Bambang; Uchiyama, Naoki; Sano, Shigenori

    2016-01-01

    In this paper, a new control structure for a quad-rotor helicopter that employs the least squares method is introduced. This proposed algorithm solves the overdetermined problem of the control input for the translational motion of a quad-rotor helicopter. The algorithm allows all six degrees of freedom to be considered to calculate the control input. The sliding mode controller is applied to achieve robust tracking and stabilization. A saturation function is designed around a boundary layer to reduce the chattering phenomenon that is a common problem in sliding mode control. In order to improve the tracking performance, an integral sliding surface is designed. An energy saving effect because of chattering reduction is also evaluated. First, the dynamics of the quad-rotor helicopter is derived by the Newton-Euler formulation for a rigid body. Second, a constant plus proportional reaching law is introduced to increase the reaching rate of the sliding mode controller. Global stability of the proposed control strategy is guaranteed based on the Lyapunov's stability theory. Finally, the robustness and effectiveness of the proposed control system are demonstrated experimentally under wind gusts, and are compared with a regular sliding mode controller, a proportional-differential controller, and a proportional-integral-differential controller.

  10. Low radiation doses - Book of presentations (slides)

    International Nuclear Information System (INIS)

    2013-03-01

    This document brings together all the available presentations (slides) of the conference on low radiation doses organised by the 'research and health' department of the French society of radiation protection (SFRP). Ten presentations are available and deal with he following topics: 1 - Cyto-toxicity, geno-toxicity: comparative approach between ionizing radiations and other geno-toxic agents (F. Nesslany, Institut Pasteur, Lille); Succession of events occurring after a radio-induced DNA damage (D. Averbeck, IRSN/CEA); Importance of stem cells in the response to ionizing radiations (J. Lebeau, CEA); Relation between energy deposition at the sub-cell scale and early biological effects (C. Villagrasa, IRSN); Natural history of breast cancer: predisposition, susceptibility with respect to irradiation (S. Rivera, IGR); Pediatrics scanner study and the EPI-CT project (M.O Bernier, IRSN); What future for an irradiated cell: survival or apoptosis? (E. Sage, Institut Curie); Differential effect of a 137 Cs chronic contamination on the different steps of the atheromatous pathology (T. Ebrahimian, IRSN); Variability of the individual radiosensitivity (S. Chevillard, CEA); What definitions for individual sensitivity? (A. Schmidt, CEA); Low doses: some philosophical remarks (A. Grinbaum, CEA)

  11. Wear Calculation Approach for Sliding - Friction Pairs

    Science.gov (United States)

    Springis, G.; Rudzitis, J.; Lungevics, J.; Berzins, K.

    2017-05-01

    One of the most important things how to predict the service life of different products is always connected with the choice of adequate method. With the development of production technologies and measuring devices and with ever increasing precision one can get the appropriate data to be used in analytic calculations. Historically one can find several theoretical wear calculation methods but still there are no exact wear calculation model that could be applied to all cases of wear processes because of difficulties connected with a variety of parameters that are involved in wear process of two or several surfaces. Analysing the wear prediction theories that could be classified into definite groups one can state that each of them has shortcomings that might impact the results thus making unnecessary theoretical calculations. The offered wear calculation method is based on the theories of different branches of science. It includes the description of 3D surface micro-topography using standardized roughness parameters, explains the regularities of particle separation from the material in the wear process using fatigue theory and takes into account material’s physical and mechanical characteristics and definite conditions of product’s working time. The proposed wear calculation model could be of value for prediction of the exploitation time for sliding friction pairs thus allowing the best technologies to be chosen for many mechanical details.

  12. Single molecule study of a processivity clamp sliding on DNA

    Energy Technology Data Exchange (ETDEWEB)

    Laurence, T A; Kwon, Y; Johnson, A; Hollars, C; O?Donnell, M; Camarero, J A; Barsky, D

    2007-07-05

    Using solution based single molecule spectroscopy, we study the motion of the polIII {beta}-subunit DNA sliding clamp ('{beta}-clamp') on DNA. Present in all cellular (and some viral) forms of life, DNA sliding clamps attach to polymerases and allow rapid, processive replication of DNA. In the absence of other proteins, the DNA sliding clamps are thought to 'freely slide' along the DNA; however, the abundance of positively charged residues along the inner surface may create favorable electrostatic contact with the highly negatively charged DNA. We have performed single-molecule measurements on a fluorescently labeled {beta}-clamp loaded onto freely diffusing plasmids annealed with fluorescently labeled primers of up to 90 bases. We find that the diffusion constant for 1D diffusion of the {beta}-clamp on DNA satisfies D {le} 10{sup -14} cm{sup 2}/s, much slower than the frictionless limit of D = 10{sup -10} cm{sup 2}/s. We find that the {beta} clamp remains at the 3-foot end in the presence of E. coli single-stranded binding protein (SSB), which would allow for a sliding clamp to wait for binding of the DNA polymerase. Replacement of SSB with Human RP-A eliminates this interaction; free movement of sliding clamp and poor binding of clamp loader to the junction allows sliding clamp to accumulate on DNA. This result implies that the clamp not only acts as a tether, but also a placeholder.

  13. Microstructural and geochemical evolution of sliding surfaces in landslides

    Science.gov (United States)

    Schaebitz, M.; Janssen, C.; Wirth, R.; Dresen, G. H.

    2014-12-01

    The formation of basal sliding surfaces in mass movements is known to be associated with chemical and physical alteration of rock and regolith. To evaluate its microstructural and geochemical evolution we collected samples from the host rock to the sliding surface and adjacent deposits within landslides in Kirgizstan and central China. The sample locations represent different morphological and geological conditions to evaluate if the weakness of the sliding surface derives from general factors such as (micro)structural or mineralogical changes within the landslide body. Based on qualitative and quantitative geochemical analysis we could not find neither indication for notable weathering of the parent bedrock nor accumulation of clay minerals along the sliding surface to explain its reduced shear strength in the investigated near-surface landslides. The cataclasites are mainly composed of quartz, illite, calcite, kaolinite and feldspar with grain sizes between 5 μm down to contents towards the sliding surface, pointing to alteration processes. Transmission electron microscopy and focused ion beam technique for TEM sample preparation were used to compare the microstructures. It clearly revealed a severe reduction of grain size, and increase of pore space due to grain comminution by creeping and moving processes, indicating that elevated pore pressures are the main reason for the weakness of the sliding surfaces in shallow landslides. The comminution process within sliding surface formation seems to be comparable to fault gauge formation.

  14. Geomorphology, stability and mobility of the Currituck slide

    Science.gov (United States)

    Locat, J.; Lee, H.; ten Brink, Uri S.; Twichell, D.; Geist, E.; Sansoucy, M.

    2009-01-01

    Over the last 100,000??years, the U.S. Atlantic continental margin has experienced various types of mass movements some of which are believed to have taken place at times of low sea level. At one of these times of low sea level a significant trigger caused a major submarine mass movement off the coast of Virginia: the Currituck slide which is believed to have taken place between 24 and 50??ka ago. This slide removed a total volume of about 165??km3 from this section of the continental slope. The departure zone still shows a very clean surface that dips at 4?? and is only covered by a thin veneer of postglacial sediment. Multibeam bathymetric and seismic survey data suggest that this slide took place along three failures surfaces. The morphology of the source area suggests that the sediments were already at least normally consolidated at the time of failure. The slide debris covers an area as much as 55??km wide that extends 180??km from the estimated toe of the original slope. The back analysis of slide initiation indicates that very high pore pressure, a strong earthquake, or both had to be generated to trigger slides on such a low failure plane angle. The shape of the failure plane, the fact that the surface is almost clear of any debris, and the mobility analysis, all support the argument that the slides took place nearly simultaneously. Potential causes for the generation of high pore pressures could be seepage forces from coastal aquifers, delta construction and related pore pressure generation due to the local sediment loading, gas hydrates, and earthquakes. This slide, and its origin, is a spectacular example of the potential threat that submarine mass movements can pose to the US Atlantic coast and underline the need to further assess the potential for the generation of such large slides, like the Grand Banks 1927 landslide of similar volume. ?? 2008 Elsevier B.V.

  15. SurfaceSlide: a multitouch digital pathology platform.

    Directory of Open Access Journals (Sweden)

    Yinhai Wang

    Full Text Available BACKGROUND: Digital pathology provides a digital environment for the management and interpretation of pathological images and associated data. It is becoming increasing popular to use modern computer based tools and applications in pathological education, tissue based research and clinical diagnosis. Uptake of this new technology is stymied by its single user orientation and its prerequisite and cumbersome combination of mouse and keyboard for navigation and annotation. METHODOLOGY: In this study we developed SurfaceSlide, a dedicated viewing platform which enables the navigation and annotation of gigapixel digitised pathological images using fingertip touch. SurfaceSlide was developed using the Microsoft Surface, a 30 inch multitouch tabletop computing platform. SurfaceSlide users can perform direct panning and zooming operations on digitised slide images. These images are downloaded onto the Microsoft Surface platform from a remote server on-demand. Users can also draw annotations and key in texts using an on-screen virtual keyboard. We also developed a smart caching protocol which caches the surrounding regions of a field of view in multi-resolutions thus providing a smooth and vivid user experience and reducing the delay for image downloading from the internet. We compared the usability of SurfaceSlide against Aperio ImageScope and PathXL online viewer. CONCLUSION: SurfaceSlide is intuitive, fast and easy to use. SurfaceSlide represents the most direct, effective and intimate human-digital slide interaction experience. It is expected that SurfaceSlide will significantly enhance digital pathology tools and applications in education and clinical practice.

  16. Parameter identification and optimization of slide guide joint of CNC machine tools

    Science.gov (United States)

    Zhou, S.; Sun, B. B.

    2017-11-01

    The joint surface has an important influence on the performance of CNC machine tools. In order to identify the dynamic parameters of slide guide joint, the parametric finite element model of the joint is established and optimum design method is used based on the finite element simulation and modal test. Then the mode that has the most influence on the dynamics of slip joint is found through harmonic response analysis. Take the frequency of this mode as objective, the sensitivity analysis of the stiffness of each joint surface is carried out using Latin Hypercube Sampling and Monte Carlo Simulation. The result shows that the vertical stiffness of slip joint surface constituted by the bed and the slide plate has the most obvious influence on the structure. Therefore, this stiffness is taken as the optimization variable and the optimal value is obtained through studying the relationship between structural dynamic performance and stiffness. Take the stiffness values before and after optimization into the FEM of machine tool, and it is found that the dynamic performance of the machine tool is improved.

  17. Robust sliding mode control applied to double Inverted pendulum system

    International Nuclear Information System (INIS)

    Mahjoub, Sonia; Derbel, Nabil; Mnif, Faical

    2009-01-01

    A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

  18. The contact area and sliding friction in nanotribological systems

    International Nuclear Information System (INIS)

    Wolloch, M.

    2014-01-01

    Although friction, wear, and lubrication have been investigated for hundreds of years, many important questions in the field, now dubbed tribology, remain open. Two of these are the determination of the real area of contact and the direction dependence of friction forces on the nanoscale, which are investigated in this thesis. The invention of the atomic force microscope (AFM) in 1986 by Binnig , Quate, and Gerber was invaluable for the investigation of frictional forces on the atomic scale, giving a boost to the emerging field of nanotribology. While experimental AFM set-ups where quickly modeled with classical molecular dynamic (MD) simulations, the use of 'ab-initio' methods on tribological problems remained scarce until recently. In this thesis density functional theory (DFT) is used to develop parameter free methods in the field of nanotribology. Since the discovery that the apparent area of contact can be orders of magnitude larger than the true area of contact, the definition and determination of the latter has been an important topic of research. While classical contact mechanics provides satisfactory theories and results for various macroscopic systems, the application of these methods to atomistic systems is dubious, as the contacting bodies are not continuous at this length scale. We developed a parameter free approach to define and calculate the real area of contact between two bodies depending on distance. Strong relaxations at distinct distances, like the j ump to contact , which is often observed in AFM experiments, are used to define the onset of contact and Bader-s Quantum Theory of Atoms in Molecules is used to calculate the real area of contact at a given distance. Bader's method partitions the charge density ρ unambiguously into atoms, which theoretically fill all space and thus give non zero contact areas for all distances. It is therefore necessary to use a density cutoff ρ cut which assigns all regions in space where ρ <

  19. Primary histologic diagnosis using automated whole slide imaging: a validation study

    Directory of Open Access Journals (Sweden)

    Jukic Drazen M

    2006-04-01

    Full Text Available Abstract Background Only prototypes 5 years ago, high-speed, automated whole slide imaging (WSI systems (also called digital slide systems, virtual microscopes or wide field imagers are becoming increasingly capable and robust. Modern devices can capture a slide in 5 minutes at spatial sampling periods of less than 0.5 micron/pixel. The capacity to rapidly digitize large numbers of slides should eventually have a profound, positive impact on pathology. It is important, however, that pathologists validate these systems during development, not only to identify their limitations but to guide their evolution. Methods Three pathologists fully signed out 25 cases representing 31 parts. The laboratory information system was used to simulate real-world sign-out conditions including entering a full diagnostic field and comment (when appropriate and ordering special stains and recuts. For each case, discrepancies between diagnoses were documented by committee and a "consensus" report was formed and then compared with the microscope-based, sign-out report from the clinical archive. Results In 17 of 25 cases there were no discrepancies between the individual study pathologist reports. In 8 of the remaining cases, there were 12 discrepancies, including 3 in which image quality could be at least partially implicated. When the WSI consensus diagnoses were compared with the original sign-out diagnoses, no significant discrepancies were found. Full text of the pathologist reports, the WSI consensus diagnoses, and the original sign-out diagnoses are available as an attachment to this publication. Conclusion The results indicated that the image information contained in current whole slide images is sufficient for pathologists to make reliable diagnostic decisions and compose complex diagnostic reports. This is a very positive result; however, this does not mean that WSI is as good as a microscope. Virtually every slide had focal areas in which image quality (focus

  20. Analysis of mechanisms induced by sliding and corrosion: dedicated apparatus for PWR environments

    International Nuclear Information System (INIS)

    Vernot, JPh

    2004-01-01

    In pressurized water reactors (PWR), some components are submitted to relative motions due to necessary operational processes (localisation and positioning adjustment) or by not wished effects (flow induced vibration). Thus, components and associated supports are typically excited by a large range of kinematics so than complex combinations of wear can occur. Those excitations can lead to sliding, fretting, impact, etc. Furthermore, typical environment in PWR coupling of temperature (320 deg. C), pressure (154 bars) and chemistry solution (deaerated, low conductivity water) involve specific corrosion processes. Apparently, research performed to date did not deal with all the specific parameters involved at PWR conditions. For this purpose, a specific apparatus has been developed in Framatome Technical Center for a better understanding of this complex degradation mechanism where mechanical and corrosion effects are occurring at the same time. Thanks to electromagnets excitation, mechanical investigations can be proposed with the following combined contact type: pure impact, pure sliding and impact plus sliding for several kinds of sample as rod in a ring, rod against a guide. Motion can be induced on a local area or for the total length (orbital excitation). The relative displacement and the contact force are acquired continuously and permit to establish normal and tangential forces, angular position, sliding distance. On the other hand, electrochemistry measurements have been adapted to the specific apparatus and work in the high temperature water environment. The standard mounting with three electrodes has been qualified so that it is possible to adjust or measure current and potential. All the system is computer controlled and with the present apparatus relationship between mechanical parameters and re-passivation can be studied for specific environments, materials and solicitations. In a first step, potential dynamic polarization curves have been established for

  1. Dynamics

    CERN Document Server

    Goodman, Lawrence E

    2001-01-01

    Beginning text presents complete theoretical treatment of mechanical model systems and deals with technological applications. Topics include introduction to calculus of vectors, particle motion, dynamics of particle systems and plane rigid bodies, technical applications in plane motions, theory of mechanical vibrations, and more. Exercises and answers appear in each chapter.

  2. Sliding Mode Fault Tolerant Control with Adaptive Diagnosis for Aircraft Engines

    Science.gov (United States)

    Xiao, Lingfei; Du, Yanbin; Hu, Jixiang; Jiang, Bin

    2018-03-01

    In this paper, a novel sliding mode fault tolerant control method is presented for aircraft engine systems with uncertainties and disturbances on the basis of adaptive diagnostic observer. By taking both sensors faults and actuators faults into account, the general model of aircraft engine control systems which is subjected to uncertainties and disturbances, is considered. Then, the corresponding augmented dynamic model is established in order to facilitate the fault diagnosis and fault tolerant controller design. Next, a suitable detection observer is designed to detect the faults effectively. Through creating an adaptive diagnostic observer and based on sliding mode strategy, the sliding mode fault tolerant controller is constructed. Robust stabilization is discussed and the closed-loop system can be stabilized robustly. It is also proven that the adaptive diagnostic observer output errors and the estimations of faults converge to a set exponentially, and the converge rate greater than some value which can be adjusted by choosing designable parameters properly. The simulation on a twin-shaft aircraft engine verifies the applicability of the proposed fault tolerant control method.

  3. Integral sliding mode-based formation control of multiple unertain robots via nonlinear disturbane observer

    Directory of Open Access Journals (Sweden)

    Dianwei Qian

    2016-11-01

    Full Text Available This article proposes a control scheme for formation of maneuvers of a team of mobile robots. The control scheme integrates the integral sliding mode control method with the nonlinear disturbance observer technique. The leader–follower formation dynamics suffer from uncertainties originated from the individual robots. The uncertainties challenge the formation control of such robots. Assuming that the uncertainties are unknown but bounded, an nonlinear disturbance observer-based observer is utilized to approximate them. The observer outputs feed on an integral sliding mode control-based controller. The controller and observer are integrated into the control scheme to realize formation maneuvers despite uncertainties. The formation stability is analyzed by means of the Lyapunov’s theorem. In the sense of Lyapunov, not only the convergence of the approximation errors is guaranteed but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole integral sliding mode control, some simulations are presented to demonstrate the feasibility and performance of the control scheme.

  4. A morphologic characterisation of the 1963 Vajont Slide, Italy, using long-range terrestrial photogrammetry

    Science.gov (United States)

    Wolter, Andrea; Stead, Doug; Clague, John J.

    2014-02-01

    The 1963 Vajont Slide in northeast Italy is an important engineering and geological event. Although the landslide has been extensively studied, new insights can be derived by applying modern techniques such as remote sensing and numerical modelling. This paper presents the first digital terrestrial photogrammetric analyses of the failure scar, landslide deposits, and the area surrounding the failure, with a focus on the scar. We processed photogrammetric models to produce discontinuity stereonets, residual maps and profiles, and slope and aspect maps, all of which provide information on the failure scar morphology. Our analyses enabled the creation of a preliminary semi-quantitative morphologic classification of the Vajont failure scar based on the large-scale tectonic folds and step-paths that define it. The analyses and morphologic classification have implications for the kinematics, dynamics, and mechanism of the slide. Metre- and decametre-scale features affected the initiation, direction, and displacement rate of sliding. The most complexly folded and stepped areas occur close to the intersection of orthogonal synclinal features related to the Dinaric and Neoalpine deformation events. Our analyses also highlight, for the first time, the evolution of the Vajont failure scar from 1963 to the present.

  5. Relationship between the real contact area and contact force in pre-sliding regime

    International Nuclear Information System (INIS)

    Song Baojiang; Yan Shaoze

    2017-01-01

    The pre-sliding regime is typically neglected in the dynamic modelling of mechanical systems. However, the change in contact state caused by static friction may decrease positional accuracy and control precision. To investigate the relationship between contact status and contact force in pre-sliding friction, an optical experimental method is presented in this paper. With this method, the real contact state at the interface of a transparent material can be observed based on the total reflection principle of light by using an image processing technique. A novel setup, which includes a pair of rectangular trapezoidal blocks, is proposed to solve the challenging issue of accurately applying different tangential and normal forces to the contact interface. The improved Otsu’s method is used for measurement. Through an experimental study performed on polymethyl methacrylate (PMMA), the quantity of contact asperities is proven to be the dominant factor that affects the real contact area. The relationship between the real contact area and the contact force in the pre-sliding regime is studied, and the distribution of static friction at the contact interface is qualitatively discussed. New phenomena in which the real contact area expands along with increasing static friction are identified. The aforementioned relationship is approximately linear at the contact interface under a constant normal pressure, and the distribution of friction stress decreases from the leading edge to the trailing edge. (paper)

  6. Chaos synchronization in noisy environment using nonlinear filtering and sliding mode control

    International Nuclear Information System (INIS)

    Behzad, Mehdi; Salarieh, Hassan; Alasty, Aria

    2008-01-01

    This paper presents an algorithm for synchronizing two different chaotic systems, using a combination of the extended Kalman filter and the sliding mode controller. It is assumed that the drive chaotic system has a random excitation with a stochastically chaotic behavior. Two different cases are considered in this study. At first it is assumed that all state variables of the drive system are available, i.e. complete state measurement, and a sliding mode controller is designed for synchronization. For the second case, it is assumed that the output of the drive system does not contain the whole state variables of the drive system, and it is also affected by some random noise. By combination of extended Kalman filter and the sliding mode control, a synchronizing control law is proposed. As a case study, the presented algorithm is applied to the Lur'e-Genesio chaotic systems as the drive-response dynamic systems. Simulation results show the good performance of the algorithm in synchronizing the chaotic systems in presence of noisy environment

  7. Fuzzy Sliding Mode Control for Hyper Chaotic Chen System

    Directory of Open Access Journals (Sweden)

    SARAILOO, M.

    2012-02-01

    Full Text Available In this paper, a fuzzy sliding mode control method is proposed for stabilizing hyper chaotic Chen system. The main objective of the control scheme is to stabilize unstable equilibrium point of the system by controlling the states of the system so that they converge to a pre-defined sliding surface and remain on it. A fuzzy control technique is also utilized in order to overcome the main disadvantage of sliding mode control methods, i.e. chattering problem. It is shown that the equilibrium point of the system is stabilized by using the proposed method. A stability analysis is also performed to prove that the states of the system converge to the sliding surface and remain on it. Simulations show that the control method can be effectively applied to Chen system when it performs hyper chaotic behavior.

  8. Fuzzy Backstepping Sliding Mode Control for Mismatched Uncertain System

    Directory of Open Access Journals (Sweden)

    H. Q. Hou

    2014-06-01

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

  9. Rolling and sliding between non-spherical particles

    Science.gov (United States)

    Zhao, Chuang; Li, Chengbo; Hu, Lin

    2018-02-01

    Besides normal and tangential forces, rolling and sliding are also important interactions of particles, and should be considered in the discrete element method. However, there are various definitions of rolling and sliding, some of which are quite different and even contradictory. On the premise of trying not to use definitions, the rolling and sliding velocities between non-spherical particles are derived, and satisfy the objectivity. The sliding and rolling velocities between spherical particles are included in the results as a special case. A rolling resistance model calculated by the rolling velocity is applied to simulate direct shear tests of non-spherical particles. In addition to coinciding with experiments, the shear curves also satisfy the rate independent theory. As a demonstration of the model's universality, the wave propagation in uniaxial compression tests is also simulated.

  10. Sliding Mode Thermal Control System for Space Station Furnace Facility

    Science.gov (United States)

    Jackson Mark E.; Shtessel, Yuri B.

