WorldWideScience

Sample records for hierarchical path control

  1. Hierarchical path planning and control of a small fixed-wing UAV: Theory and experimental validation

    Science.gov (United States)

    Jung, Dongwon

    2007-12-01

    problem is formulated by setting up geometric linear constraints as well as boundary conditions. Subsequently, we construct B-spline path templates by solving a set of distinct optimization problems. For application in UAV motion planning, the path templates are incorporated to replace parts of the entire path by the smooth B-spline paths. Each path segment is stitched together while preserving continuity to obtain a final smooth reference path to be used for path following control. The path following control for a small fixed-wing UAV to track the prescribed smooth reference path is also addressed. Assuming the UAV is equipped with an autopilot for low level control, we adopt a kinematic error model with respect to the moving Serret-Frenet frame attached to a path for tracking controller design. A kinematic path following control law that commands heading rate is presented. Backstepping is applied to derive the roll angle command by taking into account the approximate closed-loop roll dynamics. A parameter adaptation technique is employed to account for the inaccurate time constant of the closed-loop roll dynamics during actual implementation. Finally, we implement the proposed hierarchical path control of a small UAV on the actual hardware platform, which is based on an 1/5 scale R/C model airframe (Decathlon) and the autopilot hardware and software. Based on the hardware-in-the-loop (HIL) simulation environment, the proposed hierarchical path control algorithm has been validated through on-line, real-time implementation on a small micro-controller. By a seamless integration of the control algorithms for path planning, path smoothing, and path following, it has been demonstrated that the UAV equipped with a small autopilot having limited computational resources manages to accomplish the path control objective to reach the goal while avoiding obstacles with minimal human intervention.

  2. Hierarchical Control for Smart Grids

    DEFF Research Database (Denmark)

    Trangbæk, K; Bendtsen, Jan Dimon; Stoustrup, Jakob

    2011-01-01

    of autonomous consumers. The control system is tasked with balancing electric power production and consumption within the smart grid, and makes active use of the flexibility of a large number of power producing and/or power consuming units. The objective is to accommodate the load variation on the grid, arising......This paper deals with hierarchical model predictive control (MPC) of smart grid systems. The design consists of a high level MPC controller, a second level of so-called aggregators, which reduces the computational and communication-related load on the high-level control, and a lower level...... on one hand from varying consumption, and on the other hand by natural variations in power production e.g. from wind turbines. The high-level MPC problem is solved using quadratic optimisation, while the aggregator level can either involve quadratic optimisation or simple sorting-based min-max solutions...

  3. Stochastic control with rough paths

    International Nuclear Information System (INIS)

    Diehl, Joscha; Friz, Peter K.; Gassiat, Paul

    2017-01-01

    We study a class of controlled differential equations driven by rough paths (or rough path realizations of Brownian motion) in the sense of Lyons. It is shown that the value function satisfies a HJB type equation; we also establish a form of the Pontryagin maximum principle. Deterministic problems of this type arise in the duality theory for controlled diffusion processes and typically involve anticipating stochastic analysis. We make the link to old work of Davis and Burstein (Stoch Stoch Rep 40:203–256, 1992) and then prove a continuous-time generalization of Roger’s duality formula [SIAM J Control Optim 46:1116–1132, 2007]. The generic case of controlled volatility is seen to give trivial duality bounds, and explains the focus in Burstein–Davis’ (and this) work on controlled drift. Our study of controlled rough differential equations also relates to work of Mazliak and Nourdin (Stoch Dyn 08:23, 2008).

  4. Stochastic control with rough paths

    Energy Technology Data Exchange (ETDEWEB)

    Diehl, Joscha [University of California San Diego (United States); Friz, Peter K., E-mail: friz@math.tu-berlin.de [TU & WIAS Berlin (Germany); Gassiat, Paul [CEREMADE, Université Paris-Dauphine, PSL Research University (France)

    2017-04-15

    We study a class of controlled differential equations driven by rough paths (or rough path realizations of Brownian motion) in the sense of Lyons. It is shown that the value function satisfies a HJB type equation; we also establish a form of the Pontryagin maximum principle. Deterministic problems of this type arise in the duality theory for controlled diffusion processes and typically involve anticipating stochastic analysis. We make the link to old work of Davis and Burstein (Stoch Stoch Rep 40:203–256, 1992) and then prove a continuous-time generalization of Roger’s duality formula [SIAM J Control Optim 46:1116–1132, 2007]. The generic case of controlled volatility is seen to give trivial duality bounds, and explains the focus in Burstein–Davis’ (and this) work on controlled drift. Our study of controlled rough differential equations also relates to work of Mazliak and Nourdin (Stoch Dyn 08:23, 2008).