    1998-01-01

    The decoupled control of the nonlinear, multiinput-multioutput, and highly coupled space station furnace facility (SSFF) thermal control system is addressed. Sliding mode control theory, a subset of variable-structure control theory, is employed to increase the performance, robustness, and reliability of the SSFF's currently designed control system. This paper presents the nonlinear thermal control system description and develops the sliding mode controllers that cause the interconnected subsystems to operate in their local sliding modes, resulting in control system invariance to plant uncertainties and external and interaction disturbances. The desired decoupled flow-rate tracking is achieved by optimization of the local linear sliding mode equations. The controllers are implemented digitally and extensive simulation results are presented to show the flow-rate tracking robustness and invariance to plant uncertainties, nonlinearities, external disturbances, and variations of the system pressure supplied to the controlled subsystems.

  11. Sliding Window Empirical Mode Decomposition -its performance and quality

    Directory of Open Access Journals (Sweden)

    Stepien Pawel

    2014-12-01

    Proposed algorithm speeds up (about 10 times the computation with acceptable quality of decomposition. Conclusions Sliding Window EMD algorithm is suitable for decomposition of long signals with high sampling frequency.

  12. Sliding scale insulin: will the false idol finally fall?

    Science.gov (United States)

    Cheung, N W; Chipps, D R

    2010-09-01

    Despite a lack of evidence that sliding scale insulin has any clinical benefit, and some evidence that it may even be detrimental, sliding scale insulin is still commonly prescribed in hospitals today. Adopting a proactive rather than a reactive approach to managing diabetes by the use of 'supplemental insulin', given in conjunction with either considered adjustments to the patient's regular anti-diabetic therapy or the provision of basal insulin, is a more effective and safer means of improving glycaemic control in hospital. There are now randomized trial data to support this approach. These data, together with the recognition that there is no evidence base for the use of sliding scale insulin, coupled with changes to insulin prescribing charts in Australia, should lead to the demise of sliding scale insulin use in hospital.

  13. Continuous stacking computational approach based automated microscope slide scanner

    Science.gov (United States)

    Murali, Swetha; Adhikari, Jayesh Vasudeva; Jagannadh, Veerendra Kalyan; Gorthi, Sai Siva

    2018-02-01

    Cost-effective and automated acquisition of whole slide images is a bottleneck for wide-scale deployment of digital pathology. In this article, a computation augmented approach for the development of an automated microscope slide scanner is presented. The realization of a prototype device built using inexpensive off-the-shelf optical components and motors is detailed. The applicability of the developed prototype to clinical diagnostic testing is demonstrated by generating good quality digital images of malaria-infected blood smears. Further, the acquired slide images have been processed to identify and count the number of malaria-infected red blood cells and thereby perform quantitative parasitemia level estimation. The presented prototype would enable cost-effective deployment of slide-based cyto-diagnostic testing in endemic areas.

  14. QUALITY ASSESSMENT OF CONFOCAL MICROSCOPY SLIDE-BASED SYSTEMS: INSTABLITY

    Science.gov (United States)

    Background: All slide-based fluorescence cytometry detections systems basically include an excitation light source, intermediate optics, and a detection device (CCD or PMT). Occasionally, this equipment becomes unstable, generating unreliable and inferior data. Methods: A num...

  15. Acceleration Characteristics of a Rock Slide Using the Particle Image Velocimetry Technique

    Directory of Open Access Journals (Sweden)

    Guoqing Chen

    2016-01-01

    Full Text Available The Particle Image Velocimetry (PIV technique with high precision and spatial resolution is a suitable sensor for flow field experiments. In this paper, the PIV technology was used to monitor the development of a displacement field, velocity field and acceleration field of a rock slide. It was found that the peak acceleration of the sliding surface appeared earlier than the peak acceleration of the sliding body. The characteristics of the rock slide including the short failure time, high velocities, and large accelerations indicate that the sliding forces and energy release rate of the slope are high. The deformation field showed that the sliding body was sliding outwards along the sliding surface while the sliding bed moved in an opposite direction. Moving upwards at the top of the sliding bed can be one of the warning signs for rock slide failure.

  16. Tribological dry sliding behavior of chopped carbon fiber reinforced polyetheretherketone

    Science.gov (United States)

    Chumaevskii, A. V.; Ivanov, A. N.; Filippov, A. V.; Rubtsov, V. E.; Kolubaev, E. A.

    2017-12-01

    Tribological tests on 3D printed pure polyetheretherketone and carbon fiber reinforced polyetheretherketone samples were carried out. The negative effect of carbon fiber sticking out of the matrix on wear and sliding process stability was revealed. These fibers may be too long and oriented to the worn surface in a manner that prevents their removal by wear so that the worn surface becomes irregular and the sliding process instable.

  17. Self Tuning Sliding Mode Control for Quadrotor Waypoint Tracking

    OpenAIRE

    Istiqphara, Swadexi; Agustinah, Trihastuti; Fatoni, Ali

    2015-01-01

    In this paper, self-tuning sliding mode control is proposed to control quadrotor with mass parameter uncertainty on waypoint trajectory tracking. Parameter uncertainty is one of the factor that cause instability of quadrotor. Self-tuning sliding mode control is used to maintain the stability of quadrotor in this parametric uncertainties condition. The simulation results show that the quadrotor can track the waypoint trajectory in the presence of parameter uncertainty.

  18. Applications and challenges of digital pathology and whole slide imaging.

    Science.gov (United States)

    Higgins, C

    2015-07-01

    Virtual microscopy is a method for digitizing images of tissue on glass slides and using a computer to view, navigate, change magnification, focus and mark areas of interest. Virtual microscope systems (also called digital pathology or whole slide imaging systems) offer several advantages for biological scientists who use slides as part of their general, pharmaceutical, biotechnology or clinical research. The systems usually are based on one of two methodologies: area scanning or line scanning. Virtual microscope systems enable automatic sample detection, virtual-Z acquisition and creation of focal maps. Virtual slides are layered with multiple resolutions at each location, including the highest resolution needed to allow more detailed review of specific regions of interest. Scans may be acquired at 2, 10, 20, 40, 60 and 100 × or a combination of magnifications to highlight important detail. Digital microscopy starts when a slide collection is put into an automated or manual scanning system. The original slides are archived, then a server allows users to review multilayer digital images of the captured slides either by a closed network or by the internet. One challenge for adopting the technology is the lack of a universally accepted file format for virtual slides. Additional challenges include maintaining focus in an uneven sample, detecting specimens accurately, maximizing color fidelity with optimal brightness and contrast, optimizing resolution and keeping the images artifact-free. There are several manufacturers in the field and each has not only its own approach to these issues, but also its own image analysis software, which provides many options for users to enhance the speed, quality and accuracy of their process through virtual microscopy. Virtual microscope systems are widely used and are trusted to provide high quality solutions for teleconsultation, education, quality control, archiving, veterinary medicine, research and other fields.

  19. An Efficient Method for Distributing Animated Slides of Web Presentations

    OpenAIRE

    Yusuke Niwa; Shun Shiramatsu; Tadachika Ozono; Toramatsu Shintani

    2016-01-01

    Attention control of audience is required for suc-cessful presentations, therefore giving a presentation with im-mediate reaction, called reactive presentation, to unexpected changes in the context given by the audience is important. Examples of functions for the reactive presentation are shape animation effects on slides and slide transition effects. Understanding the functions that realize the reactive pre-sentation on the Web can be useful. In this work, we present an effective method for ...

  20. Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

    OpenAIRE

    Ammar Al-Jodah; Laith Khames

    2018-01-01

    In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compar...

  1. Monitoring studies of slide system under the action of seismic impacts

    Science.gov (United States)

    Frolov, Anton

    2013-04-01

    The immediate detection of landslide activity that is provided by real-time systems can be crucial in saving human lives and protecting property. Traditional field observations, even if taken regularly, cannot detect changes at the moment they occur. Moreover, active landslides can be hazardous to work on, and large movements often occur during storms when visibility is poor. The continuous data provided by remote real-time monitoring permits a better understanding of dynamic landslide behavior that, in turn, enables engineers to create more effective designs to prevent or halt landslides. Monitoring of the coastal zone involves the following block diagram: input - processing -output - feed-back. We feed the input with data on a studied technogenous loading on the coastal zone, and the input presents the analysis of motion of a geological medium and the subsequent forecast of evolution of its lithodynamic characteristics. The submitted report describes a practical system of monitoring for the Central Livadiya Slide System (CLSSC) of the Crimea, which is intended for the diagnostics of a lithodynamic situation in the real-time mode, conducting the data base on heliogenous and lithogenous parameters, and predicting a future state of the slide-containing system. In the system of monitoring of a state of CLSSC, which is realized on a computer, the registered heliogenous parameters include the level of solar activity, changes in temperature and moisture regimes, changes in the character and intensity of precipitations, the wind velocity, etc. In this case, data are introduced into the computer in the manual mode. Lithogenous parameters are presented by a collection of conditions and factors characterizing the mechanism and dynamics of changes in the equilibrium state of slopes of CLSSC. The control over the evolution of lithogenous parameters is realized in the following way: 1. The control over movement of the control points on the surface of active slides is carried

  2. Robust control of an industrial boiler system; a comparison between two approaches: Sliding mode control and H∞ technique

    International Nuclear Information System (INIS)

    Moradi, Hamed; Bakhtiari-Nejad, Firooz; Saffar-Avval, Majid

    2009-01-01

    To achieve a good performance of the utility boiler, dynamic variables such as drum pressure, steam temperature and water level of drum must be controlled. In this paper, a linear time invariant (LTI) model of a boiler system is considered in which the input variables are feed-water and fuel mass rates. However this dynamic model may associate with uncertainties. With considering the uncertainties of the dynamic model, a sliding mode controller is designed. After representation of the uncertain dynamic system in general control configuration and modelling the parametric uncertainties, nominal performance, robust stability and robust performance are analyzed by the concept of structured singular value μ. Using an algorithm for μ-analysis and applying an inversed-base controller, robust stability and nominal performance are guaranteed but robust performance is not satisfied. Finally, an optimal robust controller is designed based on μ-synthesis with DK-iteration algorithm. Both optimal robust and sliding mode controllers guarantee robust performance of the system against the uncertainties and result in desired time responses of the output variables. By applying H ∞ robust control, system tracks the desire reference inputs in a less time and with smoother time responses. However, less control efforts, feedwater and fuel mass rates, are needed when the sliding mode controller is applied.

  3. Chattering-free sliding mode observer for speed sensorless control of PMSM

    Directory of Open Access Journals (Sweden)

    Mahmoud M. Gaballah

    2017-07-01

    Full Text Available This article presents a new speed observer based on fuzzy logic for speed sensorless control applications of permanent magnet synchronous motor “PMSM”. The switch function in traditional Sliding Mode Observer “SMO” is replaced by a rule based fuzzy logic system. The proposed observer not only improves the system dynamic performance during disturbances or parameter variations, but also has a high accuracy tracking performance with sufficient chattering reduction. The validity of the new observer corroborated through experimental results using TMS320F28069M Digital Signal Processor “DSP”.

  4. Reducing False Negative Reads in RFID Data Streams Using an Adaptive Sliding-Window Approach

    Directory of Open Access Journals (Sweden)

    Herman Vermaak

    2012-03-01

    Full Text Available Unreliability of the data streams generated by RFID readers is among the primary factors which limit the widespread adoption of the RFID technology. RFID data cleaning is, therefore, an essential task in the RFID middleware systems in order to reduce reading errors, and to allow these data streams to be used to make a correct interpretation and analysis of the physical world they are representing. In this paper we propose an adaptive sliding-window based approach called WSTD which is capable of efficiently coping with both environmental variation and tag dynamics. Our experimental results demonstrate the efficacy of the proposed approach.

  5. Adaptive Quasi-Sliding Mode Control for Permanent Magnet DC Motor

    Directory of Open Access Journals (Sweden)

    Fredy E. Hoyos

    2013-01-01

    Full Text Available The motor speed of a buck power converter and DC motor coupled system is controlled by means of a quasi-sliding scheme. The fixed point inducting control technique and the zero average dynamics strategy are used in the controller design. To estimate the load and friction torques an online estimator, computed by the least mean squares method, is used. The control scheme is tested in a rapid control prototyping system which is based on digital signal processing for a dSPACE platform. The closed loop system exhibits adequate performance, and experimental and simulation results match.

  6. VLASOVIA 2013 - International workshop on the theory and applications of Vlasov equation - Slides of the presentations

    International Nuclear Information System (INIS)

    Aunai, N.; Belmont, G.; Smets, R.; Chandre, C.; Tassi, E.; Morrison, P.J.; Back, A.; Guillebon, L. de; Qin, H.; Squire, J.; Tang, W.M.; Garbet, X.; Esteve, D.; Sarazin, Y.; Abiteboul, J.; Bourdelle, C.; Dif-Pradalier, G.; Ghendrih, P.; Grandgirard, V.; Latu, G.; Smolyakov, A.; Hervieux, P.A.; Manfredi, G.; Jasiak, R.; Kraus, M.; Mora, P.; Morel, P.; Dreydemy Ghiro, F.; Berionni, V.; Gurcan, O.D.; Morrison, P.J.; Negulescu, C.; Pegoraro, F.; Bulanov, S.V.; Califano, F.; Fedeli, L.; Grassi, A.; Macchi, A.; Petri, J.; Pezzi, O.; Valentini, F.; Perrone, D.; Veltri, P.; Taccogna, F.; Minelli, P.; Thide, B.; Tamburini, F.; Throumoulopoulos, G.; Tasso, H.

    2014-01-01

    The Vlasov equation is used for the modelling of a wide range of phenomena occurring in natural and man-made plasmas, as well as in other many-particle systems displaying a collective behaviour. The purpose of this workshop is to bring together scientists to discuss the latest results on Vlasov theory and related applications. The topics discussed include: space plasmas, inertial confinement plasmas, magnetic confinement plasmas, quantum effects in collisionless plasmas, gravitational systems, Hamiltonian Vlasov dynamics, and computational and numerical approaches. This document gathers the slides of the presentations.

  7. Reducing False Negative Reads in RFID Data Streams Using an Adaptive Sliding-Window Approach

    Science.gov (United States)

    Massawe, Libe Valentine; Kinyua, Johnson D. M.; Vermaak, Herman

    2012-01-01

    Unreliability of the data streams generated by RFID readers is among the primary factors which limit the widespread adoption of the RFID technology. RFID data cleaning is, therefore, an essential task in the RFID middleware systems in order to reduce reading errors, and to allow these data streams to be used to make a correct interpretation and analysis of the physical world they are representing. In this paper we propose an adaptive sliding-window based approach called WSTD which is capable of efficiently coping with both environmental variation and tag dynamics. Our experimental results demonstrate the efficacy of the proposed approach. PMID:22666027

  8. Fuzzy Sliding Mode Controller Design Using Takagi-Sugeno Modelled Nonlinear Systems

    Directory of Open Access Journals (Sweden)

    S. Bououden

    2013-01-01

    Full Text Available Adaptive fuzzy sliding mode controller for a class of uncertain nonlinear systems is proposed in this paper. The unknown system dynamics and upper bounds of the minimum approximation errors are adaptively updated with stabilizing adaptive laws. The closed-loop system driven by the proposed controllers is shown to be stable with all the adaptation parameters being bounded. The performance and stability of the proposed control system are achieved analytically using the Lyapunov stability theory. Simulations show that the proposed controller performs well and exhibits good performance.

  9. Estimation of real contact area during sliding friction from interface temperature

    Directory of Open Access Journals (Sweden)

    Sung Keun Chey

    2016-06-01

    Full Text Available Frictional heat is one of the most important topics in tribological research. The real contact area of the frictional pair plays a significant role in accurately estimating the interface temperature, which is closely related to the frictional heat. However, conventional methods for measuring the contact area, such as constriction resistance measurements, are not suitable for dynamic frictional motion because of the electrical and thermal interferences at the contact region. In this study, a novel method is presented for estimating the real contact area during sliding friction. First, the average interface temperature was experimentally measured by the dynamic thermocouple method. Then assuming that the total frictional heat power is constant, the measured temperature was used as a constraint to determine the contact area in a finite element model, giving an estimation for the real contact area. The calculation results show that the real contact area increases with increasing normal load as predicted by contact theories, and decreases with increasing sliding speed, which could be attributable to the contact dynamics of asperities at the interface. Additionally, the limits of the proposed method is discussed.

  10. Online Adaptive Error Compensation SVM-Based Sliding Mode Control of an Unmanned Aerial Vehicle

    Directory of Open Access Journals (Sweden)

    Kaijia Xue

    2016-01-01

    Full Text Available Unmanned Aerial Vehicle (UAV is a nonlinear dynamic system with uncertainties and noises. Therefore, an appropriate control system has an obligation to ensure the stabilization and navigation of UAV. This paper mainly discusses the control problem of quad-rotor UAV system, which is influenced by unknown parameters and noises. Besides, a sliding mode control based on online adaptive error compensation support vector machine (SVM is proposed for stabilizing quad-rotor UAV system. Sliding mode controller is established through analyzing quad-rotor dynamics model in which the unknown parameters are computed by offline SVM. During this process, the online adaptive error compensation SVM method is applied in this paper. As modeling errors and noises both exist in the process of flight, the offline SVM one-time mode cannot predict the uncertainties and noises accurately. The control law is adjusted in real-time by introducing new training sample data to online adaptive SVM in the control process, so that the stability and robustness of flight are ensured. It can be demonstrated through the simulation experiments that the UAV that joined online adaptive SVM can track the changing path faster according to its dynamic model. Consequently, the proposed method that is proved has the better control effect in the UAV system.

  11. Learning the visuomotor transformation of virtual and real sliding levers: simple approximations of complex transformations.

    Science.gov (United States)

    Sülzenbrück, Sandra; Heuer, Herbert

    2009-05-01

    Learning to operate a complex tool such as a sliding lever can be conceived as learning both a kinematic and a dynamic transformation. We investigated whether the presence of the dynamic transformation has an inhibitory or a facilitative effect on learning to control a sliding lever. Furthermore, we examined the characteristics of the internal model of the kinematic transformation of the lever in visual open-loop trials. In the experiment, one group of participants practiced with only the kinematic transformation of the lever (virtual lever), the other group practiced with both the kinematic and the dynamic transformation (physical lever). Visual feedback was continuously present during practice. Results showed only marginal differences between both groups in open-loop tests. This finding is likely to be related to the fact that in both groups a simplified approximation of the kinematic transformation was acquired, in particular a symmetry approximation. With such an approximation the target for the hand movement is derived from the visual target for the tip of the lever as the position which is symmetric around a sagittal axis.

  12. ESO-Based Fuzzy Sliding-Mode Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm

    Directory of Open Access Journals (Sweden)

    Yueling Wang

    2014-01-01

    Full Text Available This paper presents a unique ESO-based fuzzy sliding-mode controller (FSMC-ESO for a 3-DOF serial-parallel hybrid humanoid arm (HHA for the trajectory tracking control problem. The dynamic model of the HHA is obtained by Lagrange method and is nonlinear in dynamics with inertia uncertainty and external disturbance. The FSMC-ESO is based on the combination of the sliding-mode control (SMC, extended state observer (ESO theory, and fuzzy control (FC. The SMC is insensitive to both internal parameter uncertainties and external disturbances. The motivation for using ESO is to estimate the disturbance in real-time. The fuzzy parameter self-tuning strategy is proposed to adjust the switching gain on line according to the running state of the system. The stability of the system is guaranteed in the sense of the Lyapunov stability theorem. The effectiveness and robustness of the designed FSMC-ESO are illustrated by simulations.

  13. Tribological properties of ceramics evaluated at low sliding speeds

    International Nuclear Information System (INIS)

    Hayashi, Kazunori; Kano, Shigeki

    1998-03-01

    Low speed tribological properties of stainless steel, ceramics and hard metals were investigated in air at room temperature and in nitrogen atmosphere at high temperature for the consideration of sliding type support structure in intermediate heat exchanger of fast reactor. The following results are obtained. (1) In low speed friction measurements in air at room temperature, friction coefficients of ceramics and hard metals were smaller than that of stainless steel. Surface roughness of the specimens increased the friction force and silicon carbide showed the smallest friction coefficient among the specimens with mirror polished surface. (2) From the results of friction measurements at various sliding speeds in air at room temperature, friction coefficients of ceramics and hard metals were always stable and lower than that of stainless steel. Among ceramics, PSZ showed the smallest friction and silicon carbide showed the most stable friction at any sliding speeds. (3) Friction coefficients of silicon carbide and silicon nitride in nitrogen atmosphere at high temperature showed low values as measured at room temperature. On the contrary, friction coefficient of stainless steel measured in nitrogen atmosphere at high temperature were higher than that measured at room temperature, over 1. (4) In the reciprocal sliding tests in nitrogen atmosphere at high temperature, friction coefficient of stainless steel were over 1. On the contrary, the friction coefficients of ceramics were less than 1 instead of chipping during the slidings. (author)

  14. Vector Radix 2 × 2 Sliding Fast Fourier Transform

    Directory of Open Access Journals (Sweden)

    Keun-Yung Byun

    2016-01-01

    Full Text Available The two-dimensional (2D discrete Fourier transform (DFT in the sliding window scenario has been successfully used for numerous applications requiring consecutive spectrum analysis of input signals. However, the results of conventional sliding DFT algorithms are potentially unstable because of the accumulated numerical errors caused by recursive strategy. In this letter, a stable 2D sliding fast Fourier transform (FFT algorithm based on the vector radix (VR 2 × 2 FFT is presented. In the VR-2 × 2 FFT algorithm, each 2D DFT bin is hierarchically decomposed into four sub-DFT bins until the size of the sub-DFT bins is reduced to 2 × 2; the output DFT bins are calculated using the linear combination of the sub-DFT bins. Because the sub-DFT bins for the overlapped input signals between the previous and current window are the same, the proposed algorithm reduces the computational complexity of the VR-2 × 2 FFT algorithm by reusing previously calculated sub-DFT bins in the sliding window scenario. Moreover, because the resultant DFT bins are identical to those of the VR-2 × 2 FFT algorithm, numerical errors do not arise; therefore, unconditional stability is guaranteed. Theoretical analysis shows that the proposed algorithm has the lowest computational requirements among the existing stable sliding DFT algorithms.

  15. Durability of direct immunofluorescence (DIF) slides stored at room temperature.

    Science.gov (United States)

    Elbendary, Amira; Zhou, Cheng; Truong, Jonathan; Elston, Dirk M

    2015-12-01

    Prior studies suggested that direct immunofluorescence (DIF) slides can be stored at room temperature. We sought to determine the durability of DIF slides stored at room temperature for 5 years. This was a retrospective study of 83 DIF slides archived at room temperature during 2010. The pattern of immunoreactants was compared with those noted in the original report. Loss of reactivity was limited to cases with weak fluorescence at original diagnosis. Loss of IgG was noted in 12.5% of cases, IgA in 12%, C3 in 10%, and IgM in 9.75%. Fibrin showed no loss of reactivity. Preservation of immunofluorescence was not related to site of deposition. Overall, a reliable diagnosis could be made in 75 of 79 archived cases (94.9%). Cases had been archived for periods varying from 4.5 to 5 years. Variations in processing and fluorochromes could affect durability. We have no way of knowing how long slides had been exposed to ultraviolet light at the time of initial examination. DIF showed excellent durability in slides kept at room temperature for 5 years. Copyright © 2015 American Academy of Dermatology, Inc. Published by Elsevier Inc. All rights reserved.