  5. Path modeling and process control

    DEFF Research Database (Denmark)

    Høskuldsson, Agnar; Rodionova, O.; Pomerantsev, A.

    2007-01-01

    and having three or more stages. The methods are applied to a process control of a multi-stage production process having 25 variables and one output variable. When moving along the process, variables change their roles. It is shown how the methods of path modeling can be applied to estimate variables...... be performed regarding the foreseeable output property y, and with respect to an admissible range of correcting actions for the parameters of the next stage. In this paper the basic principles of path modeling is presented. The mathematics is presented for processes having only one stage, having two stages...... of the next stage with the purpose of obtaining optimal or almost optimal quality of the output variable. An important aspect of the methods presented is the possibility of extensive graphic analysis of data that can provide the engineer with a detailed view of the multi-variate variation in data....

  6. Hierarchical MAS based control strategy for microgrid

    Energy Technology Data Exchange (ETDEWEB)

    Xiao, Z.; Li, T.; Huang, M.; Shi, J.; Yang, J.; Yu, J. [School of Information Science and Engineering, Yunnan University, Kunming 650091 (China); Xiao, Z. [School of Electrical and Electronic Engineering, Nanyang Technological University, Western Catchment Area, 639798 (Singapore); Wu, W. [Communication Branch of Yunnan Power Grid Corporation, Kunming, Yunnan 650217 (China)

    2010-09-15

    Microgrids have become a hot topic driven by the dual pressures of environmental protection concerns and the energy crisis. In this paper, a challenge for the distributed control of a modern electric grid incorporating clusters of residential microgrids is elaborated and a hierarchical multi-agent system (MAS) is proposed as a solution. The issues of how to realize the hierarchical MAS and how to improve coordination and control strategies are discussed. Based on MATLAB and ZEUS platforms, bilateral switching between grid-connected mode and island mode is performed under control of the proposed MAS to enhance and support its effectiveness. (authors)

  7. Hierarchical Control for Multiple DC Microgrids Clusters

    DEFF Research Database (Denmark)

    Shafiee, Qobad; Dragicevic, Tomislav; Vasquez, Juan Carlos

    2014-01-01

    This paper presents a distributed hierarchical control framework to ensure reliable operation of dc Microgrid (MG) clusters. In this hierarchy, primary control is used to regulate the common bus voltage inside each MG locally. An adaptive droop method is proposed for this level which determines...

  8. Hierarchical control of electron-transfer

    DEFF Research Database (Denmark)

    Westerhoff, Hans V.; Jensen, Peter Ruhdal; Egger, Louis

    1997-01-01

    In this chapter the role of electron transfer in determining the behaviour of the ATP synthesising enzyme in E. coli is analysed. It is concluded that the latter enzyme lacks control because of special properties of the electron transfer components. These properties range from absence of a strong...... back pressure by the protonmotive force on the rate of electron transfer to hierarchical regulation of the expression of the gens that encode the electron transfer proteins as a response to changes in the bioenergetic properties of the cell.The discussion uses Hierarchical Control Analysis...

  9. Hierarchically structured distributed microprocessor network for control

    International Nuclear Information System (INIS)

    Greenwood, J.R.; Holloway, F.W.; Rupert, P.R.; Ozarski, R.G.; Suski, G.J.

    1979-01-01

    To satisfy a broad range of control-analysis and data-acquisition requirements for Shiva, a hierarchical, computer-based, modular-distributed control system was designed. This system handles the more than 3000 control elements and 1000 data acquisition units in a severe high-voltage, high-current environment. The control system design gives one a flexible and reliable configuration to meet the development milestones for Shiva within critical time limits

  10. Implementation of hierarchical control in DC microgrids

    DEFF Research Database (Denmark)

    Jin, Chi; Wang, Peng; Xiao, Jianfang

    2014-01-01

    of Technology, Singapore. The coordination control among multiple dc sources and energy storages is implemented using a novel hierarchical control technique. The bus voltage essentially acts as an indicator of supply-demand balance. A wireless control is implemented for the reliable operation of the grid....... A reasonable compromise between the maximum power harvest and effective battery management is further enhanced using the coordination control based on a central energy management system. The feasibility and effectiveness of the proposed control strategies have been tested by a dc microgrid in WERL....

  11. Hierarchical control system of advanced robot manipulator

    International Nuclear Information System (INIS)

    Oomichi, Takeo; Okino, Akihisa; Nishihara, Masatoshi; Sakamoto, Taizou; Matsuda, Koichi; Ohnishi, Ken

    1990-01-01

    We introduce a double arm with 4-finger's manipulator system which process the large volume of information at high speed. This is under research/development many type of works in the harsh condition. Namely, hierarchization of instruction unit in which motion control system as real time processing unit, and task planning unit as non-real time processing unit, interface with operation through the task planning unit has been made. Also, high speed processing of large volume information has been realized by decentralizing the motion control unit by function, hierarchizing the high speed processing unit, and developing high speed transmission, IC which does not depend on computer OS to avoid the delay in transmission. (author)

  12. Hierarchical unilamellar vesicles of controlled compositional heterogeneity.

    Directory of Open Access Journals (Sweden)

    Maik Hadorn

    Full Text Available Eukaryotic life contains hierarchical vesicular architectures (i.e. organelles that are crucial for material production and trafficking, information storage and access, as well as energy production. In order to perform specific tasks, these compartments differ among each other in their membrane composition and their internal cargo and also differ from the cell membrane and the cytosol. Man-made structures that reproduce this nested architecture not only offer a deeper understanding of the functionalities and evolution of organelle-bearing eukaryotic life but also allow the engineering of novel biomimetic technologies. Here, we show the newly developed vesicle-in-water-in-oil emulsion transfer preparation technique to result in giant unilamellar vesicles internally compartmentalized by unilamellar vesicles of different membrane composition and internal cargo, i.e. hierarchical unilamellar vesicles of controlled compositional heterogeneity. The compartmentalized giant unilamellar vesicles were subsequently isolated by a separation step exploiting the heterogeneity of the membrane composition and the encapsulated cargo. Due to the controlled, efficient, and technically straightforward character of the new preparation technique, this study allows the hierarchical fabrication of compartmentalized giant unilamellar vesicles of controlled compositional heterogeneity and will ease the development of eukaryotic cell mimics that resemble their natural templates as well as the fabrication of novel multi-agent drug delivery systems for combination therapies and complex artificial microreactors.

  13. Supervisory, hierarchical control for a multimodular ALMR

    International Nuclear Information System (INIS)

    Otaduy, P.J.; Brittain, C.R.; Rovere, L.A.

    1989-01-01

    This paper describes the directions and present status of research in supervisory control for multimodular nuclear plants at ORNL as part of DOE's advanced controls program ACTO. The hierarchical supervisory structure envisioned for a PRISM-like supervisor closest to the process actuators and how it has actually been implemented for demonstration in a network of CPU's is presented next. Two demonstrations of supervisory control with an expert system are also described, one for control of a plant with a single reactor and turbine, the other for control of a plant with three reactors and one turbine. An appendix contains the mathematical basis for the novel approach to large scale system decomposition we have used in the demonstrations of supervisory distributed control of the single reactor plant. 6 refs., 5 figs

  14. Integrated robust controller for vehicle path following

    Energy Technology Data Exchange (ETDEWEB)

    Mashadi, Behrooz; Ahmadizadeh, Pouyan, E-mail: p-ahmadizadeh@iust.ac.ir; Majidi, Majid, E-mail: m-majidi@iust.ac.ir [Iran University of Science and Technology, School of Automotive Engineering (Iran, Islamic Republic of); Mahmoodi-Kaleybar, Mehdi, E-mail: m-mahmoodi-k@iust.ac.ir [Iran University of Science and Technology, School of Mechanical Engineering (Iran, Islamic Republic of)

    2015-02-15

    The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties.