  16. Deploy production sliding mesh capability with linear solver benchmarking.

    Energy Technology Data Exchange (ETDEWEB)

    Domino, Stefan P. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Thomas, Stephen [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Barone, Matthew F. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Williams, Alan B. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Ananthan, Shreyas [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Knaus, Robert C. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Overfelt, James [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Sprague, Mike [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Rood, Jon [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2018-02-01

    Wind applications require the ability to simulate rotating blades. To support this use-case, a novel design-order sliding mesh algorithm has been developed and deployed. The hybrid method combines the control volume finite element methodology (CVFEM) with concepts found within a discontinuous Galerkin (DG) finite element method (FEM) to manage a sliding mesh. The method has been demonstrated to be design-order for the tested polynomial basis (P=1 and P=2) and has been deployed to provide production simulation capability for a Vestas V27 (225 kW) wind turbine. Other stationary and canonical rotating ow simulations are also presented. As the majority of wind-energy applications are driving extensive usage of hybrid meshes, a foundational study that outlines near-wall numerical behavior for a variety of element topologies is presented. Results indicate that the proposed nonlinear stabilization operator (NSO) is an effective stabilization methodology to control Gibbs phenomena at large cell Peclet numbers. The study also provides practical mesh resolution guidelines for future analysis efforts. Application-driven performance and algorithmic improvements have been carried out to increase robustness of the scheme on hybrid production wind energy meshes. Specifically, the Kokkos-based Nalu Kernel construct outlined in the FY17/Q4 ExaWind milestone has been transitioned to the hybrid mesh regime. This code base is exercised within a full V27 production run. Simulation timings for parallel search and custom ghosting are presented. As the low-Mach application space requires implicit matrix solves, the cost of matrix reinitialization has been evaluated on a variety of production meshes. Results indicate that at low element counts, i.e., fewer than 100 million elements, matrix graph initialization and preconditioner setup times are small. However, as mesh sizes increase, e.g., 500 million elements, simulation time associated with \\setup-up" costs can increase to nearly 50% of

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

    Directory of Open Access Journals (Sweden)

    Rui Bai

    2014-01-01

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

  18. Design of LPV-Based Sliding Mode Controller with Finite Time Convergence for a Morphing Aircraft

    Directory of Open Access Journals (Sweden)

    Nuan Wen

    2017-01-01

    Full Text Available This paper proposes a finite time convergence sliding mode control (FSMC strategy based on linear parameter-varying (LPV methodology for the stability control of a morphing aircraft subject to parameter uncertainties and external disturbances. Based on the Kane method, a longitudinal dynamic model of the morphing aircraft is built. Furthermore, the linearized LPV model of the aircraft in the wing transition process is obtained, whose scheduling parameters are wing sweep angle and wingspan. The FSMC scheme is developed into LPV systems by applying the previous results for linear time-invariant (LTI systems. The sufficient condition in form of linear matrix inequality (LMI constraints is derived for the existence of a reduced-order sliding mode, in which the dynamics can be ensured to keep robust stability and L2 gain performance. The tensor-product (TP model transformation approach can be directly applied to solve infinite LMIs belonging to the polynomial parameter-dependent LPV system. Then, by the parameter-dependent Lyapunov function stability analysis, the synthesized FSMC is proved to drive the LPV system trajectories toward the predefined switching surface with a finite time arrival. Comparative simulation results in the nonlinear model demonstrate the robustness and effectiveness of this approach.

  19. Drying induced upright sliding and reorganization of carbon nanotube arrays

    International Nuclear Information System (INIS)

    Li Qingwen; De Paula, Raymond; Zhang Xiefei; Zheng Lianxi; Arendt, Paul N; Mueller, Fred M; Zhu, Y T; Tu Yi

    2006-01-01

    Driven by capillary force, wet carbon nanotube (CNT) arrays have been found to reorganize into cellular structures upon drying. During the reorganization process, individual CNTs are firmly attached to the substrate and have to lie down on the substrate at cell bottoms, forming closed cells. Here we demonstrate that by modifying catalyst structures, the adhesion of CNTs to the substrate can be weakened. Upon drying such CNT arrays, CNTs may slide away from their original sites on the surface and self-assemble into cellular patterns with bottoms open. It is also found that the sliding distance of CNTs increases with array height, and drying millimetre tall arrays leads to the sliding of CNTs over a few hundred micrometres and the eventual self-assembly into discrete islands. By introducing regular vacancies in CNT arrays, CNTs may be manipulated into different patterns

  20. 2D discrete Fourier transform on sliding windows.

    Science.gov (United States)

    Park, Chun-Su

    2015-03-01

    Discrete Fourier transform (DFT) is the most widely used method for determining the frequency spectra of digital signals. In this paper, a 2D sliding DFT (2D SDFT) algorithm is proposed for fast implementation of the DFT on 2D sliding windows. The proposed 2D SDFT algorithm directly computes the DFT bins of the current window using the precalculated bins of the previous window. Since the proposed algorithm is designed to accelerate the sliding transform process of a 2D input signal, it can be directly applied to computer vision and image processing applications. The theoretical analysis shows that the computational requirement of the proposed 2D SDFT algorithm is the lowest among existing 2D DFT algorithms. Moreover, the output of the 2D SDFT is mathematically equivalent to that of the traditional DFT at all pixel positions.

  1. DID A SUBMARINE SLIDE TRIGGER THE 1918 PUERTO RICO TSUNAMI?

    Directory of Open Access Journals (Sweden)

    Matthew J. Hornbach

    2008-01-01

    Full Text Available The 1918 tsunami that inundated northwest Puerto Rico with up to 6 m waves has been attributed to seafloor faulting associated with the 1918 Mona Canyon earthquake. During the earthquake a series of submarine cable breaks occurred directly off the northwest coast of Puerto Rico where the largest tsunami waves came ashore. Here, we use a recently compiled geophysical data set to reveal that a 9 km long landslide headwall exists in the region where cable breaks occurred during the 1918 earthquake. We incorporate our interpretations into a near-field tsunami wave model to evaluate whether the slide may have triggered the observed 1918 tsunami. Our analysis indicates that this slide could generate a tsunami with phase, arrival times, and run-ups similar to observations along the northwest coast of Puerto Rico. We therefore suggest that a submarine slide offers a plausible alternative explanation for generation of this large tsunami.

  2. High current density, cryogenically cooled sliding electrical joint development

    International Nuclear Information System (INIS)

    Murray, H.

    1986-09-01

    In the past two years, conceptual designs for fusion energy research devices have focussed on compact, high magnetic field configurations. The concept of sliding electrical joints in the large magnets allows a number of technical advantages including enhanced mechanical integrity, remote maintainability, and reduced project cost. The rationale for sliding electrical joints is presented. The conceptual configuration for this generation of experimental devices is highlghted by an ∼ 20 T toroidal field magnet with a flat top conductor current of ∼ 300 kA and a sliding electrical joint with a gross current density of ∼ 0.6 kA/cm 2 . A numerical model was used to map the conductor current distribution as a function of time and position in the conductor. A series of electrical joint arrangements were produced against the system code envelope constraints for a specific version of the Ignition Studies Project (ISP) which is designated as 1025

  3. Sliding Mode Attitude Control for Magnetic Actuated Satellite

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    1998-01-01

    Magnetic torquing is attractive as a control principle on small satellites. The actuation principle is to use the interaction between the earth's magnetic field and magnetic field generated by a coil set in the satellite. This control principle is inherently nonlinear, and difficult to use because...... control torques can only be generated perpendicular to the local geomagnetic field vector. This has been a serious obstacle for using magnetorquer based control for three-axis attitude control. This paper deals with three-axis stabilization of a low earth orbit satellite. The problem of controlling...... the spacecraft attitude using only magnetic torquing is realized in the form of the sliding mode control. A three dimensional sliding manifold is proposed, and it is shown that the satellite motion on the sliding manifold is asymptotically stable...

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

    Directory of Open Access Journals (Sweden)

    Chutiphon Pukdeboon

    2011-01-01

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

  5. Crystalline misfit-angle implications for solid sliding

    International Nuclear Information System (INIS)

    Manini, Nicola; Braun, O.M.

    2011-01-01

    For the contact of two finite portions of interacting rigid crystalline surfaces, we compute the pinning energy barrier dependency on the misfit angle and contact area. This simple model allows us to investigate a broad contact-size and angular range, thus obtaining the statistical properties of the energy barriers opposing sliding for a single asperity. These data are used to generate the distribution of static frictional thresholds for the contact of polycrystals, as in dry or even lubricated friction. This distribution is used as the input of a master equation to predict the sliding properties of macroscopic contacts. -- Highlights: → The pinning energy barrier depends on the misfit angle and contact area. → We compute this dependence for a idealized rigid model. → We obtain a distribution of static frictional thresholds. → It is used as input of a master-equation model for macroscopic surfaces in contact. → Overall we predict a transition from stick-slip to smooth sliding.

  6. Sliding mode controller for a photovoltaic pumping system

    Science.gov (United States)

    ElOugli, A.; Miqoi, S.; Boutouba, M.; Tidhaf, B.

    2017-03-01

    In this paper, a sliding mode control scheme (SMC) for maximum power point tracking controller for a photovoltaic pumping system, is proposed. The main goal is to maximize the flow rate for a water pump, by forcing the photovoltaic system to operate in its MPP, to obtain the maximum power that a PV system can deliver.And this, through the intermediary of a sliding mode controller to track and control the MPP by overcoming the power oscillation around the operating point, which appears in most implemented MPPT techniques. The sliding mode control approach is recognized as one of the efficient and powerful tools for nonlinear systems under uncertainty conditions.The proposed controller with photovoltaic pumping system is designed and simulated using MATLAB/SIMULINK environment. In addition, to evaluate its performances, a classical MPPT algorithm using perturb and observe (P&O) has been used for the same system to compare to our controller. Simulation results are shown.

  7. Sliding Control with Chattering Elimination for Hydraulic Drives

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

    2012-01-01

    This paper presents the development of a sliding mode control scheme with chattering elimination, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives. The proposed control scheme requires only common data sheet information, no knowledge on load characteri......This paper presents the development of a sliding mode control scheme with chattering elimination, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives. The proposed control scheme requires only common data sheet information, no knowledge on load...... characteristics, and employs piston- and valve spool positions- and load- and supply pressure feedback. The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems. In order to accomplish this task, an integral sliding mode...

  8. Image Montaging for Creating a Virtual Pathology Slide: An Innovative and Economical Tool to Obtain a Whole Slide Image.

    Science.gov (United States)

    Banavar, Spoorthi Ravi; Chippagiri, Prashanthi; Pandurangappa, Rohit; Annavajjula, Saileela; Rajashekaraiah, Premalatha Bidadi

    2016-01-01

    Background . Microscopes are omnipresent throughout the field of biological research. With microscopes one can see in detail what is going on at the cellular level in tissues. Though it is a ubiquitous tool, the limitation is that with high magnification there is a small field of view. It is often advantageous to see an entire sample at high magnification. Over the years technological advancements in optics have helped to provide solutions to this limitation of microscopes by creating the so-called dedicated "slide scanners" which can provide a "whole slide digital image." These scanners can provide seamless, large-field-of-view, high resolution image of entire tissue section. The only disadvantage of such complete slide imaging system is its outrageous cost, thereby hindering their practical use by most laboratories, especially in developing and low resource countries. Methods . In a quest for their substitute, we tried commonly used image editing software Adobe Photoshop along with a basic image capturing device attached to a trinocular microscope to create a digital pathology slide. Results . The seamless image created using Adobe Photoshop maintained its diagnostic quality. Conclusion . With time and effort photomicrographs obtained from a basic camera-microscope set up can be combined and merged in Adobe Photoshop to create a whole slide digital image of practically usable quality at a negligible cost.

  9. 3D DEM analyses of the 1963 Vajont rock slide

    Science.gov (United States)

    Boon, Chia Weng; Houlsby, Guy; Utili, Stefano

    2013-04-01

    The 1963 Vajont rock slide has been modelled using the distinct element method (DEM). The open-source DEM code, YADE (Kozicki & Donzé, 2008), was used together with the contact detection algorithm proposed by Boon et al. (2012). The critical sliding friction angle at the slide surface was sought using a strength reduction approach. A shear-softening contact model was used to model the shear resistance of the clayey layer at the slide surface. The results suggest that the critical sliding friction angle can be conservative if stability analyses are calculated based on the peak friction angles. The water table was assumed to be horizontal and the pore pressure at the clay layer was assumed to be hydrostatic. The influence of reservoir filling was marginal, increasing the sliding friction angle by only 1.6˚. The results of the DEM calculations were found to be sensitive to the orientations of the bedding planes and cross-joints. Finally, the failure mechanism was investigated and arching was found to be present at the bend of the chair-shaped slope. References Boon C.W., Houlsby G.T., Utili S. (2012). A new algorithm for contact detection between convex polygonal and polyhedral particles in the discrete element method. Computers and Geotechnics, vol 44, 73-82, doi.org/10.1016/j.compgeo.2012.03.012. Kozicki, J., & Donzé, F. V. (2008). A new open-source software developed for numerical simulations using discrete modeling methods. Computer Methods in Applied Mechanics and Engineering, 197(49-50), 4429-4443.

  10. A history of slide rules for blackbody radiation computations

    Science.gov (United States)

    Johnson, R. Barry; Stewart, Sean M.

    2012-10-01

    During the Second World War the importance of utilizing detection devices capable of operating in the infrared portion of the electromagnetic spectrum was firmly established. Up until that time, laboriously constructed tables for blackbody radiation needed to be used in calculations involving the amount of radiation radiated within a given spectral region or for other related radiometric quantities. To rapidly achieve reasonably accurate calculations of such radiometric quantities, a blackbody radiation calculator was devised in slide rule form first in Germany in 1944 and soon after in England and the United States. In the immediate decades after its introduction, the radiation slide rule was widely adopted and recognized as a useful and important tool for engineers and scientists working in the infrared field. It reached its pinnacle in the United States in 1970 in a rule introduced by Electro Optical Industries, Inc. With the onset in the latter half of the 1970s of affordable, hand-held electronic calculators, the impending demise of the radiation slide rule was evident. No longer the calculational device of choice, the radiation slide rule all but disappeared within a few short years. Although today blackbody radiation calculations can be readily accomplished using anything from a programmable pocket calculator upwards, with each device making use of a wide variety of numerical approximations to the integral of Planck's function, radiation slide rules were in the early decades of infrared technology the definitive "workhorse" for those involved in infrared systems design and engineering. This paper presents a historical development of radiation slide rules with many versions being discussed.

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

    Directory of Open Access Journals (Sweden)

    Bu Xiangwei

    2015-08-01

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

  12. Speed Synchronization of Multi Induction Motors with Fuzzy Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    HACHEMI Glaoui

    2013-05-01

    Full Text Available A continuous web winding system is a large-scale, complex interconnected dynamic system with numerous tension zones to transport the web while processing it. There are two control schemes for large-scale system control: the centralized scheme and the decentralized scheme. Centralized control is the traditional control method, which considers all the information about the system to be a single dynamic model and design a control system for this model. Aspeed synchronization control strategy for multiple induction motors, based on adjacent cross-coupling control structure, is developed by employing total sliding mode control method. The proposed controlstrategy is to stabilize speed tracking of each induction motor while synchronizing its speed with the speed of the other motors so as to make speed synchronization error amongst induction motors converge to zero. The global stability and the convergence of the designedcontroller are proved by using Lyapunov method. Simulation results demonstrate the effectiveness of the proposed method.

  13. The Application of Adaptive Backstepping Sliding Mode for Hybrid Humanoid Robot Arm Trajectory Tracking Control

    Directory of Open Access Journals (Sweden)

    Li Qin

    2014-06-01

    Full Text Available This paper presents a methodology of the dynamic analysis and control for a novel hybrid humanoid robot arm. The hybrid humanoid robot arm under consideration consists of a spherical parallel manipulator (SPM connecting two revolute pairs in series form. The dynamic model of the hybrid humanoid robot arm has been set up based on the Lie group and Lie algebra combined with the principle of virtual work, which can avoid the processing of constraint reaction and the division of logic open chains, as well as a great quantity of differential operation. Aiming at the parameter uncertainties and disturbances, an adaptive backstepping sliding mode controller is developed. Compared with PD control in trajectory tracking simulation, the results show the advantage of the controller.

  14. Synchronization of chaotic systems with known and unknown parameters using a modified active sliding mode control.

    Science.gov (United States)

    Yahyazadeh, Meisam; Ranjbar Noei, Abolfazl; Ghaderi, Reza

    2011-04-01

    This paper defines a new surface in an active sliding mode to synchronize two chaotic systems with parametric uncertainty. To verify the capability of the proposed scheme, signals are also contaminated by measurement noise. The integral acting surface produces a dynamics for error, where the appropriate eigenvalues are easily assigned. Using this surface, calculation of parameters of the controller becomes simpler than the classical alternative. A sufficient condition, as a guideline of the designated procedure, is dedicated to provide a robust stability of the error dynamics. Finally, a simulation study is performed to verify the robustness and effectiveness of the proposed control strategy. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

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

    Science.gov (United States)

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

    2017-08-01

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

  16. Robust sliding mode control for uncertain servo system using friction observer and recurrent fuzzy neural networks

    International Nuclear Information System (INIS)

    Han, Seong Ik; Jeong, Chan Se; Yang, Soon Yong

    2012-01-01

    A robust positioning control scheme has been developed using friction parameter observer and recurrent fuzzy neural networks based on the sliding mode control. As a dynamic friction model, the LuGre model is adopted for handling friction compensation because it has been known to capture sufficiently the properties of a nonlinear dynamic friction. A developed friction parameter observer has a simple structure and also well estimates friction parameters of the LuGre friction model. In addition, an approximation method for the system uncertainty is developed using recurrent fuzzy neural networks technology to improve the precision positioning degree. Some simulation and experiment provide the verification on the performance of a proposed robust control scheme

  17. Modeling and advanced sliding mode controls of crawler cranes considering wire rope elasticity and complicated operations

    Science.gov (United States)

    Tuan, Le Anh; Lee, Soon-Geul

    2018-03-01

    In this study, a new mathematical model of crawler cranes is developed for heavy working conditions, with payload-lifting and boom-hoisting motions simultaneously activated. The system model is built with full consideration of wind disturbances, geometrical nonlinearities, and cable elasticities of cargo lifting and boom luffing. On the basis of this dynamic model, three versions of sliding mode control are analyzed and designed to control five system outputs with only two inputs. When used in complicated operations, the effectiveness of the controllers is analyzed using analytical investigation and numerical simulation. Results indicate the effectiveness of the control algorithms and the proposed dynamic model. The control algorithms asymptotically stabilize the system with finite-time convergences, remaining robust amid disturbances and parametric uncertainties.

  18. Sliding mode disturbance observer-enhanced adaptive control for the air-breathing hypersonic flight vehicle

    Science.gov (United States)

    An, Hao; Wang, Changhong; Fidan, Baris

    2017-10-01

    This paper presents a backstepping procedure to design an adaptive controller for the air-breathing hypersonic flight vehicle (AHFV) subject to external disturbances and actuator saturations. In each step, a sliding mode exact disturbance observer (SMEDO) is exploited to exactly estimate the lumped disturbance in finite time. Specific dynamics are introduced to handle the possible actuator saturations. Based on SMEDO and introduced dynamics, an adaptive control law is designed, along with the consideration on ;explosion of complexity; in backstepping design. The developed controller is equipped with fast disturbance rejection and great capability to accommodate the saturated actuators, which also lead to a wider application scope. A simulation study is provided to show the effectiveness and superiority of the proposed controller.

  19. Single-molecule observation of helix staggering, sliding, and coiled coil misfolding

    Science.gov (United States)

    Xi, Zhiqun; Gao, Ying; Sirinakis, George; Guo, Honglian; Zhang, Yongli

    2012-01-01

    The biological functions of coiled coils generally depend on efficient folding and perfect pairing of their α-helices. Dynamic changes in the helical registry that lead to staggered helices have only been proposed for a few special systems and not found in generic coiled coils. Here, we report our observations of multiple staggered helical structures of two canonical coiled coils. The partially folded structures are formed predominantly by coiled coil misfolding and occasionally by helix sliding. Using high-resolution optical tweezers, we characterized their energies and transition kinetics at a single-molecule level. The staggered states occur less than 2% of the time and about 0.1% of the time at zero force. We conclude that dynamic changes in helical registry may be a general property of coiled coils. Our findings should have broad and unique implications in functions and dysfunctions of proteins containing coiled coils. PMID:22451899

  20. Development of a teledermatopathology consultation system using virtual slides

    Directory of Open Access Journals (Sweden)

    Nakayama Ikunori

    2012-12-01

    Full Text Available Abstract Background An online consultation system using virtual slides (whole slide images; WSI has been developed for pathological diagnosis, and could help compensate for the shortage of pathologists, especially in the field of dermatopathology and in other fields dealing with difficult cases. This study focused on the performance and future potential of the system. Method In our system, histological specimens on slide glasses are digitalized by a virtual slide instrument, converted into web data, and up-loaded to an open server. Using our own purpose-built online system, we then input patient details such as age, gender, affected region, clinical data, past history and other related items. We next select up to ten consultants. Finally we send an e-mail to all consultants simultaneously through a single command. The consultant receives an e-mail containing an ID and password which is used to access the open server and inspect the images and other data associated with the case. The consultant makes a diagnosis, which is sent to us along with comments. Because this was a pilot study, we also conducted several questionnaires with consultants concerning the quality of images, operability, usability, and other issues. Results We solicited consultations for 36 cases, including cases of tumor, and involving one to eight consultants in the field of dermatopathology. No problems were noted concerning the images or the functioning of the system on the sender or receiver sides. The quickest diagnosis was received only 18 minutes after sending our data. This is much faster than in conventional consultation using glass slides. There were no major problems relating to the diagnosis, although there were some minor differences of opinion between consultants. The results of questionnaires answered by many consultants confirmed the usability of this system for pathological consultation. (16 out of 23 consultants. Conclusion We have developed a novel

  1. Seismic isolation of nuclear power plants using sliding isolation bearings

    Science.gov (United States)

    Kumar, Manish

    Nuclear power plants (NPP) are designed for earthquake shaking with very long return periods. Seismic isolation is a viable strategy to protect NPPs from extreme earthquake shaking because it filters a significant fraction of earthquake input energy. This study addresses the seismic isolation of NPPs using sliding bearings, with a focus on the single concave Friction Pendulum(TM) (FP) bearing. Friction at the sliding surface of an FP bearing changes continuously during an earthquake as a function of sliding velocity, axial pressure and temperature at the sliding surface. The temperature at the sliding surface, in turn, is a function of the histories of coefficient of friction, sliding velocity and axial pressure, and the travel path of the slider. A simple model to describe the complex interdependence of the coefficient of friction, axial pressure, sliding velocity and temperature at the sliding surface is proposed, and then verified and validated. Seismic hazard for a seismically isolated nuclear power plant is defined in the United States using a uniform hazard response spectrum (UHRS) at mean annual frequencies of exceedance (MAFE) of 10-4 and 10 -5. A key design parameter is the clearance to the hard stop (CHS), which is influenced substantially by the definition of the seismic hazard. Four alternate representations of seismic hazard are studied, which incorporate different variabilities and uncertainties. Response-history analyses performed on single FP-bearing isolation systems using ground motions consistent with the four representations at the two shaking levels indicate that the CHS is influenced primarily by whether the observed difference between the two horizontal components of ground motions in a given set is accounted for. The UHRS at the MAFE of 10-4 is increased by a design factor (≥ 1) for conventional (fixed base) nuclear structure to achieve a target annual frequency of unacceptable performance. Risk oriented calculations are performed for

  2. The simplex method for nonlinear sliding mode control

    Directory of Open Access Journals (Sweden)

    Bartolini G.