  15. Integrated robust controller for vehicle path following

    International Nuclear Information System (INIS)

    Mashadi, Behrooz; Ahmadizadeh, Pouyan; Majidi, Majid; Mahmoodi-Kaleybar, Mehdi

    2015-01-01

    The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties

  16. Dynamic control of quadruped robot with hierarchical control structure

    International Nuclear Information System (INIS)

    Wang, Yu-Zhang; Furusho, Junji; Okajima, Yosuke.

    1988-01-01

    For moving on irregular terrain, such as the inside of a nuclear power plant and outer space, it is generally recognized that the multilegged walking robot is suitable. This paper proposes a hierarchical control structure for the dynamic control of quadruped walking robots. For this purpose, we present a reduced order model which can approximate the original higher order model very well. Since this reduced order model does not require much computational time, it can be used in the real-time control of a quadruped walking robot. A hierarchical control experiment is shown in which the optimal control algorithm using a reduced order model is calculated by one microprocessor, and the other control algorithm is calculated by another microprocessor. (author)

  17. Hierarchical control of vehicular fuel cell / battery hybrid powertrain

    OpenAIRE

    Xu, Liangfei; Ouyang, Minggao; Li, Jianqiu; Hua, Jianfeng

    2010-01-01

    In a proton exchange membrane (PEM) fuel cell/battery hybrid vehicle, a fuel cell system fulfills the stationary power demand, and a traction battery provides the accelerating power and recycles braking energy. The entire system is coordinated by a distributed control system, incorporating three key strategies: 1) vehicle control, 2) fuel cell control and 3) battery management. They make up a hierarchical control system. This paper introduces a hierarchical control strategy for a fuel cell / ...

  18. The path to glory is paved with hierarchy: When hierarchical differentiation increases group effectiveness.

    NARCIS (Netherlands)

    Ronay, R.D.; Greenaway, K; Anicich, E.M; Galinsky, A.D.

    2012-01-01

    Two experiments examined the psychological and biological antecedents of hierarchical differentiation and the resulting consequences for productivity and conflict within small groups. In Experiment 1, which used a priming manipulation, hierarchically differentiated groups (i.e., groups comprising 1

  19. Hierarchical control of a nuclear reactor using uncertain dynamics techniques

    International Nuclear Information System (INIS)

    Rovere, L.A.; Otaduy, P.J.; Brittain, C.R.; Perez, R.B.

    1988-01-01

    Recent advances in the nonlinear optimal control area are opening new possibilities towards its implementation in process control. Algorithms for multivariate control, hierarchical decomposition, parameter tracking, model uncertainties actuator saturation effects and physical limits to state variables can be implemented on the basis of a consistent mathematical formulation. In this paper, good agreement is shown between a centralized and a hierarchical implementation of a controller for a hypothetical nuclear power plant subject to multiple demands. The performance of the hierarchical distributed system in the presence of localized subsystem failures is analyzed. 4 refs., 13 figs

  20. A hierarchical framework for air traffic control

    Science.gov (United States)

    Roy, Kaushik

    Air travel in recent years has been plagued by record delays, with over $8 billion in direct operating costs being attributed to 100 million flight delay minutes in 2007. Major contributing factors to delay include weather, congestion, and aging infrastructure; the Next Generation Air Transportation System (NextGen) aims to alleviate these delays through an upgrade of the air traffic control system. Changes to large-scale networked systems such as air traffic control are complicated by the need for coordinated solutions over disparate temporal and spatial scales. Individual air traffic controllers must ensure aircraft maintain safe separation locally with a time horizon of seconds to minutes, whereas regional plans are formulated to efficiently route flows of aircraft around weather and congestion on the order of every hour. More efficient control algorithms that provide a coordinated solution are required to safely handle a larger number of aircraft in a fixed amount of airspace. Improved estimation algorithms are also needed to provide accurate aircraft state information and situational awareness for human controllers. A hierarchical framework is developed to simultaneously solve the sometimes conflicting goals of regional efficiency and local safety. Careful attention is given in defining the interactions between the layers of this hierarchy. In this way, solutions to individual air traffic problems can be targeted and implemented as needed. First, the regional traffic flow management problem is posed as an optimization problem and shown to be NP-Hard. Approximation methods based on aggregate flow models are developed to enable real-time implementation of algorithms that reduce the impact of congestion and adverse weather. Second, the local trajectory design problem is solved using a novel slot-based sector model. This model is used to analyze sector capacity under varying traffic patterns, providing a more comprehensive understanding of how increased automation

  1. Hierarchical Discrete Event Supervisory Control of Aircraft Propulsion Systems

    Science.gov (United States)

    Yasar, Murat; Tolani, Devendra; Ray, Asok; Shah, Neerav; Litt, Jonathan S.

    2004-01-01

    This paper presents a hierarchical application of Discrete Event Supervisory (DES) control theory for intelligent decision and control of a twin-engine aircraft propulsion system. A dual layer hierarchical DES controller is designed to supervise and coordinate the operation of two engines of the propulsion system. The two engines are individually controlled to achieve enhanced performance and reliability, necessary for fulfilling the mission objectives. Each engine is operated under a continuously varying control system that maintains the specified performance and a local discrete-event supervisor for condition monitoring and life extending control. A global upper level DES controller is designed for load balancing and overall health management of the propulsion system.

  2. Agent-based distributed hierarchical control of dc microgrid systems

    DEFF Research Database (Denmark)

    Meng, Lexuan; Vasquez, Juan Carlos; Guerrero, Josep M.

    2014-01-01

    In order to enable distributed control and management for microgrids, this paper explores the application of information consensus and local decisionmaking methods formulating an agent based distributed hierarchical control system. A droop controlled paralleled DC/DC converter system is taken as ....... Standard genetic algorithm is applied in each local control system in order to search for a global optimum. Hardware-in-Loop simulation results are shown to demonstrate the effectiveness of the method.......In order to enable distributed control and management for microgrids, this paper explores the application of information consensus and local decisionmaking methods formulating an agent based distributed hierarchical control system. A droop controlled paralleled DC/DC converter system is taken...... as a case study. The objective is to enhance the system efficiency by finding the optimal sharing ratio of load current. Virtual resistances in local control systems are taken as decision variables. Consensus algorithms are applied for global information discovery and local control systems coordination...

  3. Hierarchical Control for Multiple DC-Microgrids Clusters

    DEFF Research Database (Denmark)

    Shafiee, Qobad; Dragicevic, Tomislav; Vasquez, Juan Carlos

    2014-01-01

    DC microgrids (MGs) have gained research interest during the recent years because of many potential advantages as compared to the ac system. To ensure reliable operation of a low-voltage dc MG as well as its intelligent operation with the other DC MGs, a hierarchical control is proposed in this p......DC microgrids (MGs) have gained research interest during the recent years because of many potential advantages as compared to the ac system. To ensure reliable operation of a low-voltage dc MG as well as its intelligent operation with the other DC MGs, a hierarchical control is proposed...

  4. Control of discrete event systems modeled as hierarchical state machines

    Science.gov (United States)

    Brave, Y.; Heymann, M.

    1991-01-01

    The authors examine a class of discrete event systems (DESs) modeled as asynchronous hierarchical state machines (AHSMs). For this class of DESs, they provide an efficient method for testing reachability, which is an essential step in many control synthesis procedures. This method utilizes the asynchronous nature and hierarchical structure of AHSMs, thereby illustrating the advantage of the AHSM representation as compared with its equivalent (flat) state machine representation. An application of the method is presented where an online minimally restrictive solution is proposed for the problem of maintaining a controlled AHSM within prescribed legal bounds.

  5. Nonlinear robust hierarchical control for nonlinear uncertain systems

    Directory of Open Access Journals (Sweden)

    Leonessa Alexander

    1999-01-01

    Full Text Available A nonlinear robust control-system design framework predicated on a hierarchical switching controller architecture parameterized over a set of moving nominal system equilibria is developed. Specifically, using equilibria-dependent Lyapunov functions, a hierarchical nonlinear robust control strategy is developed that robustly stabilizes a given nonlinear system over a prescribed range of system uncertainty by robustly stabilizing a collection of nonlinear controlled uncertain subsystems. The robust switching nonlinear controller architecture is designed based on a generalized (lower semicontinuous Lyapunov function obtained by minimizing a potential function over a given switching set induced by the parameterized nominal system equilibria. The proposed framework robustly stabilizes a compact positively invariant set of a given nonlinear uncertain dynamical system with structured parametric uncertainty. Finally, the efficacy of the proposed approach is demonstrated on a jet engine propulsion control problem with uncertain pressure-flow map data.