    1998-01-01

    Full Text Available General nonlinear control systems described by ordinary differential equations with a prescribed sliding manifold are considered. A method of designing a feedback control law such that the state variable fulfills the sliding condition in finite time is based on the construction of a suitable simplex of vectors in the tangent space of the manifold. The convergence of the method is proved under an obtuse angle condition and a way to build the required simplex is indicated. An example of engineering interest is presented.

  3. Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

    Directory of Open Access Journals (Sweden)

    Ammar Al-Jodah

    2018-01-01

    Full Text Available In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs. A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.

  4. Geometry of the free-sliding Bernoulli beam

    Directory of Open Access Journals (Sweden)

    Moreno Giovanni

    2016-12-01

    Full Text Available If a variational problem comes with no boundary conditions prescribed beforehand, and yet these arise as a consequence of the variation process itself, we speak of the free boundary values variational problem. Such is, for instance, the problem of finding the shortest curve whose endpoints can slide along two prescribed curves. There exists a rigorous geometric way to formulate this sort of problems on smooth manifolds with boundary, which we review here in a friendly self-contained way. As an application, we study the particular free boundary values variational problem of the free-sliding Bernoulli beam.

  5. Erosion by sliding wear in granular flows: Experiments with realistic contact forces

    Science.gov (United States)

    Stark, C. P.; Hung, C. Y.; Smith, B.; Li, L.; Grinspun, E.; Capart, H.

    2015-12-01

    Debris flow erosion is a powerful and sometimes dominant process in steep channels. Despite its importance, this phenomenon is relatively little studied in the lab. The large drum experiments of Hsu are a notable exception, in which almost-field-scale impact forces were generated at the head of a synthetic debris flow whose properties (grain size, proportion of fines, etc) were varied widely.A key challenge in these and similar experiments is to explore how erosion rate varies as a function of the scale of the flow (thereby varying inertial stresses, impact forces, etc). The geometrical limitations of most lab experiments, and their short run time, severely limit the scope of such explorations.We achieve this scale exploration in a set of drum erosion experiments by varying effective gravity across several orders of magnitude (1g, 10g, 100g) in a geotechnical centrifuge. By half-filling our 40cm-diameter drum with dry 2.3mm grains, placing a synthetic rock plate at the back and a glass plate at the front 3cm apart, and rotating the drum at 1-50rpm, we simulate wear in a channelized dry granular flow. In contrast to Hsu's experiments, we focus on sliding wear erosion at the flow boundary rather than impact/frictional wear at the flow head. By varying effective gravity from 1g-100g we can tune the pressure exerted by the grains at the boundary without having to change the scale of our apparatus. Using a recently developed depth-averaged, kinetic-energy closure theory for granular flow, we can simultaneously tune the drum rotation rate such that the flow dynamics remain invariant. We can thereby explore how changing the scale of a granular flow, and thus the contact forces of grains on the boundary, controls the rate of rock erosion. Using a small apparatus we can simulate the erosion generated by debris flows several meters deep involving grains up to 10cm in diameter.Our results suggest that sliding wear is the main erosion process, and are consistent with Archard

  6. Structure of the sliding clamp from the fungal pathogen Aspergillus fumigatus (AfumPCNA) and interactions with Human p21.

    Science.gov (United States)

    Marshall, Andrew C; Kroker, Alice J; Murray, Lauren A M; Gronthos, Kahlia; Rajapaksha, Harinda; Wegener, Kate L; Bruning, John B

    2017-03-01

    The fungal pathogen Aspergillus fumigatus has been implicated in a drastic increase in life-threatening infections over the past decade. However, compared to other microbial pathogens, little is known about the essential molecular processes of this organism. One such fundamental process is DNA replication. The protein responsible for ensuring processive DNA replication is PCNA (proliferating cell nuclear antigen, also known as the sliding clamp), which clamps the replicative polymerase to DNA. Here we present the first crystal structure of a sliding clamp from a pathogenic fungus (A. fumigatus), at 2.6Å. Surprisingly, the structure bears more similarity to the human sliding clamp than other available fungal sliding clamps. Reflecting this, fluorescence polarization experiments demonstrated that AfumPCNA interacts with the PCNA-interacting protein (PIP-box) motif of human p21 with an affinity (K d ) of 3.1 μm. Molecular dynamics simulations were carried out to better understand how AfumPCNA interacts with human p21. These simulations revealed that the PIP-box bound to AfuPCNA forms a secondary structure similar to that observed in the human complex, with a central 3 10 helix contacting the hydrophobic surface pocket of AfumPCNA as well as a β-strand that forms an antiparallel sheet with the AfumPCNA surface. Differences in the 3 10 helix interaction with PCNA, attributed to residue Thr131 of AfumPCNA, and a less stable β-strand formation, attributed to residues Gln123 and His125 of AfumPCNA, are likely causes of the over 10-fold lower affinity of the p21 PIP-box for AfumPCNA as compared to hPCNA. The atomic coordinates and structure factors for the Aspergillus fumigatus sliding clamp can be found in the RCSB Protein Data Bank (http://www.rcsb.org) under the accession code 5TUP. © 2017 Federation of European Biochemical Societies.

  7. Design of Nonlinear Robust Rotor Current Controller for DFIG Based on Terminal Sliding Mode Control and Extended State Observer

    Directory of Open Access Journals (Sweden)

    Guowei Cai

    2014-01-01

    Full Text Available As to strong nonlinearity of doubly fed induction generators (DFIG and uncertainty of its model, a novel rotor current controller with nonlinearity and robustness is proposed to enhance fault ride-though (FRT capacities of grid-connected DFIG. Firstly, the model error, external disturbances, and the uncertain factors were estimated by constructing extended state observer (ESO so as to achieve linearization model, which is compensated dynamically from nonlinear model. And then rotor current controller of DFIG is designed by using terminal sliding mode variable structure control theory (TSMC. The controller has superior dynamic performance and strong robustness. The simulation results show that the proposed control approach is effective.

  8. Determination of the optimal tolerance for MLC positioning in sliding window and VMAT techniques

    Energy Technology Data Exchange (ETDEWEB)

    Hernandez, V., E-mail: vhernandezmasgrau@gmail.com; Abella, R. [Department of Medical Physics, Hospital Sant Joan de Reus, IISPV, Tarragona 43204 (Spain); Calvo, J. F. [Department of Radiation Oncology, Hospital Quirón, Barcelona 08023 (Spain); Jurado-Bruggemann, D. [Department of Medical Physics, Institut Català d’Oncologia, Girona 17007 (Spain); Sancho, I. [Department of Medical Physics, Institut Català d’Oncologia, L’Hospitalet de Llobregat 08908 (Spain); Carrasco, P. [Department of Medical Physics, Hospital de la Santa Creu i Sant Pau, Barcelona 08041 (Spain)

    2015-04-15

    Purpose: Several authors have recommended a 2 mm tolerance for multileaf collimator (MLC) positioning in sliding window treatments. In volumetric modulated arc therapy (VMAT) treatments, however, the optimal tolerance for MLC positioning remains unknown. In this paper, the authors present the results of a multicenter study to determine the optimal tolerance for both techniques. Methods: The procedure used is based on dynalog file analysis. The study was carried out using seven Varian linear accelerators from five different centers. Dynalogs were collected from over 100 000 clinical treatments and in-house software was used to compute the number of tolerance faults as a function of the user-defined tolerance. Thus, the optimal value for this tolerance, defined as the lowest achievable value, was investigated. Results: Dynalog files accurately predict the number of tolerance faults as a function of the tolerance value, especially for low fault incidences. All MLCs behaved similarly and the Millennium120 and the HD120 models yielded comparable results. In sliding window techniques, the number of beams with an incidence of hold-offs >1% rapidly decreases for a tolerance of 1.5 mm. In VMAT techniques, the number of tolerance faults sharply drops for tolerances around 2 mm. For a tolerance of 2.5 mm, less than 0.1% of the VMAT arcs presented tolerance faults. Conclusions: Dynalog analysis provides a feasible method for investigating the optimal tolerance for MLC positioning in dynamic fields. In sliding window treatments, the tolerance of 2 mm was found to be adequate, although it can be reduced to 1.5 mm. In VMAT treatments, the typically used 5 mm tolerance is excessively high. Instead, a tolerance of 2.5 mm is recommended.

  9. Determination of the optimal tolerance for MLC positioning in sliding window and VMAT techniques.

    Science.gov (United States)

    Hernandez, V; Abella, R; Calvo, J F; Jurado-Bruggemann, D; Sancho, I; Carrasco, P

    2015-04-01

    Several authors have recommended a 2 mm tolerance for multileaf collimator (MLC) positioning in sliding window treatments. In volumetric modulated arc therapy (VMAT) treatments, however, the optimal tolerance for MLC positioning remains unknown. In this paper, the authors present the results of a multicenter study to determine the optimal tolerance for both techniques. The procedure used is based on dynalog file analysis. The study was carried out using seven Varian linear accelerators from five different centers. Dynalogs were collected from over 100,000 clinical treatments and in-house software was used to compute the number of tolerance faults as a function of the user-defined tolerance. Thus, the optimal value for this tolerance, defined as the lowest achievable value, was investigated. Dynalog files accurately predict the number of tolerance faults as a function of the tolerance value, especially for low fault incidences. All MLCs behaved similarly and the Millennium120 and the HD120 models yielded comparable results. In sliding window techniques, the number of beams with an incidence of hold-offs >1% rapidly decreases for a tolerance of 1.5 mm. In VMAT techniques, the number of tolerance faults sharply drops for tolerances around 2 mm. For a tolerance of 2.5 mm, less than 0.1% of the VMAT arcs presented tolerance faults. Dynalog analysis provides a feasible method for investigating the optimal tolerance for MLC positioning in dynamic fields. In sliding window treatments, the tolerance of 2 mm was found to be adequate, although it can be reduced to 1.5 mm. In VMAT treatments, the typically used 5 mm tolerance is excessively high. Instead, a tolerance of 2.5 mm is recommended.

  10. DNA typing from vaginal smear slides in suspected rape cases

    Directory of Open Access Journals (Sweden)

    Dayse Aparecida da Silva

    Full Text Available In an investigation of suspected rape, proof of sexual assault with penetration is required. In view of this, detailed descriptions of the genitalia, the thighs and pubic region are made within the forensic medical service. In addition, vaginal swabs are taken from the rape victim and some of the biological material collected is then transferred to glass slides. In this report, we describe two rape cases solved using DNA typing from cells recovered from vaginal smear slides. In 1999, two young women informed the Rio de Janeiro Police Department that they had been victims of sexual assaults. A suspect was arrested and the victims identified him as the offender. The suspect maintained that he was innocent. In order to elucidate these crimes, vaginal smear slides were sent to the DNA Diagnostic Laboratory for DNA analysis three months after the crimes, as unique forensic evidence. To get enough epithelial and sperm cells to perform DNA analysis, we used protocols modified from the previously standard protocols used for DNA extraction from biological material fixed on glass slides. The quantity of cells was sufficient to perform human DNA typing using nine short tandem repeat (STR loci. It was 3.3 billion times more probable that it was the examined suspect who had left sperm cells in the victims, rather than any other individual in the population of Rio de Janeiro.

  11. Efficient sliding spotlight SAR raw signal simulation of extended scenes

    Directory of Open Access Journals (Sweden)

    Huang Pingping

    2011-01-01

    Full Text Available Abstract Sliding spotlight mode is a novel synthetic aperture radar (SAR imaging scheme with an achieved azimuth resolution better than stripmap mode and ground coverage larger than spotlight configuration. However, its raw signal simulation of extended scenes may not be efficiently implemented in the two-dimensional (2D Fourier transformed domain. This article presents a novel sliding spotlight raw signal simulation approach from the wide-beam SAR imaging modes. This approach can generate sliding spotlight raw signal not only from raw data evaluated by the simulators, but also from real data in the stripmap/spotlight mode. In order to obtain the desired raw data from conventional stripmap/spotlight mode, the azimuth time-varying filtering, which is implemented by de-rotation and low-pass filtering, is adopted. As raw signal of extended scenes in the stripmap/spotlight mode can efficiently be evaluated in the 2D Fourier domain, the proposed approach provides an efficient sliding spotlight SAR simulator of extended scenes. Simulation results validate this efficient simulator.

  12. GA-Based Fuzzy Sliding Mode Controller for Nonlinear Systems

    Directory of Open Access Journals (Sweden)

    P. C. Chen

    2008-01-01

    Full Text Available Generally, the greatest difficulty encountered when designing a fuzzy sliding mode controller (FSMC or an adaptive fuzzy sliding mode controller (AFSMC capable of rapidly and efficiently controlling complex and nonlinear systems is how to select the most appropriate initial values for the parameter vector. In this paper, we describe a method of stability analysis for a GA-based reference adaptive fuzzy sliding model controller capable of handling these types of problems for a nonlinear system. First, we approximate and describe an uncertain and nonlinear plant for the tracking of a reference trajectory via a fuzzy model incorporating fuzzy logic control rules. Next, the initial values of the consequent parameter vector are decided via a genetic algorithm. After this, an adaptive fuzzy sliding model controller, designed to simultaneously stabilize and control the system, is derived. The stability of the nonlinear system is ensured by the derivation of the stability criterion based upon Lyapunov's direct method. Finally, an example, a numerical simulation, is provided to demonstrate the control methodology.

  13. The Use of Slides to Study Flowering Plants

    Science.gov (United States)

    Rozenshtein, A. M.

    1976-01-01

    Seven-slide series produced by the Diafilm Studio are discussed as they are used as demonstration material for teaching students detailed familiarity with the morphology of the plants in given families and with the variety of their representatives. (Author/ND)

  14. Monitoring of dry sliding wear using fractal analysis

    NARCIS (Netherlands)

    Zhang, Jindang; Regtien, Paulus P.L.; Korsten, Maarten J.

    2005-01-01

    Reliable online monitoring of wear remains a challenge to tribology research as well as to the industry. This paper presents a new method for monitoring of dry sliding wear using digital imaging and fractal analysis. Fractal values, namely fractal dimension and intercept, computed from the power

  15. A grain boundary sliding model for cavitation, crack growth and ...

    African Journals Online (AJOL)

    A model is presented for cavity growth, crack propagation and fracture resulting from grain boundary sliding (GBS) during high temperature creep deformation. The theory of cavity growth by GBS was based on energy balance criteria on the assumption that the matrix is sufficiently plastic to accommodate misfit strains ...

  16. Severe wear behaviour of alumina balls sliding against diamond ...

    Indian Academy of Sciences (India)

    1CSIR–Central Glass & Ceramic Research Institute, Kolkata 700032, India. 2Department of Chemistry, National ... knee implants, etc.), since the coefficient of friction (COF) of diamond is lower than alumina. In this tribological ... Adhesion, friction and wear are the main factors of tribology of contacting or sliding interfaces.

  17. Robust discrete-time nonlinear sliding mode controller with plant ...

    African Journals Online (AJOL)

    user

    multi-output linear systems with matched conditions. Some of the concepts and theoretical advances of continuous time sliding mode control are covered in literature (Won et al., 1995, Bandhyopadhyay et al., 2009) and the references there in. Due to flexibility of implementation, large classes of continuous systems are ...

  18. Robust discrete-time nonlinear sliding mode controller with plant ...

    African Journals Online (AJOL)

    This paper addresses the new control algorithm, by designing the asymptotically stable nonlinear sliding surface with investigation of the states. This proposed algorithm leads to solve the problem of unstable systems, by proving the asymptotic stability of a class of uncertain discrete-time systems. A particular linear ...

  19. Slides of News in precocious diagnostic in prostate cancer

    International Nuclear Information System (INIS)

    Garcia Guido, L.

    1998-01-01

    Collection of slides about diagnostic, techniques and treatment of prostate tumors.Studies made of point of view age, sex and prostate volume, race and population. As well as Screening, therapeutic results, morbidity level and tumors classification were presented in the working day to pay Homenage to Prof. Jorge Lockart

  20. Sliding Contact Fatigue of Graded Zirconia with External Esthetic Glass

    Science.gov (United States)

    Ren, L.; Janal, M.N.; Zhang, Y.

    2011-01-01

    Veneer chipping and fracture are common failure modes for porcelain-veneered zirconia dental restorations. We hypothesized that the graded glass/zirconia/glass with external esthetic glass (e-GZG) can increase the lifetime and improve resistance to veneer chipping and fracture relative to porcelain-veneered zirconia, while providing necessary esthetics. Previously, we have demonstrated that a graded glass-zirconia surface possesses excellent resistance to occlusal-like sliding contact fatigue. Here, we investigated the sliding contact fatigue response of this graded glass-zirconia surface with external esthetic glass. This external glass is essential for shade options, for preventing excessive wear of opposing dentition, and for protecting Y-TZP from hydrothermal degradation. e-GZG plates were bonded to composite blocks and subjected to prolonged sliding contact up to 10 million cycles at 200 N in water. The resistance to sliding contact fatigue of e-GZG matches that of monolithic Y-TZP, and both of these materials demonstrated lifetimes that were orders of magnitude longer than that of porcelain-veneered zirconia. Graded e-GZG is a promising restorative material. PMID:21666105

  1. Numerical Modeling of Sliding Stability of RCC dam

    Science.gov (United States)

    Mughieda, O.; Hazirbaba, K.; Bani-Hani, K.; Daoud, W.

    2017-06-01

    Stability and stress analyses are the most important elements that require rigorous consideration in design of a dam structure. Stability of dams against sliding is crucial due to the substantial horizontal load that requires sufficient and safe resistance to develop by mobilization of adequate shearing forces along the base of the dam foundation. In the current research, the static sliding stability of a roller-compacted-concrete (RCC) dam was modelled using finite element method to investigate the stability against sliding. A commercially available finite element software (SAP 2000) was used to analyze stresses in the body of the dam and foundation. A linear finite element static analysis was performed in which a linear plane strain isoperimetric four node elements was used for modelling the dam-foundation system. The analysis was carried out assuming that no slip will occur at the interface between the dam and the foundation. Usual static loading condition was applied for the static analysis. The greatest tension was found to develop in the rock adjacent to the toe of the upstream slope. The factor of safety against sliding along the entire base of the dam was found to be greater than 1 (FS>1), for static loading conditions.

  2. Model-free adaptive sliding mode controller design for generalized ...

    Indian Academy of Sciences (India)

    L M WANG

    2017-08-16

    Aug 16, 2017 ... Abstract. A novel model-free adaptive sliding mode strategy is proposed for a generalized projective synchronization (GPS) between two entirely unknown fractional-order chaotic systems subject to the external disturbances. To solve the difficulties from the little knowledge about the master–slave system ...

  3. Survey: interpolation methods for whole slide image processing.

    Science.gov (United States)

    Roszkowiak, L; Korzynska, A; Zak, J; Pijanowska, D; Swiderska-Chadaj, Z; Markiewicz, T

    2017-02-01

    Evaluating whole slide images of histological and cytological samples is used in pathology for diagnostics, grading and prognosis . It is often necessary to rescale whole slide images of a very large size. Image resizing is one of the most common applications of interpolation. We collect the advantages and drawbacks of nine interpolation methods, and as a result of our analysis, we try to select one interpolation method as the preferred solution. To compare the performance of interpolation methods, test images were scaled and then rescaled to the original size using the same algorithm. The modified image was compared to the original image in various aspects. The time needed for calculations and results of quantification performance on modified images were also compared. For evaluation purposes, we used four general test images and 12 specialized biological immunohistochemically stained tissue sample images. The purpose of this survey is to determine which method of interpolation is the best to resize whole slide images, so they can be further processed using quantification methods. As a result, the interpolation method has to be selected depending on the task involving whole slide images. © 2016 The Authors Journal of Microscopy © 2016 Royal Microscopical Society.

  4. Planning and Producing Effective Outdoor Education Instructional Slide Presentations.

    Science.gov (United States)

    Swiderski, Michael J.

    1982-01-01

    Describes the steps in developing an instructional audiovisual presentation: (1) the conceptualization stage (identify goals and instructional objectives); (2) the planning stage (define skills and instructional sequence); and (3) the development stage (take slides, write story line, evaluate field test data, and revise). (LC)

  5. Passage retrieval for question answering using sliding windows

    NARCIS (Netherlands)

    Khalid, M.A.; Verberne, S.

    2008-01-01

    The information retrieval (IR) community has investigated many different techniques to retrieve passages from large collections of documents for question answering (QA). In this paper, we specifically examine and quantitatively compare the impact of passage retrieval for QA using sliding windows and

  6. Structural changes in polytetrafluoroethylene molecular chains upon sliding against steel

    NARCIS (Netherlands)

    Shen, J.T.; Pei, Y.T.; Hosson, J.Th.M. De

    In this work, the influence of dry sliding between a steel counterpart ball and polytetrafluoroethylene (PTFE) plate sample on the transformation of PTFE molecular structure is investigated. With X-ray diffraction, differential scanning calorimetry, Fourier transform infrared (FT-IR) spectroscopy

  7. Fuzzy sliding mode controller for doubly fed induction motor speed ...

    African Journals Online (AJOL)

    The use of the nonlinear fuzzy sliding mode method provides very good performance for motor operation and robustness of the control law despite the external/internal perturbations. The chattering effects is eliminated by a particular function "sat" that presents a serious problem to applications of variable structure systems.

  8. Understanding Learning Style by Eye Tracking in Slide Video Learning

    Science.gov (United States)

    Cao, Jianxia; Nishihara, Akinori

    2012-01-01

    More and more videos are now being used in e-learning context. For improving learning effect, to understand how students view the online video is important. In this research, we investigate how students deploy their attention when they learn through interactive slide video in the aim of better understanding observers' learning style. Felder and…

  9. Sliding wear of conventional and nanostructured cemented carbides

    Energy Technology Data Exchange (ETDEWEB)

    Jia, K. [Stevens Inst. of Tech., Hoboken, NJ (United States). Dept. of Materials Science and Engineering; Fischer, T.E. [Stevens Inst. of Tech., Hoboken, NJ (United States). Dept. of Materials Science and Engineering

    1997-03-01

    The sliding wear mechanisms of cemented carbide and the effects of the microstructure scale on the wear resistance were investigated by performing a series of unlubricated sliding wear tests in air with pins of WC-Co composites sliding against silicon nitride disks. In the first approximation, the wear rate is proportional to the hardness with a wear coefficient k=6.9x10{sup -6} for all materials. In the conventional cermets, the wear coefficient k also depends on the grain size; materials with smaller WC grains exhibit a smaller wear resistance. This reduction, however, does not extend to the nanostructured materials which exhibit the above value for k: Their wear resistance is higher than that of conventional cermets in proportion to their hardness. The data can also be expressed in terms of cobalt content: The lower the cobalt content, the lower the wear; but two different such dependencies exist, one for the conventional and one for the nanostructured materials with lower wear. The sliding wear of WC-Co composites occurs on a very small scale: The worn surfaces show no evidence of fracture of plastic deformation. This wear behavior is explained by the hexagonal structure and the anisotropic mechanical behavior of the WC grains that are capable of shear in a limited number of planes but are not capable of triaxial deformation. The higher wear resistance of the nanostructured composites is related to their hardness which decreases the real area of contact. (orig.)

  10. Three Monotheistic Religions: Judaism, Christianity, Islam. Slide Exercise.

    Science.gov (United States)

    Michalak, Laurence

    This slide exercise is intended to communicate information about the three major monotheistic religions of the Middle East: Judaism, Christianity, and Islam. The exercise focuses on beliefs, events, symbols, institutions, and practices important to the three religions, but the main purpose is to impress upon students the many things that these…

  11. A novel fractional sliding mode control configuration for ...

    Indian Academy of Sciences (India)

    Karima Rabah

    2017-09-09

    Sep 9, 2017 ... presents an introduction to fractional calculus with some numerical approximation methods. The problem of fractional-order chaotic system synchronization is given in §3. Section 4 presents the proposed sliding mode synchronization technique and the control law design. The stability analysis is performed ...

  12. On the mechanism of floating and sliding of liquid marbles.

    Science.gov (United States)

    Bormashenko, Edward; Bormashenko, Yelena; Musin, Albina; Barkay, Zahava

    2009-03-09

    The mechanisms of floating and sliding of liquid marbles are studied. Liquid marbles containing CaCl(2) and marbles containing NaOH water solutions float on water containing Na(2)CO(3) and an alcoholic solution of phenolphthalein with no chemical reaction. Sliding of liquid marbles, consisting of NaOH water solutions, on polymer substrates coated with phenolphthalein is studied as well. No chemical reaction is observed. These observations supply direct experimental evidence for the suggestion that interfaces are separated by an air layer when marbles roll on solid substrates. It is concluded that a liquid marble rests on hydrophobic particles coating the liquid. In contrast, drops containing an NaOH water solution sliding on superhydrophobic surfaces coated with phenolphthalein leave a colored trace. The mechanism of low-friction sliding of drops deposited on superhydrophobic surfaces and liquid marbles turns out to be quite different: there is no direct contact between liquid and solid in the case of marbles' motion.

  13. Toxic waste treatment with sliding centrifugal plasma reactor

    International Nuclear Information System (INIS)

    Pacheco, J.; Pacheco, M.; Valdivia, R.; Ramos, F.; Duran, M.; Hidalgo, M.; Cruz, A.; Martinez, J. C.; Martinez, R.; De la Cruz, S.; Flores, T.; Vidal, E.; Escobar, S.; Garduno, M.; Garcia, M.; Portillo, J.; Torres, C.; Estrada, N.; Velazquez, S.; Vasquez, C.

    2008-01-01

    The aim is to develop technology for hazardous waste treatment, including the building and putting into operation of a prototype based on a sliding centrifugal plasma technology to demonstrate its ability to degradation taking in account the existing environmental standards. (Author)

  14. Finite-Time Spacecraft’s Soft Landing on Asteroids Using PD and Nonsingular Terminal Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Keping Liu

    2015-01-01

    Full Text Available This paper presents a continuous control law of probe, which consists of PD (proportional-derivative controller and nonsingular terminal sliding mode controller for probe descending and landing phases, respectively, in the case of the asteroid irregular shape and low gravity. The probe dynamic model is deduced in the landing site coordinate system firstly. Then the reference trajectory based on optimal polynomial in open-loop state is designed, with the suboptimal fuel consumption. Taking into account different characteristics of phases, PD controller and nonsingular terminal sliding mode controller can be employed in the descending phase and the landing phase, respectively, to track the designed reference trajectory. The controller which used the corresponding control methods can meet the motion characteristics and requirements of each stage. Finally simulation experiments are carried out to demonstrate the effectiveness of the proposed method, which can ensure the safe landing of probe and achieve continuous control.

  15. Whole slide imaging of unstained tissue using lensfree microscopy

    Science.gov (United States)

    Morel, Sophie Nhu An; Hervé, Lionel; Bordy, Thomas; Cioni, Olivier; Delon, Antoine; Fromentin, Catherine; Dinten, Jean-Marc; Allier, Cédric

    2016-04-01

    Pathologist examination of tissue slides provides insightful information about a patient's disease. Traditional analysis of tissue slides is performed under a binocular microscope, which requires staining of the sample and delays the examination. We present a simple cost-effective lensfree imaging method to record 2-4μm resolution wide-field (10 mm2 to 6 cm2) images of unstained tissue slides. The sample processing time is reduced as there is no need for staining. A wide field of view (10 mm2) lensfree hologram is recorded in a single shot and the image is reconstructed in 2s providing a very fast acquisition chain. The acquisition is multispectral, i.e. multiple holograms are recorded simultaneously at three different wavelengths, and a dedicated holographic reconstruction algorithm is used to retrieve both amplitude and phase. Whole tissue slides imaging is obtained by recording 130 holograms with X-Y translation stages and by computing the mosaic of a 25 x 25 mm2 reconstructed image. The reconstructed phase provides a phase-contrast-like image of the unstained specimen, revealing structures of healthy and diseased tissue. Slides from various organs can be reconstructed, e.g. lung, colon, ganglion, etc. To our knowledge, our method is the first technique that enables fast wide-field lensfree imaging of such unlabeled dense samples. This technique is much cheaper and compact than a conventional phase contrast microscope and could be made portable. In sum, we present a new methodology that could quickly provide useful information when a rapid diagnosis is needed, such as tumor margin identification on frozen section biopsies during surgery.

  16. External models of frictional interaction dynamics

    Science.gov (United States)

    Tyurin, A. E.; Ismailov, G. M.; Ikonnikova, K. V.; Sarkisov, Y. S.

    2017-10-01

    This investigation suggests a method used to determine the evolution of metallic wear and friction by sliding. The friction of steel moving over brass was taken as an example. The problem of external dynamics friction is investigated through the definition of the dynamic characteristics such as damping factor and natural frequency. Some certain automatic control methods were applied for sliding friction contact, including parametric identification, ARX simulation and Newton’s dynamic equation. The suggested approach allows using amplitude-frequency characteristics to assess the dynamic factors (coefficients) under friction interaction. The research findings indicate that the proposed method allows monitoring the evolution of metallic wear and friction.

  17. A new robust control scheme using second order sliding mode and fuzzy logic of a DFIM supplied by two five-level SVPWM inverters

    Science.gov (United States)

    Boudjema, Zinelaabidine; Taleb, Rachid; Bounadja, Elhadj

    2017-02-01

    Traditional filed oriented control strategy including proportional-integral (PI) regulator for the speed drive of the doubly fed induction motor (DFIM) have some drawbacks such as parameter tuning complications, mediocre dynamic performances and reduced robustness. Therefore, based on the analysis of the mathematical model of a DFIM supplied by two five-level SVPWM inverters, this paper proposes a new robust control scheme based on super twisting sliding mode and fuzzy logic. The conventional sliding mode control (SMC) has vast chattering effect on the electromagnetic torque developed by the DFIM. In order to resolve this problem, a second order sliding mode technique based on super twisting algorithm and fuzzy logic functions is employed. The validity of the employed approach was tested by using Matlab/Simulink software. Interesting simulation results were obtained and remarkable advantages of the proposed control scheme were exposed including simple design of the control system, reduced chattering as well as the other advantages.

  18. Direct Torque Control of a Small Wind Turbine with a Sliding-Mode Speed Controller

    Science.gov (United States)

    Sri Lal Senanayaka, Jagath; Karimi, Hamid Reza; Robbersmyr, Kjell G.

    2016-09-01

    In this paper. the method of direct torque control in the presence of a sliding-mode speed controller is proposed for a small wind turbine being used in water heating applications. This concept and control system design can be expanded to grid connected or off-grid applications. Direct torque control of electrical machines has shown several advantages including very fast dynamics torque control over field-oriented control. Moreover. the torque and flux controllers in the direct torque control algorithms are based on hvsteretic controllers which are nonlinear. In the presence of a sliding-mode speed control. a nonlinear control system can be constructed which is matched for AC/DC conversion of the converter that gives fast responses with low overshoots. The main control objectives of the proposed small wind turbine can be maximum power point tracking and soft-stall power control. This small wind turbine consists of permanent magnet synchronous generator and external wind speed. and rotor speed measurements are not required for the system. However. a sensor is needed to detect the rated wind speed overpass events to activate proper speed references for the wind turbine. Based on the low-cost design requirement of small wind turbines. an available wind speed sensor can be modified. or a new sensor can be designed to get the required measurement. The simulation results will be provided to illustrate the excellent performance of the closed-loop control system in entire wind speed range (4-25 m/s).

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

    Science.gov (United States)

    Xingling, Shao; Honglun, Wang

    2014-11-01

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

  20. Fault-tolerant nonlinear adaptive flight control using sliding mode online learning.

    Science.gov (United States)

    Krüger, Thomas; Schnetter, Philipp; Placzek, Robin; Vörsmann, Peter

    2012-08-01

    An expanded nonlinear model inversion flight control strategy using sliding mode online learning for neural networks is presented. The proposed control strategy is implemented for a small unmanned aircraft system (UAS). This class of aircraft is very susceptible towards nonlinearities like atmospheric turbulence, model uncertainties and of course system failures. Therefore, these systems mark a sensible testbed to evaluate fault-tolerant, adaptive flight control strategies. Within this work the concept of feedback linearization is combined with feed forward neural networks to compensate for inversion errors and other nonlinear effects. Backpropagation-based adaption laws of the network weights are used for online training. Within these adaption laws the standard gradient descent backpropagation algorithm is augmented with the concept of sliding mode control (SMC). Implemented as a learning algorithm, this nonlinear control strategy treats the neural network as a controlled system and allows a stable, dynamic calculation of the learning rates. While considering the system's stability, this robust online learning method therefore offers a higher speed of convergence, especially in the presence of external disturbances. The SMC-based flight controller is tested and compared with the standard gradient descent backpropagation algorithm in the presence of system failures. Copyright © 2012 Elsevier Ltd. All rights reserved.

  1. Reusable Launch Vehicle Attitude Control Using a Time-Varying Sliding Mode Control Technique

    Science.gov (United States)

    Shtessel, Yuri B.; Zhu, J. Jim; Daniels, Dan; Jackson, Scott (Technical Monitor)

    2002-01-01

    In this paper we present a time-varying sliding mode control (TVSMC) technique for reusable launch vehicle (RLV) attitude control in ascent and entry flight phases. In ascent flight the guidance commands Euler roll, pitch and yaw angles, and in entry flight it commands the aerodynamic angles of bank, attack and sideslip. The controller employs a body rate inner loop and the attitude outer loop, which are separated in time-scale by the singular perturbation principle. The novelty of the TVSMC is that both the sliding surface and the boundary layer dynamics can be varied in real time using the PD-eigenvalue assignment technique. This salient feature is used to cope with control command saturation and integrator windup in the presence of severe disturbance or control effector failure, which enhances the robustness and fault tolerance of the controller. The TV-SMC ascent and descent designs are currently being tested with high fidelity, 6-DOF dispersion simulations. The test results will be presented in the final version of this paper.

  2. Approach and landing guidance design for reusable launch vehicle using multiple sliding surfaces technique

    Directory of Open Access Journals (Sweden)

    Xiangdong LIU

    2017-08-01

    Full Text Available An autonomous approach and landing (A&L guidance law is presented in this paper for landing an unpowered reusable launch vehicle (RLV at the designated runway touchdown. Considering the full nonlinear point-mass dynamics, a guidance scheme is developed in three-dimensional space. In order to guarantee a successful A&L movement, the multiple sliding surfaces guidance (MSSG technique is applied to derive the closed-loop guidance law, which stems from higher order sliding mode control theory and has advantage in the finite time reaching property. The global stability of the proposed guidance approach is proved by the Lyapunov-based method. The designed guidance law can generate new trajectories on-line without any specific requirement on off-line analysis except for the information on the boundary conditions of the A&L phase and instantaneous states of the RLV. Therefore, the designed guidance law is flexible enough to target different touchdown points on the runway and is capable of dealing with large initial condition errors resulted from the previous flight phase. Finally, simulation results show the effectiveness of the proposed guidance law in different scenarios.

  3. Energy-Based Adaptive Sliding Mode Speed Control for Switched Reluctance Motor Drive

    Directory of Open Access Journals (Sweden)

    M. M. Namazi Isfahani

    2012-03-01

    Full Text Available Torque ripple minimization of switched reluctance motor drives is a major subject based on these drives’ extensive use in the industry. In this paper, by using a well-known cascaded torque control structure and taking the machine physical structure characteristics into account, the proposed energy-based (passivity-based adaptive sliding algorithm derived from the view point of energy dissipation, control stability and algorithm robustness. First, a nonlinear dynamic model is developed and decomposed into separate slow and fast passive subsystems which are interconnected by negative feedbacks. Then, an outer loop speed control is employed by adaptive sliding controller to determine the appropriate torque command. Finally, to reduce torque ripple in switched reluctance motor a high-performance passivity-based current controller is proposed. It can overcome the inherent nonlinear characteristics of the system and make the whole system robust to uncertainties and bounded disturbances. The performance of the proposed controller algorithm has been demonstrated in simulation, and experimental using a 4KW, four-phase, 8/6 pole SRM DSP-based drive system.

  4. Adaptive Sliding Mode Control Design of a SCARA Robot Manipulator System Under Parametric Variations

    Directory of Open Access Journals (Sweden)

    F. Adelhed

    2015-12-01

    Full Text Available – The sliding mode control (SMC has yet proven its efficiency through several theoretical researches. Indeed, the robotic field is recognized as one of the main SMC portals on practical implementations. The interest of this work consists in testing the SMC robustness and its reliability versus the parameters variation and model uncertainties. In this paper, an algorithm for trajectory tracking task of robot manipulators based on a SMC has been proposed. Then, aiming to deal with the presence of disturbances and parametric modeling uncertainties, the adopted control law has been extended to an adaptive SMC version based integral sliding surface, where the selection of the parameters adaptation law has been detailed. It has been proven that the adaptive control design can stabilize both position and velocity of the system, where the explicit use of the system dynamic model becomes no longer required. Simulation results performed on a SCARA robot manipulator reveal improving control acting clearly denoted by the introduction of the adaptive control design

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

    Science.gov (United States)

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

    2013-10-01

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

  6. On Position Sensorless Control for Permanent Magnet Synchronous Motor Based on a New Sliding Mode Observer

    Directory of Open Access Journals (Sweden)

    Qixin Zhu

    2014-10-01

    Full Text Available For the problems of buffeting and phase delay in traditional rotor detection in sensorless vector control of permanent magnet synchronous motor (PMSM, the Sigmoid function is proposed to replace sign function and the approach of piecewise linearization is proposed to compensate phase delay. To the problem that the output of traditional low pass filter contains high- order harmonic, two-stage filter including traditional low-pass filter and Kalman filter is proposed in this paper. Based on the output of traditional first-order low-pass filter, the Kalman filter is used to get modified back-EMF. The phase-locked loop control of rotor position is adopted to estimate motor position and speed. A Matlab/Simulink simulation model of PMSM position servo control system is established. The simulation analysis of the new sliding mode observer’s back-EMF detection, position and speed estimation, load disturbance and dynamic process are carried out respectively. Simulation results verify feasibility of the new sliding mode observer algorithm.

  7. Switching VO2 Single Crystals and Related Phenomena: Sliding Domains and Crack Formation

    Directory of Open Access Journals (Sweden)

    Bertina Fisher

    2017-05-01

    Full Text Available VO2 is the prototype material for insulator–metal transition (IMT. Its transition at TIMT = 340 K is fast and consists of a large resistance jump (up to approximately five orders of magnitude, a large change in its optical properties in the visible range, and symmetry change from monoclinic to tetragonal (expansion by 1% along the tetragonal c-axis and 0.5% contraction in the perpendicular direction. It is a candidate for potential applications such as smart windows, fast optoelectronic switches, and field-effect transistors. The change in optical properties at the IMT allows distinguishing between the insulating and the metallic phases in the mixed state. Static or dynamic domain patterns in the mixed-state of self-heated single crystals during electric-field induced switching are in strong contrast with the percolative nature of the mixed state in switching VO2 films. The most impressive effect—so far unique to VO2—is the sliding of narrow semiconducting domains within a metallic background in the positive sense of the electric current. Here we show images from videos obtained using optical microscopy for sliding domains along VO2 needles and confirm a relation suggested in the past for their velocity. We also show images for the disturbing damage induced by the structural changes in switching VO2 crystals obtained for only a few current–voltage cycles.

  8. Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.

    Science.gov (United States)

    Li, Jinghao; Zhang, Qingling; Yan, Xing-Gang; Spurgeon, Sarah K

    2017-09-19

    This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

  9. Excise Tax Rates On Packs Of Cigarettes PowerPoint Slides

    Data.gov (United States)

    U.S. Department of Health & Human Services — Download the current cigarette excise tax rates on packs of cigarettes slides. These slides are available in PDF and PowerPoint formats. The PDF version can be found...

  10. Virtual slides in peer reviewed, open access medical publication

    Directory of Open Access Journals (Sweden)

    Kayser Klaus

    2011-12-01

    Full Text Available Abstract Background Application of virtual slides (VS, the digitalization of complete glass slides, is in its infancy to be implemented in routine diagnostic surgical pathology and to issues that are related to tissue-based diagnosis, such as education and scientific publication. Approach Electronic publication in Pathology offers new features of scientific communication in pathology that cannot be obtained by conventional paper based journals. Most of these features are based upon completely open or partly directed interaction between the reader and the system that distributes the article. One of these interactions can be applied to microscopic images allowing the reader to navigate and magnify the presented images. VS and interactive Virtual Microscopy (VM are a tool to increase the scientific value of microscopic images. Technology and Performance The open access journal Diagnostic Pathology http://www.diagnosticpathology.org has existed for about five years. It is a peer reviewed journal that publishes all types of scientific contributions, including original scientific work, case reports and review articles. In addition to digitized still images the authors of appropriate articles are requested to submit the underlying glass slides to an institution (DiagnomX.eu, and Leica.com for digitalization and documentation. The images are stored in a separate image data bank which is adequately linked to the article. The normal review process is not involved. Both processes (peer review and VS acquisition are performed contemporaneously in order to minimize a potential publication delay. VS are not provided with a DOI index (digital object identifier. The first articles that include VS were published in March 2011. Results and Perspectives Several logistic constraints had to be overcome until the first articles including VS could be published. Step by step an automated acquisition and distribution system had to be implemented to the corresponding

  11. 24 CFR 3280.403 - Standard for windows and sliding glass doors used in manufactured homes.

    Science.gov (United States)

    2010-04-01

    ... 24 Housing and Urban Development 5 2010-04-01 2010-04-01 false Standard for windows and sliding... AND SAFETY STANDARDS Testing § 3280.403 Standard for windows and sliding glass doors used in manufactured homes. (a) Scope. This section sets the requirements for prime windows and sliding glass doors...

  12. A modified micro chamber agar spot slide culture technique for microscopic examination of filamentous fungi.

    Science.gov (United States)

    Prakash, Peralam Yegneswaran; Bhargava, Kanika

    2016-04-01

    The slide culture technique aids in the study of undisturbed microscopic morphological details of filamentous fungi. The existing methods for setting up of slide culture are quite cumbersome, time-consuming and require elaborate preparation. We describe a modified and easy to perform micro chamber agar spot slide culture technique. Copyright © 2016 Elsevier B.V. All rights reserved.

  13. Is the lag screw sliding effective in the intramedullary nailing in A1 and A2 AO-OTA intertrochanteric fractures? A prospective study of Sliding and None-sliding lag screw in Gamma-III nail.

    Science.gov (United States)

    Zhu, Yi; Meili, Severin; Zhang, Changqing; Luo, Congfeng; Zeng, Bing-fang

    2012-09-01

    To compare the Sliding with Non-sliding lag screw of a gamma nail in the treatment of A1 and A2 AO-OTA intertrochanteric fractures. 80 patients were prospectively collected. In each group, AO/OTA 31-A were classified into group A. AO/OTA 31-A2.1 was classified as group B. We classified the A2.2 and A2.3 as group C. According to the set-screw locking formation of Gamma-III, the cases were randomly allocated to Sliding subgroup and Non-sliding subgroup in A, B and C groups. Follow-ups were performed 1, 3, 6 and 12 months postoperatively. In the Sliding group, the bone healing rate 3, 6, 12 months postoperatively reached 85.00%, 97.50%, 100% in group A, B and C. Meanwhile, in Non-sliding group, postoperatively, bone healing rate were 90.00%, 95.00% and 97.50% in group A, B and C, respectively. Both differences were not significant. Lower limb discrepancy between Sliding and Non-sliding pattern was significantly different in group C which represent fracture types of AO/OTA 31-A2.2 and A2.3 (0.573 ± 0.019 mm in Non-sliding group, 0.955 mm ± 0.024 mm in Sliding group, P AO-OTA intertrochanteric fractures. For treating these kinds of fractures, the sliding of the lag screw of an Gamma nail does not improve any clinical results and in certain cases, such as highly comminuted A1 and A2 fractures, can therefore even benefit from a locked lag screw by tightening the set-screw.

  14. Robust output LQ optimal control via integral sliding modes

    CERN Document Server

    Fridman, Leonid; Bejarano, Francisco Javier

    2014-01-01

    Featuring original research from well-known experts in the field of sliding mode control, this monograph presents new design schemes for implementing LQ control solutions in situations where the output system is the only information provided about the state of the plant. This new design works under the restrictions of matched disturbances without losing its desirable features. On the cutting-edge of optimal control research, Robust Output LQ Optimal Control via Integral Sliding Modes is an excellent resource for both graduate students and professionals involved in linear systems, optimal control, observation of systems with unknown inputs, and automatization. In the theory of optimal control, the linear quadratic (LQ) optimal problem plays an important role due to its physical meaning, and its solution is easily given by an algebraic Riccati equation. This solution turns out to be restrictive, however, because of two assumptions: the system must be free from disturbances and the entire state vector must be kn...

  15. Advances and applications in sliding mode control systems

    CERN Document Server

    Zhu, Quanmin

    2015-01-01

    This book describes the advances and applications in Sliding mode control (SMC) which is widely used as a powerful method to tackle uncertain nonlinear systems. The book is organized into 21 chapters which have been organised by the editors to reflect the various themes of sliding mode control. The book provides the reader with a broad range of material from first principles up to the current state of the art in the area of SMC and observation presented in a clear, matter-of-fact style. As such it is appropriate for graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems. The resulting design procedures are emphasized using Matlab/Simulink software.    

  16. Testing of newly developed functional surfaces under pure sliding conditions

    DEFF Research Database (Denmark)

    Godi, Alessandro; Mohaghegh, Kamran; Grønbæk, J.

    2013-01-01

    -polished counterpart. A number of experiments were carried out at different normal pressures employing for all specimens the same reciprocating movement and the same lubrication. The measured friction forces were plotted against the incremental normal pressure, and the friction coefficients were calculated....... The results comparison showed clearly how employing multifunctional surfaces can reduce friction forces up to 50 % at high normal loads compared to regularly ground or turned surfaces. Friction coefficients approximately equal to 0.12 were found for classically machined surfaces, whereas the values were 0...... the surfaces in an industrial context. In this paper, a number of experimental tests were performed using a novel test rig, called axial sliding test, simulating the contact of surfaces under pure sliding conditions. The aim of the experiments is to evaluate the frictional behavior of a new typology...

  17. Sliding bearing diagnosis with magnetic field measuring; Gleitlagerdiagnose mittels Magnetfeldmessungen

    Energy Technology Data Exchange (ETDEWEB)

    Bittner, H. [HWTS Zittau (Germany). Fachgebiet Instandhaltung/Technische Diagnostik; Kluth, T. [HWTS Zittau (Germany). Fachgebiet Instandhaltung/Technische Diagnostik

    1995-09-01

    Account of their properties sliding bearings are in high demanded and important aggregats. The destruction of a bearing will be almost followed by the destruction of the aggregate. Various methods are existing for sliding bearing diagnosis. This methods often not permit the condition recognition. A new electromagnetical method will be developed. This method permits the condition recognition during working time of the aggregate. It also permits the recognition of wear. The method bases on a measuring of leak current over measuring the generated magnetic fields with Rogowski-coils. (orig.) [Deutsch] Gleitlager befinden sich wegen ihrer Eigenschaften in hoch beanspruchten und exponierten Aggregaten. Die Zerstoerung eines Gleitlagers fuehrt meist auch zur Zerstoerung des gefuehrten Aggregats. Zur Gleitlagerdiagnose existiert eine Reihe Verfahren. Ihnen wird ein elektromagnetisches Verfahren gegenuebergestellt. Damit koennen Gleitlagerzustaende waehrend des Aggregatebetriebs identifiziert werden. Das Verfahren erlaubt gleichermassen die Bestimmung des Lagerverschleisses. Es basiert auf der Ableitstrommessung, bei der sich ausbildende Magnetfelder durch Rogowskispulen ausgemessen werden. (orig.)

  18. NuPECC 2015 Slides of the presentations

    International Nuclear Information System (INIS)

    Roussel-Chomaz, P.; Guillemaud Mueller, D.; Navin, A.; Bougault, R.; Khan, E.; Guerreau, D.; Cussol, D.; Weise, W.; Sharkov, B.; Langanke, K.; Harakeh, M.N.; Guaraldo, C.; Geesaman, D.

    2016-01-01

    The Nuclear Physics European Collaboration Committee (NuPECC) is an expert committee of the European Science Foundation (ESF). The first part of the meeting was dedicated to the status of Nuclear Physics in France through the description of the research programs of CEA (French Alternative Energies and Atomic Energy Commission), IN2P3 (National Institute of Nuclear and Particle Physics - CNRS), GANIL with the Archade project. The second part of the meeting was dedicated to the status of the collaborations and projects inside the NuPECC framework. A point is made on their financing and budget. The present status of ECT (European Center for Theoretical studies), FAIR, GSI, EURISOL-DF project, ENSAR2 (European Nuclear Science and Applications Research 2) and of the opening of European research infrastructures, is reported through a series of slides. This document gathers only the slides of the presentations

  19. Sliding contact fracture of dental ceramics: Principles and validation

    Science.gov (United States)

    Ren, Linlin; Zhang, Yu

    2014-01-01

    Ceramic prostheses are subject to sliding contact under normal and tangential loads. Accurate prediction of the onset of fracture at two contacting surfaces holds the key to greater long-term performance of these prostheses. In this study, building on stress analysis of Hertzian contact and considering fracture criteria for linear elastic materials, a constitutive fracture mechanics relation was developed to incorporate the critical fracture load with the contact geometry, coefficient of friction and material fracture toughness. Critical loads necessary to cause fracture under a sliding indenter were calculated from the constitutive equation, and compared with the loads predicted from elastic stress analysis in conjunction with measured critical load for frictionless normal contact—a semi-empirical approach. The major predictions of the models were calibrated with experimentally determined critical loads of current and future dental ceramics after contact with a rigid spherical slider. Experimental results conform with the trends predicted by the models. PMID:24632538

  20. An Axial Sliding Test for machine elements surfaces

    DEFF Research Database (Denmark)

    Godi, Alessandro; Grønbæk, J.; Mohaghegh, Kamran

    2012-01-01

    are necessary: a press to provide the normal pressure and a tensile machine to perform the axial movements. The test is calibrated so that the correspondence between the normal pressure and the container advancement is found. Finally, preliminary tests are carried out involving a multifunctional and a fine......Throughout the years, it has become more and more important to find new methods for reducing friction and wear occurrence in machine elements. A possible solution is found in texturing the surfaces under tribological contact, hence the development and spread of plateau-honed surface for cylinder...... liners. To prove the efficacy of a particular textured surface, it is paramount to perform experimental tests under controlled laboratory conditions. In this paper a new test rig simulating pure sliding conditions is presented, dubbed Axial Sliding Test. It presents four major components: a rod, a sleeve...

  1. Multilevel model of polycrystalline materials: grain boundary sliding description

    Science.gov (United States)

    Sharifullina, E.; Shveykin, A.; Trusov, P.

    2017-12-01

    Material behavior description in a wide range of thermomechanical effects is one of the topical areas in mathematical modeling. Inclusion of grain boundary sliding as an important mechanism of polycrystalline material deformation at elevated temperatures and predominant deformation mechanism of metals and alloys in structural superplasticity allows to simulate various deformation regimes and their transitions (including superplasticity regime with switch-on and switch-off regimes). The paper is devoted to description of grain boundary sliding in structure of two-level model, based on crystal plasticity, and relations for determination the contribution of this mechanism to inelastic deformation. Some results are presented concerning computational experiments of polycrystalline representative volume deformation using developed model.

  2. Evidence of Self-Organized Criticality in Dry Sliding Friction

    Science.gov (United States)

    Zypman, Fredy R.; Ferrante, John; Jansen, Mark; Scanlon, Kathleen; Abel, Phillip

    2003-01-01

    This letter presents experimental results on unlubricated friction, which suggests that stick-slip is described by self-organized criticality (SOC). The data, obtained with a pin-on-disc tribometer examines the variation of the friction force as a function of time-or sliding distance. This is the first time that standard tribological equipment has been used to examine the possibility of SOC. The materials were matching pins and discs of aluminium loaded with 250, 500 and 1000 g masses, and matching M50 steel couples loaded with a 1000 g mass. An analysis of the data shows that the probability distribution of slip sizes follows a power law. We perform a careful analysis of all the properties, beyond the two just mentioned, which are required to imply the presence of SOC. Our data strongly support the existence of SOC for stick-slip in dry sliding friction.

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

    Energy Technology Data Exchange (ETDEWEB)

    Min, Fuhong, E-mail: minfuhong@njnu.edu.cn; Wang, Yaoda; Peng, Guangya; Wang, Enrong [School of Electrical and Automation Engineering, Nanjing Normal University, Jiangsu, 210042 (China)

    2016-08-15

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

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

    Directory of Open Access Journals (Sweden)

    Wei-Na ZHAI

    2013-04-01

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

  5. Development of Sliding Mode Controller for a Modified Boost Ćuk Converter Configuration

    Directory of Open Access Journals (Sweden)

    Sanjeevikumar Padmanaban

    2017-09-01

    Full Text Available This paper introduces a sliding mode control (SMC-based equivalent control method to a novel high output gain Ćuk converter. An additional inductor and capacitor improves the efficiency and output gain of the classical Ćuk converter. Classical proportional integral (PI controllers are widely used in direct current to direct current (DC-DC converters. However, it is a very challenging task to design a single PI controller operating in different loads and disturbances. An SMC-based equivalent control method which achieves a robust operation in a wide operation range is also proposed. Switching frequency is kept constant in appropriate intervals at different loading and disturbance conditions by implementing a dynamic hysteresis control method. Numerical simulations conducted in MATLAB/Simulink confirm the accuracy of analysis of high output gain modified Ćuk converter. In addition, the proposed equivalent control method is validated in different perturbations to demonstrate robust operation in wide operation range.

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

    Directory of Open Access Journals (Sweden)

    Hamed Navabi

    2017-01-01

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

  7. Adaptive fuzzy predictive sliding control of uncertain nonlinear systems with bound-known input delay.

    Science.gov (United States)

    Khazaee, Mostafa; Markazi, Amir H D; Omidi, Ehsan

    2015-11-01

    In this paper, a new Adaptive Fuzzy Predictive Sliding Mode Control (AFP-SMC) is presented for nonlinear systems with uncertain dynamics and unknown input delay. The control unit consists of a fuzzy inference system to approximate the ideal linearization control, together with a switching strategy to compensate for the estimation errors. Also, an adaptive fuzzy predictor is used to estimate the future values of the system states to compensate for the time delay. The adaptation laws are used to tune the controller and predictor parameters, which guarantee the stability based on a Lyapunov-Krasovskii functional. To evaluate the method effectiveness, the simulation and experiment on an overhead crane system are presented. According to the obtained results, AFP-SMC can effectively control the uncertain nonlinear systems, subject to input delays of known bound. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  8. A sliding windows approach to analyse the evolution of bank shares in the European Union

    Science.gov (United States)

    Ferreira, Paulo; Dionísio, Andreia; Guedes, Everaldo Freitas; Zebende, Gilney Figueira

    2018-01-01

    Both sub-prime and Eurozone debt crisis problems caused severe financial crisis, which affected European markets in general, but particularly the banking sector. The continuous devaluation of bank shares in the financial sector caused a great decrease in market capitalization, and in citizen and investor confidence. Panic among investors led them to sell shares, while other agents took the opportunity to buy them. Therefore, the study of bank shares is important, particularly of their efficiency. In this paper, adopting a sliding windows detrended fluctuation approach, we analyse the efficiency concept dynamically with 63 European banks (both in and outside the Eurozone). The main results show that the crisis had an effect on changing the efficiency pattern.

  9. Rubber friction on road surfaces: Experiment and theory for low sliding speeds

    Energy Technology Data Exchange (ETDEWEB)

    Lorenz, B.; Persson, B. N. J. [PGI, FZ Jülich, 52425 Jülich (Germany); Oh, Y. R.; Nam, S. K.; Jeon, S. H. [Hankook Tire Co. LTD., 112 Gajeongbuk-ro, Yuseong-gu, Daejeon 305-725 (Korea, Republic of)

    2015-05-21

    We study rubber friction for tire tread compounds on asphalt road surfaces. The road surface topographies are measured using a stylus instrument and atomic force microscopy, and the surface roughness power spectra are calculated. The rubber viscoelastic modulus mastercurves are obtained from dynamic mechanical analysis measurements and the large-strain effective modulus is obtained from strain sweep data. The rubber friction is measured at different temperatures and sliding velocities, and is compared to the calculated data obtained using the Persson contact mechanics theory. We conclude that in addition to the viscoelastic deformations of the rubber surface by the road asperities, there is an important contribution to the rubber friction from shear processes in the area of contact. The analysis shows that the latter contribution may arise from rubber molecules (or patches of rubber) undergoing bonding-stretching-debonding cycles as discussed in a classic paper by Schallamach.

  10. Active Power Factor Correction Using a Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Korhan KAYIŞLI

    2008-03-01

    Full Text Available In this paper, a sliding mode controller is designed for active shaping of the input current in the boost converter. Robustness of the designed controller is tested with variable output voltage references, different loads and network voltage variations. For the simulations, MATLAB/Simulink programme is used. From simulation results, the same phase was provided between input current and input voltage and nearly unity power factor was obtained.

  11. Recent advances in sliding modes from control to intelligent mechatronics

    CERN Document Server

    Efe, Mehmet

    2015-01-01

    This volume is dedicated to Professor Okyay Kaynak to commemorate his life time impactful research and scholarly achievements and outstanding services to profession. The 21 invited chapters have been written by leading researchers who, in the past, have had association with Professor Kaynak as either his students and associates or colleagues and collaborators. The focal theme of the volume is the Sliding Modes covering a broad scope of topics from theoretical investigations to their significant applications from Control to Intelligent Mechatronics.  

  12. Robust Position Control of a DC Motor by Sliding Mode

    Science.gov (United States)

    Mamani, Gabriela; Becedas, Jonathan; Batlle, Vicente Feliu

    The position of the DC motor is controlled by using a continuous sliding mode control (SMC), which is highly robust to the Coulomb friction torque and to high unknown payload variations, which involve changes in the rotational inertia of the motor shaft. The main contribution of the work is the experimentation of a SMC control which does not requires the knowledge of the payload variation range, i.e., the system is quite robust to any unknown change in the payload mass value.

  13. Gif 2011 school: neutrinos. Slides of the presentations

    International Nuclear Information System (INIS)

    Smirnov, A.; Pascoli, S.; Piquemal, F.; Lasserre, T.; Kouchner, A.; Patzak, T.; Lavignac, S.; Volpe, C.; Katsanevas, S.; Rubbia, A.

    2012-01-01

    This document gathers the slides of the lectures given at the GIF 2011 school. These lectures were pedagogical reviews of both theoretical and experimental physics around neutrino issues. There were 9 lectures: 1) the origin of the neutrino mass, 2) theory of neutrino oscillations, 3) measuring the neutrino mass, 4) measuring the neutrino oscillation parameters, 5) astronomy with neutrinos, 6) the story of the neutrino, 7) neutrinos beyond the standard model, 8) neutrinos in cosmology, and 9) future experiments. (A.C.)

  14. [A blood glucose slide chart for improving diabetes patient education].

    Science.gov (United States)

    Potteau, Marie-Hélène

    2015-03-01

    A blood glucose slide chart has been developed in order to help patients with type 2 diabetes who do not speak French or who have comprehension difficulties. Combined with pictograms to help patients visualise the action they need to take depending on the recorded glucose level, it constitutes a therapeutic education tool which can be useful on a day-to-day basis both for patients as well as caregivers.

  15. Fatigue resistant carbon coatings for rolling/sliding contacts

    Energy Technology Data Exchange (ETDEWEB)

    Singh, Harpal; Ramirez, Giovanni; Eryilmaz, Osman; Greco, Aaron; Doll, Gary; Erdemir, Ali

    2016-06-01

    The growing demands for renewable energy production have recently resulted in a significant increase in wind plant installation. Field data from these plants show that wind turbines suffer from costly repair, maintenance and high failure rates. Often times the reliability issues are linked with tribological components used in wind turbine drivetrains. The primary failure modes in bearings and gears are associated with micropitting, wear, brinelling, scuffing, smearing and macropitting all of which occur at or near the surface. Accordingly, a variety of surface engineering approaches are currently being considered to alter the near surface properties of such bearings and gears to prevent these tribological failures. In the present work, we have evaluated the tribological performance of compliant highly hydrogenated diamond like carbon coating developed at Argonne National Laboratory, under mixed rolling/sliding contact conditions for wind turbine drivetrain components. The coating was deposited on AISI 52100 steel specimens using a magnetron sputter deposition system. The experiments were performed on a PCS Micro-Pitting-Rig (MPR) with four material pairs at 1.79 GPa contact stress, 40% slide to roll ratio and in polyalphaolefin (PAO4) basestock oil (to ensure extreme boundary conditions). The post-test analysis was performed using optical microscopy, surface profilometry, and Raman spectroscopy. The results obtained show a potential for these coatings in sliding/rolling contact applications as no failures were observed with coated specimens even after 100 million cycles compared to uncoated pair in which they failed after 32 million cycles, under the given test conditions.

  16. Lempel-Ziv Compression in a Sliding Window

    DEFF Research Database (Denmark)

    Bille, Philip; Cording, Patrick Hagge; Fischer, Johannes

    2017-01-01

    We present new algorithms for the sliding window Lempel-Ziv (LZ77) problem and the approximate rightmost LZ77 parsing problem. Our main result is a new and surprisingly simple algorithm that computes the sliding window LZ77 parse in O(w) space and either O(n) expected time or O(n log log w + z log...... logσ) deterministic time. Here, w is the window size, n is the size of the input string, z is the number of phrases in the parse, and σ is the size of the alphabet. This matches the space and time bounds of previous results while removing constant size restrictions on the alphabet size. To achieve our...... result, we combine a simple modification and augmentation of the suffix tree with periodicity properties of sliding windows. We also apply this new technique to obtain an algorithm for the approximate rightmost LZ77 problem that uses O(n(log z + loglogn)) time and O(n) space and produces a (1 + ϵ...

  17. Ribosomes slide on lysine-encoding homopolymeric A stretches

    Science.gov (United States)

    Koutmou, Kristin S; Schuller, Anthony P; Brunelle, Julie L; Radhakrishnan, Aditya; Djuranovic, Sergej; Green, Rachel

    2015-01-01

    Protein output from synonymous codons is thought to be equivalent if appropriate tRNAs are sufficiently abundant. Here we show that mRNAs encoding iterated lysine codons, AAA or AAG, differentially impact protein synthesis: insertion of iterated AAA codons into an ORF diminishes protein expression more than insertion of synonymous AAG codons. Kinetic studies in E. coli reveal that differential protein production results from pausing on consecutive AAA-lysines followed by ribosome sliding on homopolymeric A sequence. Translation in a cell-free expression system demonstrates that diminished output from AAA-codon-containing reporters results from premature translation termination on out of frame stop codons following ribosome sliding. In eukaryotes, these premature termination events target the mRNAs for Nonsense-Mediated-Decay (NMD). The finding that ribosomes slide on homopolymeric A sequences explains bioinformatic analyses indicating that consecutive AAA codons are under-represented in gene-coding sequences. Ribosome ‘sliding’ represents an unexpected type of ribosome movement possible during translation. DOI: http://dx.doi.org/10.7554/eLife.05534.001 PMID:25695637

  18. Slide-position errors degrade machined optical component quality

    International Nuclear Information System (INIS)

    Arnold, J.B.; Steger, P.J.; Burleson, R.R.

    1975-01-01

    An ultraprecision lathe is being developed at the Oak Ridge Y-12 Plant to fabricate optical components for use in high-energy laser systems. The lathe has the capability to produce virtually any shape mirror which is symmetrical about an axis of revolution. Two basic types of mirrors are fabricated on the lathe, namely: (1) mirrors which are machined using a single slide motion (such as flats and cylinders), and (2) mirrors which are produced by two-coordinated slide motions (such as hyperbolic reflectors; large, true-radius reflectors, and other contoured-surface reflectors). The surface-finish quality of typical mirrors machined by a single axis of motion is better than 13 nm, peak to valley, which is an order of magnitude better than the surface finishes of mirrors produced by two axes of motion. Surface finish refers to short-wavelength-figure errors that are visibly detectable. The primary cause of the inability to produce significantly better surface finishes on contoured mirrors has been determined as positional errors which exist in the slide positioning systems. The correction of these errors must be accomplished before contoured surface finishes comparable to the flat and cylinder can be machined on the lathe

  19. Frictional Sliding Along Coulombic Shear Faults in Ice

    Science.gov (United States)

    Fortt, A. L.; Schulson, E. M.

    2006-12-01

    There is increasing evidence that the processes underlying the deformation of the arctic sea ice cover are independent of spatial scale. Among them, and possibly the dominant one during winter, is frictional sliding. With the objective of characterizing and then understanding this process, we performed a series of sliding experiments along Coulombic shear faults that were created in the laboratory in both S2 freshwater ice and S2 first-year arctic sea ice. The principal variables were sliding velocity (4 × 10-3 m s-1 to 8 × 10-7 m s-1, temperature (-3 °C, -10 °C and -40 °C) and confinement (up to 2 MPa). The results show that in both materials Coulomb's failure criterion describes the relationship between the shear stress along the fault and the normal stress across it. The friction coefficient reaches a maximum at an intermediate velocity, at ~ 10-5 m s-1 for the fresh-water material and at ~ 10-4 s-1 for the sea ice, and it increases with decreasing temperature. We propose that at lower velocities where velocity-strengthening is observed, frictional resistance is governed by creep deformation within the damage zone that constitutes the fault, while at higher velocities additional fracture and frictional melting are at play.

  20. Experimental Measurements of Prestressed Masonry with using Sliding Joint

    Directory of Open Access Journals (Sweden)

    Stara Marie

    2014-06-01

    Full Text Available Contribution deals with experimental measurements of deformations in the place exposed to local load caused by additional pre-stressing. The measurements are made at the masonry corner built in the laboratory equipment. The laboratory equipment was designed at Faculty of Civil Engineering VŠB-Technical University of Ostrava for measurement tri-axial stress-strain conditions in masonry. In this masonry corner two pre-stressing bars are placed. These bars are in different height and are anchored to the anchor plates, which transfer pre-stressing forces to the masonry. The specimen for laboratory testing is performed in the proportion to the reality of 1:1. In the bottom part masonry is inserted asphalt strip. It operates in the masonry like a sliding joint and reduces the shear stress at interface between concrete and masonry structures. The results are compared with the results of masonry without the use of sliding joints, including comment on the effect of sliding joints on the pre-stressing masonry structures.

  1. Dual light-emitting diode-based multichannel microscopy for whole-slide multiplane, multispectral and phase imaging.

    Science.gov (United States)

    Liao, Jun; Wang, Zhe; Zhang, Zibang; Bian, Zichao; Guo, Kaikai; Nambiar, Aparna; Jiang, Yutong; Jiang, Shaowei; Zhong, Jingang; Choma, Michael; Zheng, Guoan

    2018-02-01

    We report the development of a multichannel microscopy for whole-slide multiplane, multispectral and phase imaging. We use trinocular heads to split the beam path into 6 independent channels and employ a camera array for parallel data acquisition, achieving a maximum data throughput of approximately 1 gigapixel per second. To perform single-frame rapid autofocusing, we place 2 near-infrared light-emitting diodes (LEDs) at the back focal plane of the condenser lens to illuminate the sample from 2 different incident angles. A hot mirror is used to direct the near-infrared light to an autofocusing camera. For multiplane whole-slide imaging (WSI), we acquire 6 different focal planes of a thick specimen simultaneously. For multispectral WSI, we relay the 6 independent image planes to the same focal position and simultaneously acquire information at 6 spectral bands. For whole-slide phase imaging, we acquire images at 3 focal positions simultaneously and use the transport-of-intensity equation to recover the phase information. We also provide an open-source design to further increase the number of channels from 6 to 15. The reported platform provides a simple solution for multiplexed fluorescence imaging and multimodal WSI. Acquiring an instant focal stack without z-scanning may also enable fast 3-dimensional dynamic tracking of various biological samples. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  2. Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model

    Science.gov (United States)

    Kang, Shuo; Yan, Hao; Dong, Lijing; Li, Changchun

    2018-03-01

    This paper addresses the force tracking problem of electro-hydraulic load simulator under the influence of nonlinear friction and uncertain disturbance. A nonlinear system model combined with the improved generalized Maxwell-slip (GMS) friction model is firstly derived to describe the characteristics of load simulator system more accurately. Then, by using particle swarm optimization (PSO) algorithm ​combined with the system hysteresis characteristic analysis, the GMS friction parameters are identified. To compensate for nonlinear friction and uncertain disturbance, a finite-time adaptive sliding mode control method is proposed based on the accurate system model. This controller has the ability to ensure that the system state moves along the nonlinear sliding surface to steady state in a short time as well as good dynamic properties under the influence of parametric uncertainties and disturbance, which further improves the force loading accuracy and rapidity. At the end of this work, simulation and experimental results are employed to demonstrate the effectiveness of the proposed sliding mode control strategy.

  3. Effects of lag screw design and lubrication on sliding in trochanteric nails.

    Science.gov (United States)

    Kummer, Frederick J

    2010-01-01

    This study compared the sliding characteristics of three lag screw designs used with trochanteric nails and determined the effects of lubrication on sliding. They were tested by an established method to measure initiation and ease of lag screw sliding. These tests were then repeated with calf serum lubrication. There were significant differences (p Lubrication did not affect either parameter. Lag screw design aspects, such as diameter and, particularly, surface finish, affect sliding. Due to the small contact area between the lag screw and nail creating high interface stresses, lubrication had no effect on lag screw sliding.

  4. Slide Valves for Single-Screw Expanders Working Under Varied Operating Conditions

    Directory of Open Access Journals (Sweden)

    Yuting Wu

    2016-06-01

    Full Text Available This paper fully describes the working principle of slide valves in single-screw expanders (SSEs. A geometric analysis of suction and volume ratio slide valves is presented to determine the relations between volume ratio, suction closure volume, discharge opening volume and slide valves displacement. An organic Rankine cycle (ORC thermodynamic model with SSE integrated with slide valves is developed to analyze the power output of SSE and the net power output of ORC system and variation law of slide valves displacement. Analysis of a typical ORC system under changing operating conditions shows that the power output of the expander and the net output power of the ORC system with slide valves are much better than those without slide valves. When the condensing temperature is 40 °C and the waste availability is 80 kW, the increase in output power and net output power are approximately 3.4 kW and 5 kW, respectively. The presented geometric analysis of slide valves and the thermodynamic model integrated with slide valves can be used to provide a theoretical and technical basis for designing the slide valves of SSEs and the control strategies of slide valves under varied operating conditions.

  5. Adaptive Synchronization for Two Different Stochastic Chaotic Systems with Unknown Parameters via a Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Zengyun Wang

    2013-01-01

    Full Text Available This paper investigates the problem of synchronization for two different stochastic chaotic systems with unknown parameters and uncertain terms. The main work of this paper consists of the following aspects. Firstly, based on the Lyapunov theory in stochastic differential equations and the theory of sliding mode control, we propose a simple sliding surface and discuss the occurrence of the sliding motion. Secondly, we design an adaptive sliding mode controller to realize the asymptotical synchronization in mean squares. Thirdly, we design an adaptive sliding mode controller to realize the almost surely synchronization. Finally, the designed adaptive sliding mode controllers are used to achieve synchronization between two pairs of different stochastic chaos systems (Lorenz-Chen and Chen-Lu in the presence of the uncertainties and unknown parameters. Numerical simulations are given to demonstrate the robustness and efficiency of the proposed robust adaptive sliding mode controller.

  6. Lateral-torsional response of base-isolated buildings with curved surface sliding system subjected to near-fault earthquakes

    Science.gov (United States)

    Mazza, Fabio

    2017-08-01

    The curved surface sliding (CSS) system is one of the most in-demand techniques for the seismic isolation of buildings; yet there are still important aspects of its behaviour that need further attention. The CSS system presents variation of friction coefficient, depending on the sliding velocity of the CSS bearings, while friction force and lateral stiffness during the sliding phase are proportional to the axial load. Lateral-torsional response needs to be better understood for base-isolated structures located in near-fault areas, where fling-step and forward-directivity effects can produce long-period (horizontal) velocity pulses. To analyse these aspects, a six-storey reinforced concrete (r.c.) office framed building, with an L-shaped plan and setbacks in elevation, is designed assuming three values of the radius of curvature for the CSS system. Seven in-plan distributions of dynamic-fast friction coefficient for the CSS bearings, ranging from a constant value for all isolators to a different value for each, are considered in the case of low- and medium-type friction properties. The seismic analysis of the test structures is carried out considering an elastic-linear behaviour of the superstructure, while a nonlinear force-displacement law of the CSS bearings is considered in the horizontal direction, depending on sliding velocity and axial load. Given the lack of knowledge of the horizontal direction at which near-fault ground motions occur, the maximum torsional effects and residual displacements are evaluated with reference to different incidence angles, while the orientation of the strongest observed pulses is considered to obtain average values.

  7. Robust tracking control of a unicycle-type wheeled mobile manipulator using a hybrid sliding mode fuzzy neural network

    Science.gov (United States)

    Cheng, Meng-Bi; Su, Wu-Chung; Tsai, Ching-Chih

    2012-03-01

    This article presents a robust tracking controller for an uncertain mobile manipulator system. A rigid robotic arm is mounted on a wheeled mobile platform whose motion is subject to nonholonomic constraints. The sliding mode control (SMC) method is associated with the fuzzy neural network (FNN) to constitute a robust control scheme to cope with three types of system uncertainties; namely, external disturbances, modelling errors, and strong couplings in between the mobile platform and the onboard arm subsystems. All parameter adjustment rules for the proposed controller are derived from the Lyapunov theory such that the tracking error dynamics and the FNN weighting updates are ensured to be stable with uniform ultimate boundedness (UUB).

  8. Sliding Mode Cooperative Control for Multirobot Systems: A Finite-Time Approach

    Directory of Open Access Journals (Sweden)

    Masood Ghasemi

    2013-01-01

    Full Text Available Finite-time stability in dynamical systems theory involves systems whose trajectories converge to an equilibrium state in finite time. In this paper, we use the notion of finite-time stability to apply it to the problem of coordinated motion in multiagent systems. We consider a group of agents described by Euler-Lagrange dynamics along with a leader agent with an objective to reach and maintain a desired formation characterized by steady-state distances between the neighboring agents in finite time. We use graph theoretic notions to characterize communication topology in the network determined by the information flow directions and captured by the graph Laplacian matrix. Furthermore, using sliding mode control approach, we design decentralized control inputs for individual agents that use only data from the neighboring agents which directly communicate their state information to the current agent in order to drive the current agent to the desired steady state. We further extend these results to multiagent systems involving underactuated dynamical agents such as mobile wheeled robots. For this case, we show that while the position variables can be coordinated in finite time, the orientation variables converge to the steady states asymptotically. Finally, we validate our results experimentally using a wheeled mobile robot platform.

  9. Geo-structural modelling for potential large rock slide in Machu Picchu

    Science.gov (United States)

    Spizzichino, D.; Delmonaco, G.; Margottini, C.; Mazzoli, S.

    2009-04-01

    blocks with dimensions variable from 10-1 to 102m3 that form the toe accumulation on steeper slopes. The area of the citadel has also been interpreted as affected by a deep mass movement (>100m) that, if confirmed by the present day monitoring systems, could be referred to a deep-seated gravitational slope deformation (DSGSD), probably of the type of the compound bi-planar sagging (CB) described by Hutchinson (1988). The analysis of active strain processes (e.g. tension cracks) along with the damage pattern surveyed on archaeological structures (e.g. sinking, swelling, tilting) suggest that the potential failure of a large rock slide may be located at a depth of ca. 30m. The various data sets have been integrated in order to obtain a general geo-structural and geotechnical model (strength and deformation parameters, seismic input) of the citadel at the slope scale. This represents a first step in implementing a slope stability analysis capable of reconstructing present and potential landslide evolution under static and dynamic conditions. This multi-discipline study, based on geological and structural analysis integrated with geotechnical and geomechanical interpretation, will aid defining actual landslide hazard and risk levels, indispensable for the design of low impact mitigation measures to be applied at Machu Picchu Citadel.

  10. The hunt for sliding planes in a phyllitic rock slide in Western Norway using airborne electromagnetic mapping

    Science.gov (United States)

    Aspmo Pfaffhuber, Andreas; Grimstad, Eystein; Domaas, Ulrik; Auken, Esben; Halkjær, Max

    2010-05-01

    The inner Aurland fjord and the adjacent Flåm valley (Western Norway) are subject to a potential rock slide comprised of creeping rock- and debris masses. From repeated GPS measurements we understand that rock and debris movements are constrained by precipitation and snow melt. Based on this assumption the local municipality and regional hydroelectricity company are evaluating the option to drain the unstable area with a more than 10 km long drainage tunnel to a nearby hydropower reservoir. We conducted an airborne electromagnetic (AEM) mapping survey to find indications for the sliding planes and to assess the tunnel corridor for potential tunneling hazard areas. Unstable rock areas some 1.000 meters above seawater have been mapped as massive phyllite intercepted by numerous tension cracks opening up to several meters. Field observations also point out that significant amounts of surface water in streams on the mountain plateau disappear in some of these cracks and surface again several hundred meters down the slope. Potentially sliding planes provide the water pathways and the changes in water pressure can cause instability. As the phyllite will weather to fine grained clay the water saturated sliding planes should be an ideal target for AEM as they are very conductive (1-10 Ohm*m) in comparison to the resistive undisturbed phyllite or nearby gneiss (> 1.000 Ohm*m). From our first AEM data interpretation we find widespread areas with high conductivity, which are most likely caused by either water saturated, fine grained sliding planes or fault zones at the phyllite / gneiss interface. At this point, financing for drilling is pending to transform the geophysical maps to a firm geological model. Based on the AEM results, we are formulating a joint research program involving detailed hydrological investigations, monitoring of formation water pressure, movements, meteorology, more detailed structural mapping and geophysical ground follow up of the airborne data. We

  11. Three-dimensional (3D) plasma micro-nanotextured slides for high performance biomolecule microarrays: Comparison with epoxy-silane coated glass slides.

    Science.gov (United States)

    Tsougeni, Katerina; Ellinas, Kosmas; Koukouvinos, George; Petrou, Panagiota S; Tserepi, Angeliki; Kakabakos, Sotirios E; Gogolides, Evangelos

    2018-02-25

    Glass slides coated with a poly(methyl methacrylate) layer and plasma micro-nanotextured to acquire 3D topography (referred as 3D micro-nanotextured slides) were evaluated as substrates for biomolecule microarrays. Their performance is compared with that of epoxy-coated glass slides. We found that the proposed three-dimensional (3D) slides offered significant improvements in terms of spot intensity, homogeneity, and reproducibility. In particular, they provided higher spot intensity, by a factor of at least 1.5, and significantly improved spot homogeneity when compared to the epoxy-silane coated ones (intra-spot and between spot coefficients of variation ranging between 5 and 15% for the 3D micro-nanotextured slides and between 25 and 85% for the epoxy-silane coated ones). The latter was to a great extent the result of a strong "coffee-ring" effect observed for the spots created on the epoxy-coated slides; a phenomenon that was severely reduced in the 3D micro-nanotextured slides. The 3D micro-nanotextured slides offered in addition higher signal to noise ratio values over a wide range of protein probe concentrations and shelf-life over one year without requirement for specific storage conditions. Finally, the protocols employed for protein probe immobilization were extremely simple. Copyright © 2018 Elsevier B.V. All rights reserved.

  12. Surface charging, discharging and chemical modification at a sliding contact

    International Nuclear Information System (INIS)

    Singh, S. V.; Kusano, Y.; Morgen, P.; Michelsen, P. K.

    2012-01-01

    Electrostatic charging, discharging, and consequent surface modification induced by sliding dissimilar surfaces have been studied. The surface-charge related phenomena were monitored by using a home-built capacitive, non-contact electrical probe, and the surface chemistry was studied by X-ray photoelectron spectroscopy (XPS). The experiments were performed on the disk surface of a ball-on-rotating-disk apparatus; using a glass disk and a Teflon (polytetrafluoroethylene) ball arrangement, and a polyester disks and a diamondlike carbon (DLC) coated steel ball arrangement. The capacitive probe is designed to perform highly resolved measurements, which is sensitive to relative change in charge density on the probed surface. For glass and Teflon arrangement, electrical measurements show that the ball track acquires non-uniform charging. Here not only the increase in charge density, but interestingly, increase in number of highly charged regions on the ball track was resolved. Threefold increase in the number of such highly charged regions per cycle was detected immediately before the gas breakdown-like incidences compared to that of other charge/discharge incidences at a fixed disk rotation speed. We are also able to comment on the behavior and the charge decay time in the ambient air-like condition, once the sliding contact is discontinued. XPS analysis showed a marginal deoxidation effect on the polyester disks due to the charging and discharging of the surfaces. Moreover, these XPS results clearly indicate that the wear and friction (sliding without charging) on the surface can be discarded from inducing such a deoxidation effect.

  13. Effects of different ligature materials on friction in sliding mechanics.

    Science.gov (United States)

    Khamatkar, Aparna; Sonawane, Sushma; Narkhade, Sameer; Gadhiya, Nitin; Bagade, Abhijit; Soni, Vivek; Betigiri, Asha

    2015-05-01

    During orthodontic tooth movement friction occurs at the bracket wire interface. Out of the total force applied to the tooth movement, some of it is dissipated as friction, and the remainder is transferred to the supporting structures of the tooth to mediate tooth movement. However many factors affect friction, and method of arch wire ligation being an important contributing factor. Hence, this study was carried out to evaluate the effects of different ligature materials on friction in sliding mechanics and to compare the effect of environment (dry and wet) on friction produced in sliding mechanics. The evaluation of friction between the bracket and the archwire consisted of a simulated half arch fixed appliance with archwire ligated in a vertical position. Four 0.022" maxillary stainless steel premolar brackets having a - 0° torque and 0° angulation were aligned with a 0.019" × 0.025" stainless steel arch wire onto a rigid Plexiglass sheet. The movable test bracket was fitted with a 10 mm long, 0.045" thick stainless steel power arm on the bonding surface. Testing was performed on a Hounsfield material testing machine. A total of 100 g weight was suspended from the power arm and the load needed to move the bracket over the distance of not material and environment significantly affected the degree of friction generated during sliding mechanics. Teflon coated stainless steel ligatures produced the least friction among the materials tested in both dry and wet conditions and there was no significant effect on friction in this group caused due to lubrication.

  14. Application of grey-taguchi method for optimization of dry sliding wear properties of aluminum MMCs

    Science.gov (United States)

    Siriyala, Rajesh; Alluru, Gopala Krishna; Penmetsa, Rama Murthy Raju; Duraiselvam, Muthukannan

    2012-09-01

    Through a pin-on-disc type wear setup, the dry sliding wear behavior of SiC-reinforced aluminum composites produced using the molten metal mixing method was investigated in this paper. Dry sliding wear tests were carried on SiC-reinforced metal matrix composites (MMCs) and its matrix alloy sliding against a steel counter face. Different contact stresses, reinforcement percentages, sliding distances, and sliding velocities were selected as the control variables, and the responses were selected as the wear volume loss (WVL) and coefficient of friction (COF) to evaluate the dry sliding performance. An L25 orthogonal array was employed for the experimental design. Initially, the optimization of the dry sliding performance of the SiC-reinforced MMCs was performed using grey relational analysis (GRA). Based on the GRA, the optimum level parameters for overall grey relational grade in terms of WVL and COF were identified. Analysis of variance was performed to determine the effect of individual factors on the overall grey relational grade. The results indicated that the sliding velocity was the most effective factor among the control parameters on dry sliding wear, followed by the reinforcement percentage, sliding distance, and contact stress. Finally, the wear surface morphology and wear mechanism of the composites were investigated through scanning electron microscopy.

  15. A technigue exploitation about anti-slide tire polyploid on ice-snow road in winter

    Science.gov (United States)

    Xiaojie, Qi; Qiang, Wang; Zhao, Yang; Yunlong, Wang; Guotian, Wang; Degang, Lv

    2017-04-01

    Present studies focus on improving anti-slide property of tyes on ice-snow road by changing material modification of tyre tread and designing groove. However, the basic reason causing starting slide, long braking distance, turning slide slip and so on of tyres used in winter is that tyre tread materials are unitary and homogenous rubber composite which can’t coordinate driving demands of tyres in winter under muti-work condition, and can’t exert their best property when starting, braking and sliding slip. In order to improve comprehensive anti-slide property of tyres, this paper discusses about changing structure, shape and distribution proportion among haploid materials of tyre tread rubber. Polyploid bubber tyre tread technique based on artificial neural network which is in favor of starting, braking and anti-slide slip is optimized and combined. Friction feature and anti-slide mechanism on ice-snow road of polyploid rubber tyre tread are studied using testing technique of low-temperature cabin and computer simulation. A set high anti-slide theories and realizing method systems of polyploid rubber composite formed from basic theory, models and technique method are developped which will be applied into solving anti-slide problem of winter tyres, provide theory instruction for studies on high anti-slide winter tyres, and promote development of application and usage safety of winter tyres.

  16. Morphologic and sedimentologic characteristics of continental slope box slides offshore Fraser Island, Queensland, Australia

    Science.gov (United States)

    Fletcher, Melissa; Hubble, Thomas; Clarke, Samantha; Airey, David; Yu, Phyllis; Southern Surveyor V01-2013, Scientific Party RV

    2014-05-01

    The Fraser Island Slide complex is located on eastern Australia's continental slope offshore Fraser Island in southern Queensland. Morphologic, sedimentologic and geomechanical properties data for two submarine landslides, the 'North Fraser Island Upper Slope Slide' (upper slope slide) and the 'Fraser Island Middle Slope Slide' (middle slope slide) are described. Both of these features are box-shaped, slide scars from which rectangular slabs of material have been shed. The upper slope slide is situated at a water depth of approximately 750 m at the northern end of the Fraser Canyon. The head of this slide has apparently detached from a structural surface comprised of a Miocene reef complex located beneath the continental shelf edge; this slide is estimated to be 25 square kilometres in area and an average of 100m thick. The middle slope slide is situated in 1500 m of water at the southern end of the Fraser Canyon. It estimated to be 12 square kilometres in area and 50 m thick. Cores taken in the continental slope within both slides are long (upper slope 5.65 m, middle slope 3.64 m) and are dominantly comprised of hemipelagic mud. Cores taken adjacent to both slides are short (upper slope 1.33m, middle slope 0.43m) and terminate in stiff muds of suspected Miocene or Pliocene age. Additionally, the 1.33 m core on the slope adjacent to the upper slide presents a near surface layer of upper-fining of coarse to fine shelly sand which we interpret to be a turbidite deposit, this layer was deposited within hemipelagic muds which are ubiquitously present on the upper eastern Australian Continental Slope in New South Wales and Southern Queensland.

  17. SPIRAL2 Week 2012 - Slides of the presentations

    International Nuclear Information System (INIS)

    Staley, F.; Jacquemet, M.; Lewitowicz, M.; Bertrand, P.; Tuske, O.; Caruso, A.; Leyge, J.F.; Perrot, L.; Di Giacomo, M.; Ausset, P.; Moscatello, M.H.; Savalle, A.; Rannou, B.; Lambert, M.; Petit, E.; Hulin, X.; Barre-Boscher, N.; Tusseau-Nenez, S.; Tecchio, L.B.

    2013-01-01

    The main goal of the 5. edition of the SPIRAL2 Week is to present and discuss the current status of the SPIRAL2 project in front of a large community of scientists and engineers. The program of the meeting will include presentations on scientific and technical developments related to the baseline project, experiments and theory. The main topics to be discussed at the conference are: -) physics and detectors at SPIRAL2, -) driver accelerators, -) production of radioactive ion beams (RIB), -) safety, -) buildings and infrastructure, -) RIB facilities worldwide, and -) SPIRAL2 preparatory phase. This document is made up of the slides of the presentations

  18. Feasible homopolar dynamo with sliding liquid-metal contacts

    OpenAIRE

    Priede, Jānis; Avalos-Zúñiga, Raúl

    2013-01-01

    We present a feasible homopolar dynamo design consisting of a flat, multi-arm spiral coil, which is placed above a fast-spinning metal ring and connected to the latter by sliding liquid-metal electrical contacts. Using a simple, analytically solvable axisymmetric model, we determine the optimal design of such a setup. For small contact resistance, the lowest magnetic Reynolds number, Rm~34.6, at which the dynamo can work, is attained at the optimal ratio of the outer and inner radii of the ri...

  19. Geant4 2005 10. user conference and collaboration workshop. Slides

    International Nuclear Information System (INIS)

    Maire, M.; Amako, K.; Agapov, I.; Allison, J.; Amako, K.; Anah, J.; Apostolakis, J.; Asai, M.; Aso, T.; Barrand, G.; Becheva, E.; Berthoumieux, E.; Bongrand, M.; Boudard, A.; Canchel, G.; Capra, R.; Carlier, Th.; Chambon, P.; Chipaux, R.; Cognet, M.A.; Cornelius, I.; Cosmo, G.; Beenhouwer, J. de; Derreumaux, S.; Desbree, A.; Descourt, P.; Dridi, W.; Ersmark, T.; Faddegon, B.; Ferrer, L.; Flacco, A.; Folger, G.; Francis, S.; Giovinazzo, J.; Glinec, Y.; Godart, J.; Goncalves, P.; Gottschlag, H.; Grichine, V.; Guatelli, S.; Gudowska, I.; Guemnie Tafo, A.; Gueye, P.; Gumplinger, P.; Gurriaran, R.; Hannachi, F.; Heikkinen, A.; Hill, D.; Honore, P.F.; Howard, A.; Hrivnacova, I.; Hubert, X.; Incerti, S.; Ivanchenko, V.; Jacquemier, J.; Jones, F.; Kerhoas-Cavata, S.; Klem, J.; Koi, T.; Kosov, M.; Labalme, M.; Lang, N.; Lemercier, M.; Lemiere, Y.; Leroy, P.; Link, O.; Liu, B.; Lydon, J.; Maire, M.; Marchand, D.; Marquet, Ch.; Mascialino, B.; Matea, I.; Mccormick, J.; Mclaren, I.; Merchant, M.; Miceli, A.; Mine, Ph.; Moretto, Ph.; Mount, R.; Murakami, K.; Nachab, H.; Nehmeh, S.; Nieminen, P.; Paganetti, H.; Pallon, J.; Pandola, L.; Perl, J.; Perrot, F.; Pia Maria, G.; Piqueras, I.; Pouthier, Th.; Pshenichnov, I.; Raaijmakers, A.; Raaymakers, B.; Reuillon, R.; Ribon, A.; Rodrigues, P.; Rogel, G.; Salehzahi, F.; Santin, G.; Sasaki, T.; Schubert, M.; Seznec, H.; Shipley, D.; Skaza, F.; Thiam Cheick, O.; Tome, B.; Traneus, E.; Trindade, A.; Truscott, P.; Vacanti, G.; Verderi, M.; Watase, Y.; Wright, D.; Yarba, J.; Yoshida, H.; Zacharatou-Jarlskog, Ch.; Zhang, Q.

    2005-01-01

    Originally developed for the simulation of large scale particle physics experiments, the field of applications of the conferences Geant4 is growing fast worldwide especially at the physics medicine biology frontier. In this framework the 2005 Geant4 conference was dedicated to simulations with a strong interest at the physics medicine biology frontier. In particular the following topics were discussed: review of simulation applications for medicine, validation of Geant4 models for medical physics, simulation of radiotherapy and irradiation setups, treatment planning in radiotherapy, dosimetry, parallelization, imaging techniques, data handling, related GRID developments and applications and the Geant4 DNA project with related Monte Carlo tools. Slides are provided. (A.L.B.)

  20. Modified sliding mechanics in extraction cases with a bidimensional approach.

    Science.gov (United States)

    Giancotti, Aldo; Greco, Mario

    2010-01-01

    To illustrate a modified archwire during space closure with anterior anchorage in Bidimensional Tecnique. The archwire used was a .018x.025 SS on the anterior teeth and .018 SS on the lateral and posterior teeth in order to maintain anterior anchorage using torque and uprighting springs as showed in Bidmensional Technique but exerting lighter forces (150 g). The double section archwire resulted to be an effective alternative option to optimize the lateral and posterior sliding mechanics with controlled tipping and by the application of lighter forces. Copyright © 2010 Società Italiana di Ortodonzia SIDO. Published by Elsevier Srl. All rights reserved.

  1. Geant4 2005 10. user conference and collaboration workshop. Slides

    Energy Technology Data Exchange (ETDEWEB)

    Maire, M.; Amako, K.; Agapov, I.; Allison, J.; Amako, K.; Anah, J.; Apostolakis, J.; Asai, M.; Aso, T.; Barrand, G.; Becheva, E.; Berthoumieux, E.; Bongrand, M.; Boudard, A.; Canchel, G.; Capra, R.; Carlier, Th.; Chambon, P.; Chipaux, R.; Cognet, M.A.; Cornelius, I.; Cosmo, G.; Beenhouwer, J. de; Derreumaux, S.; Desbree, A.; Descourt, P.; Dridi, W.; Ersmark, T.; Faddegon, B.; Ferrer, L.; Flacco, A.; Folger, G.; Francis, S.; Giovinazzo, J.; Glinec, Y.; Godart, J.; Goncalves, P.; Gottschlag, H.; Grichine, V.; Guatelli, S.; Gudowska, I.; Guemnie Tafo, A.; Gueye, P.; Gumplinger, P.; Gurriaran, R.; Hannachi, F.; Heikkinen, A.; Hill, D.; Honore, P.F.; Howard, A.; Hrivnacova, I.; Hubert, X.; Incerti, S.; Ivanchenko, V.; Jacquemier, J.; Jones, F.; Kerhoas-Cavata, S.; Klem, J.; Koi, T.; Kosov, M.; Labalme, M.; Lang, N.; Lemercier, M.; Lemiere, Y.; Leroy, P.; Link, O.; Liu, B.; Lydon, J.; Maire, M.; Marchand, D.; Marquet, Ch.; Mascialino, B.; Matea, I.; Mccormick, J.; Mclaren, I.; Merchant, M.; Miceli, A.; Mine, Ph.; Moretto, Ph.; Mount, R.; Murakami, K.; Nachab, H.; Nehmeh, S.; Nieminen, P.; Paganetti, H.; Pallon, J.; Pandola, L.; Perl, J.; Perrot, F.; Pia Maria, G.; Piqueras, I.; Pouthier, Th.; Pshenichnov, I.; Raaijmakers, A.; Raaymakers, B.; Reuillon, R.; Ribon, A.; Rodrigues, P.; Rogel, G.; Salehzahi, F.; Santin, G.; Sasaki, T.; Schubert, M.; Seznec, H.; Shipley, D.; Skaza, F.; Thiam Cheick, O.; Tome, B.; Traneus, E.; Trindade, A.; Truscott, P.; Vacanti, G.; Verderi, M.; Watase, Y.; Wright, D.; Yarba, J.; Yoshida, H.; Zacharatou-Jarlskog, Ch.; Zhang, Q

    2005-07-01

    Originally developed for the simulation of large scale particle physics experiments, the field of applications of the conferences Geant4 is growing fast worldwide especially at the physics medicine biology frontier. In this framework the 2005 Geant4 conference was dedicated to simulations with a strong interest at the physics medicine biology frontier. In particular the following topics were discussed: review of simulation applications for medicine, validation of Geant4 models for medical physics, simulation of radiotherapy and irradiation setups, treatment planning in radiotherapy, dosimetry, parallelization, imaging techniques, data handling, related GRID developments and applications and the Geant4 DNA project with related Monte Carlo tools. Slides are provided. (A.L.B.)

  2. A sliding mode observer for hemodynamic characterization under modeling uncertainties

    KAUST Repository

    Zayane, Chadia

    2014-06-01

    This paper addresses the case of physiological states reconstruction in a small region of the brain under modeling uncertainties. The misunderstood coupling between the cerebral blood volume and the oxygen extraction fraction has lead to a partial knowledge of the so-called balloon model describing the hemodynamic behavior of the brain. To overcome this difficulty, a High Order Sliding Mode observer is applied to the balloon system, where the unknown coupling is considered as an internal perturbation. The effectiveness of the proposed method is illustrated through a set of synthetic data that mimic fMRI experiments.

  3. SPIRAL2 Week 2011 - Slides of the presentations

    International Nuclear Information System (INIS)

    Gales, S.; Jacquemet, M.; Lewitowicz, M.; Petit, E.; Biarrote, J.L.; Uriot, D.; Thuillier, T.; Peaucelle, C.; Barue, C.; Van Hille, C.; Bernaudin, P.E.; Galdemard, P.; Ausset, P.; Dolegieviez, P.; Levallois, R.; Marchetto, M.; Pasini, M.; Quiclet, M.; Danna, O.; Lunney, D.; Di Giacomo, M.

    2013-01-01

    The main goal of the meeting is to present and discuss the current status of the SPIRAL2 project at GANIL in front of a large community of scientists and engineers. The program of the meeting will include presentations on scientific and technical developments related to the baseline project, experiments and theory. The main topics to be discussed at the conference have been: -) Driver Accelerators, -) Production of radioactive ion beams (RIB), -) Safety, -) RIB Facilities Worldwide (FAIR, Riken Nishina Center, SPES project, FRIB project) -) FP7 SPIRAL2 Preparatory Phase, -) Experiments with RIB and Theory. This document is made up of the slides of the presentations

  4. Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results

    Directory of Open Access Journals (Sweden)

    U. Jørgensen

    2011-07-01

    Full Text Available In this paper we present the design of a sliding mode controller for attitude control of spacecraft actuated by three orthogonal reaction wheels. The equilibrium of the closed loop system is proved to be asymptotically stable in the sense of Lyapunov. Due to cases where spacecraft do not have angular velocity measurements, an estimator for the generalized velocity is derived and asymptotic stability is proven for the observer. The approach is tested on an experimental platform with a sphere shaped Autonomous Underwater Vehicle SATellite: AUVSAT, developed at the Norwegian University of Science and Technology.

  5. Rolling motion: experiments and simulations focusing on sliding friction forces

    International Nuclear Information System (INIS)

    Onorato, P.; Malgieri, M.; De Ambrosis, A.

    2015-01-01

    The paper presents an activity sequence aimed at elucidating the role of sliding friction forces in determining/shaping the rolling motion. The sequence is based on experiments and computer simulations and it is devoted both to high school and undergraduate students. Measurements are carried out by using the open source Tracker Video Analysis software, while interactive simulations are realized by means of Algodoo, a freeware 2D-simulation software. Data collected from questionnaires before and after the activities, and from final reports, show the effectiveness of combining simulations and Video Based Analysis experiments in improving students’ understanding of rolling motion.

  6. Risk Analysis for Unintentional Slide Deployment During Airline Operations.

    Science.gov (United States)

    Ayra, Eduardo S; Insua, David Ríos; Castellanos, María Eugenia; Larbi, Lydia

    2015-09-01

    We present a risk analysis undertaken to mitigate problems in relation to the unintended deployment of slides under normal operations within a commercial airline. This type of incident entails relevant costs for the airline industry. After assessing the likelihood and severity of its consequences, we conclude that such risks need to be managed. We then evaluate the effectiveness of various countermeasures, describing and justifying the chosen ones. We also discuss several issues faced when implementing and communicating the proposed measures, thus fully illustrating the risk analysis process. © 2015 Society for Risk Analysis.

  7. Adaptive Fractional Fuzzy Sliding Mode Control for Multivariable Nonlinear Systems

    Directory of Open Access Journals (Sweden)

    Junhai Luo

    2014-01-01

    Full Text Available This paper presents a robust adaptive fuzzy sliding mode control method for a class of uncertain nonlinear systems. The fractional order calculus is employed in the parameter updating stage. The underlying stability analysis as well as parameter update law design is carried out by Lyapunov based technique. In the simulation, two examples including a comparison with the traditional integer order counterpart are given to show the effectiveness of the proposed method. The main contribution of this paper consists in the control performance is better for the fractional order updating law than that of traditional integer order.

  8. How a DNA polymerase clamp loader opens a sliding clamp

    OpenAIRE

    Kelch, Brian A.; Makino, Debora L.; O’Donnell, Mike; Kuriyan, John

    2011-01-01

    Processive chromosomal replication relies on sliding DNA clamps, which are loaded onto DNA by pentameric clamp loader complexes belonging to the AAA+ family of ATPases. We present structures for the ATP-bound state of the clamp loader complex from bacteriophage T4, bound to an open clamp and primer-template DNA. The clamp loader traps a spiral conformation of the open clamp so that both the loader and the clamp match the helical symmetry of DNA. One structure reveals that ATP has been hydroly...

  9. Sliding motion modulates stiffness and friction coefficient at the surface of tissue engineered cartilage.

    Science.gov (United States)

    Grad, S; Loparic, M; Peter, R; Stolz, M; Aebi, U; Alini, M

    2012-04-01

    Functional cartilage tissue engineering aims to generate grafts with a functional surface, similar to that of authentic cartilage. Bioreactors that stimulate cell-scaffold constructs by simulating natural joint movements hold great potential to generate cartilage with adequate surface properties. In this study two methods based on atomic force microscopy (AFM) were applied to obtain information about the quality of engineered graft surfaces. For better understanding of the molecule-function relationships, AFM was complemented with immunohistochemistry. Bovine chondrocytes were seeded into polyurethane scaffolds and subjected to dynamic compression, applied by a ceramic ball, for 1h daily [loading group 1 (LG1)]. In loading group 2 (LG2), the ball additionally oscillated over the scaffold, generating sliding surface motion. After 3 weeks, the surfaces of the engineered constructs were analyzed by friction force and indentation-type AFM (IT-AFM). Results were complemented and compared to immunohistochemical analyses. The loading type significantly influenced the mechanical and histological outcomes. Constructs of LG2 exhibited lowest friction coefficient and highest micro- and nanostiffness. Collagen type II and aggrecan staining were readily observed in all constructs and appeared to reach deeper areas in loaded (LG1, LG2) compared to unloaded scaffolds. Lubricin was specifically detected at the top surface of LG2. This study proposes a quantitative AFM-based functional analysis at the micrometer- and nanometer scale to evaluate the quality of cartilage surfaces. Mechanical testing (load-bearing) combined with friction analysis (gliding) can provide important information. Notably, sliding-type biomechanical stimuli may favor (re-)generation and maintenance of functional articular surfaces and support the development of mechanically competent engineered cartilage. Copyright © 2012 Osteoarthritis Research Society International. Published by Elsevier Ltd. All rights

  10. Experimental Analysis of Grease Friction Properties on Sliding Textured Surfaces

    Directory of Open Access Journals (Sweden)

    Xijun Hua

    2017-10-01

    Full Text Available There is comprehensive work on the tribological properties and lubrication mechanisms of oil lubricant used on textured surfaces, however the use of grease lubrication on textured surfaces is rather new. This research article presents an experimental study of the frictional behaviours of grease lubricated sliding contact under mixed lubrication conditions. The influences of surface texture parameters on the frictional properties were investigated using a disc-on-ring tribometer. The results showed that the friction coefficient is largely dependent on texture parameters, with higher and lower texture density resulting in a higher friction coefficient at a fixed texture depth. The sample with texture density of 15% and texture depth of 19 μm exhibited the best friction properties in all experimental conditions because it can store more grease and trap wear debris. The reduction of friction is mainly attributable to the formation of a stable grease lubrication film composed of oil film, transfer film and deposited film, and the hydrodynamic pressure effect of the surface texture, which increases the mating gap and reduces the probability of asperity contact. This result will help in understanding the tribological behaviour of grease on a textured surface and in predicting the lubrication conditions of sliding bearings for better operation in any machinery.

  11. Thresholds in the sliding resistance of simulated basal ice

    Directory of Open Access Journals (Sweden)

    L. F. Emerson

    2007-10-01

    Full Text Available We report laboratory determinations of the shear resistance to sliding melting ice with entrained particles over a hard, impermeable surface. With higher particle concentrations and larger particle sizes, Coulomb friction at particle-bed contacts dominates and the shear stress increases linearly with normal load. We term this the sandy regime. When either particle concentration or particle size is reduced below a threshold, the dependence of shear resistance on normal load is no longer statistically significant. We term this regime slippery. We use force and mass balance considerations to examine the flow of melt water beneath the simulated basal ice. At high particle concentrations, the transition from sandy to slippery behavior occurs when the particle size is comparable to the thickness of the melt film that separates the sliding ice from its bed. For larger particle sizes, a transition from sandy to slippery behavior occurs when the particle concentration drops sufficiently that the normal load is no longer transferred completely to the particle-bed contacts. We estimate that the melt films separating the particles from the ice are approximately 0.1 µm thick at this transition. Our laboratory results suggest the potential for abrupt transitions in the shear resistance beneath hard-bedded glaciers with changes in either the thickness of melt layers or the particle loading.

  12. Adaptive suboptimal second-order sliding mode control for microgrids

    Science.gov (United States)

    Incremona, Gian Paolo; Cucuzzella, Michele; Ferrara, Antonella

    2016-09-01

    This paper deals with the design of adaptive suboptimal second-order sliding mode (ASSOSM) control laws for grid-connected microgrids. Due to the presence of the inverter, of unpredicted load changes, of switching among different renewable energy sources, and of electrical parameters variations, the microgrid model is usually affected by uncertain terms which are bounded, but with unknown upper bounds. To theoretically frame the control problem, the class of second-order systems in Brunovsky canonical form, characterised by the presence of matched uncertain terms with unknown bounds, is first considered. Four adaptive strategies are designed, analysed and compared to select the most effective ones to be applied to the microgrid case study. In the first two strategies, the control amplitude is continuously adjusted, so as to arrive at dominating the effect of the uncertainty on the controlled system. When a suitable control amplitude is attained, the origin of the state space of the auxiliary system becomes attractive. In the other two strategies, a suitable blend between two components, one mainly working during the reaching phase, the other being the predominant one in a vicinity of the sliding manifold, is generated, so as to reduce the control amplitude in steady state. The microgrid system in a grid-connected operation mode, controlled via the selected ASSOSM control strategies, exhibits appreciable stability properties, as proved theoretically and shown in simulation.

  13. Scanning negatives and slides digitizing your photographic archive

    CERN Document Server

    Steinhoff, Sascha

    2009-01-01

    Many photographers have either moved into digital photography exclusively or use both analog and digital media in their work. In either case, there is sure to be an archive of slides and negatives that cannot be directly integrated into the new digital workflow, nor can it be archived in a digital format. Increasingly, photographers are trying to bridge this gap with the use of high-performance film scanners. In this 2nd edition, you will learn how to achieve the best possible digital image from a negative or a slide, and how to build a workflow to make this process efficient, repeatable, and reliable. The author uses Nikon's film scanners, but all steps can easily be accomplished while using a different scanner. The most common software tools for scanning (SilverFast, VueScan, NikonScan) are not only covered extensively in the book, but trial versions are also provided on a DVD, which also contains other useful tools for image editing, as well as numerous sample scans.

  14. Surface and Sliding Wear Behaviour of Different Coatings and Steels

    Directory of Open Access Journals (Sweden)

    Vera-Cárdenas E.E.

    2012-01-01

    Full Text Available In this work, the sliding wear behaviour of the coatings TiN, CrN and WC/C applied on steel substrates was studied using a reciprocating wear test machine. All tests were carried out in dry conditions, at room temperature (20-23 C and 45% - 50% relative humidity. The average sliding velocity was 0.08 m/s and an amplitude of 2 mm was used. The applied loads were 11.76 N (Po = 1.74 GPa and 7.84 N (Po = 1.52 GPa. Optical microscopy was used to observe the characteristics of wear scars and spalls and possible causes of their formation. The variation of the friction coefficient against the number of cycles was obtained. This was used to determine more precisely the time (number of cycles where the coating presented the first signs of wear, in addition Energy Dispersive X-ray analysis (EDS was performed, as well as Scanning Electron Microscopy (SEM and hardness tests on the wear traces, which reinforced the previous observations. Thus it was possible to know the wear life of different coatings and possible causes of variation. Increasing the load was an important factor in the variation of wear life results. But it is also important to consider other factors such as surface roughness and thickness of coatings.

  15. Referenceless image quality evaluation for whole slide imaging.

    Science.gov (United States)

    Hashimoto, Noriaki; Bautista, Pinky A; Yamaguchi, Masahiro; Ohyama, Nagaaki; Yagi, Yukako

    2012-01-01

    The image quality in whole slide imaging (WSI) is one of the most important issues for the practical use of WSI scanners. In this paper, we proposed an image quality evaluation method for scanned slide images in which no reference image is required. While most of the conventional methods for no-reference evaluation only deal with one image degradation at a time, the proposed method is capable of assessing both blur and noise by using an evaluation index which is calculated using the sharpness and noise information of the images in a given training data set by linear regression analysis. The linear regression coefficients can be determined in two ways depending on the purpose of the evaluation. For objective quality evaluation, the coefficients are determined using a reference image with mean square error as the objective value in the analysis. On the other hand, for subjective quality evaluation, the subjective scores given by human observers are used as the objective values in the analysis. The predictive linear regression models for the objective and subjective image quality evaluations, which were constructed using training images, were then used on test data wherein the calculated objective values are construed as the evaluation indices. The results of our experiments confirmed the effectiveness of the proposed image quality evaluation method in both objective and subjective image quality measurements. Finally, we demonstrated the application of the proposed evaluation method to the WSI image quality assessment and automatic rescanning in the WSI scanner.

  16. Sliding seal materials for low heat rejection engines

    Science.gov (United States)

    Beaty, Kevin; Lankford, James; Vinyard, Shannon

    1989-01-01

    Sliding friction coefficients and wear rates of promising piston seal materials were measured under temperature, environmental, velocity, and loading conditions that are representative of the low heat rejection (LHR) diesel engine environment. These materials included carbides, oxides, and nitrides. In addition, silicon nitride and partially stablized zirconia disks (cylinder liners) were ion-implanted with TiNi, Ni, Co, and Cr, and subsequently run against carbide pins (piston rings), with the objective of producing reduced friction via solid lubrication at elevated temperature. Friction and wear measurements were obtained using pin-on-disk laboratory experiments and a unique engine friction test rig. Unmodified ceramic sliding couples were characterized at all temperatures by friction coefficients of 0.24 and above during the pin-on-disk tests. The coefficient at 800 C in an oxidizing environment was reduced to below 0.1, for certain material combination, by the ion-implantation of TiNi or Co. This beneficial effect was found to derive from the lubricious Ti, Ni, and Co oxides. Similar results were demonstrated on the engine friction test rig at lower temperatures. The structural integrity and feasibility of engine application with the most promising material combination were demonstrated during a 30-hour single-cylinder, direct-injection diesel engine test.

  17. Seismically reactivated Hattian slide in Kashmir, Northern Pakistan

    Science.gov (United States)

    Schneider, Jean F.

    2009-07-01

    The Pakistan 2005 earthquake, of magnitude 7.6, caused severe damage on landscape and infrastructure, in addition to numerous casualties. The event reactivated Hattian Slide, creating a rock avalanche in a location where earlier mass movements had happened already, as indicated by satellite imagery and ground investigation. The slide originated on Dana Hill, in the upper catchment area of Hattian on Karli Stream, a tributary of Jhelum River, Pakistan, and buried the hamlet Dandbeh and several farms nearby. A natural dam accumulated, impounding two lakes, the larger one threatening parts of downstream Hattian Village with flooding. An access road and artificial spillways needed to be constructed in very short time to minimize the flooding risk. As shown by this example, when pointing out the risk of large-scale damage to population and infrastructure by way of hazard indication maps of seismically active regions, and preparing for alleviation of that risk, it is advisable to consider the complete Holocene history of the slopes involved.

  18. SPod Progress Summary Slides | Science Inventory | US EPA

    Science.gov (United States)

    This presentation describes the draft “open source” design package for the SPod fenceline sensor. The SPod is a low cost, solar-powered system that combines wind field and air pollutant concentration measurements to detect emission plumes and help locate the source of emissions. The current design works only in “near-fenceline” applications where localized source emission plumes may be present. The SPod uses data analysis software (described elsewhere) to separate baseline drift from the plume signal of interest. This software is necessary for proper operation of the SPod. Because the SPod is designed to detect source emissions plumes, it is not useful for ambient applications large distances away from sources. The current SPod detects a subset of air pollutants that can be ionized with a 10.6 eV photoionization detector (PID). In the future, other air pollutant sensors may be used. The purpose of this presentation and related postings is to advance design concepts in the low-cost fenceline sensor area with any interested parties. The SPod is a work in progress with continued advances incorporated on an ongoing basis. This document is posted on an EPA share drive along with other information that describes the use operation and limitations of the SPod. These slides summarize the SPod design, purpose, and progress as of June, 2016. These slides will be posted on the EPA SPod Share Site along with design information and other materials that communicat

  19. Design and Simulation of Sliding Mode Fuzzy Controller for Nonlinear System

    Directory of Open Access Journals (Sweden)

    Ahmed Khalaf Hamoudi

    2016-03-01

    Full Text Available Sliding Mode Controller (SMC is a simple method and powerful technique to design a robust controller for nonlinear systems. It is an effective tool with acceptable performance. The major drawback is a classical Sliding Mode controller suffers from the chattering phenomenon which causes undesirable zigzag motion along the sliding surface. To overcome the snag of this classical approach, many methods were proposed and implemented. In this work, a Fuzzy controller was added to classical Sliding Mode controller in order to reduce the impact chattering problem. The new structure is called Sliding Mode Fuzzy controller (SMFC which will also improve the properties and performance of the classical Sliding Mode controller. A single inverted pendulum has been utilized for testing the design of the proposed controller. Programming and Simulink by Matlab have been used for the simulation results.

  20. PSO based neuro fuzzy sliding mode control for a robot manipulator

    Directory of Open Access Journals (Sweden)

    M. Vijay

    2017-05-01

    Full Text Available This paper presents the control strategy of two degrees of freedom (2DOF rigid robot manipulator based on the coupling of artificial neuro fuzzy inference system (ANFIS with sliding mode control (SMC. Initially SMC with proportional integral derivative (PID sliding surface is adapted to control the robot manipulator. The parameters of the sliding surface are obtained by minimizing a quadratic performance indices using particle swarm optimization (PSO. Variations of SMC i.e. boundary sliding mode control (BSMC and boundary sliding mode control with PID sliding surface (PIDBSMC are developed for optimized performance index. Finally an ANFIS adaptive controller is proposed to generate the adaptive control signal and found to be more robust with regard to disturbances in input torque.