  6. Hierarchical Control of the ATLAS Experiment

    CERN Document Server

    Barriuso-Poy, Alex; Llobet-Valero, E

    2007-01-01

    Control systems at High Energy Physics (HEP) experiments are becoming increasingly complex mainly due to the size, complexity and data volume associated to the front-end instrumentation. In particular, this becomes visible for the ATLAS experiment at the LHC accelerator at CERN. ATLAS will be the largest particle detector ever built, result of an international collaboration of more than 150 institutes. The experiment is composed of 9 different specialized sub-detectors that perform different tasks and have different requirements for operation. The system in charge of the safe and coherent operation of the whole experiment is called Detector Control System (DCS). This thesis presents the integration of the ATLAS DCS into a global control tree following the natural segmentation of the experiment into sub-detectors and smaller sub-systems. The integration of the many different systems composing the DCS includes issues such as: back-end organization, process model identification, fault detection, synchronization ...

  7. Hierarchical Model Predictive Control for Resource Distribution

    DEFF Research Database (Denmark)

    Bendtsen, Jan Dimon; Trangbæk, K; Stoustrup, Jakob

    2010-01-01

    units. The approach is inspired by smart-grid electric power production and consumption systems, where the flexibility of a large number of power producing and/or power consuming units can be exploited in a smart-grid solution. The objective is to accommodate the load variation on the grid, arising......This paper deals with hierarchichal model predictive control (MPC) of distributed systems. A three level hierachical approach is proposed, consisting of a high level MPC controller, a second level of so-called aggregators, controlled by an online MPC-like algorithm, and a lower level of autonomous...... on one hand from varying consumption, on the other hand by natural variations in power production e.g. from wind turbines. The approach presented is based on quadratic optimization and possess the properties of low algorithmic complexity and of scalability. In particular, the proposed design methodology...

  8. An avoidance layer in hierarchical process control

    International Nuclear Information System (INIS)

    De Callatay, A.

    1994-01-01

    A project of layered software architecture is proposed: a safety-critical real-time non-stop simple kernel system includes a layer avoiding threatening actions from operators or programs in other control systems. Complex process-control applications (such as fuzzy systems) are useful for the smooth operation of the system, optimum productivity, efficient diagnostics, and safe management of degraded modes of operation. Defects in these complex process-control applications do not have an impact on safety if their commands have first to be accepted by a safety-critical module. The development, testing, and certification of complex applications computed in the outside layers can be made simpler and less expensive than for those in the kernel. Avoidance systems use rule-base systems having negative fuzzy conditions and actions. Animal and human behaviour cannot be explained without active avoidance

  9. Hierarchical Control of Thermostatically Controller Loads for Primary Frequency Control

    DEFF Research Database (Denmark)

    Zhao, Haoran; Wu, Qiuwei; Huang, Shaojun

    2016-01-01

    reserve references. At the middle level, distribution substations estimate the available power of TCLs based on the aggregated bin model, and dispatch control signals to individual TCLs. At the local level, a supplementary frequency control loop is implemented at the local controller, which makes TCLs...... respond to the frequency event autonomously. Case studies show that the proposed controller can efficiently respond to frequency events and fulfill the requirement specified by the system operator. The users’ comforts are not compromised and the short cycling of TCLs is largely reduced. Due...... to the autonomous control, the communication requirement is minimized....

  10. Hierarchical fuzzy control of low-energy building systems

    Energy Technology Data Exchange (ETDEWEB)

    Yu, Zhen; Dexter, Arthur [Department of Engineering Science, University of Oxford, Parks Road, Oxford OX1 3PJ (United Kingdom)

    2010-04-15

    A hierarchical fuzzy supervisory controller is described that is capable of optimizing the operation of a low-energy building, which uses solar energy to heat and cool its interior spaces. The highest level fuzzy rules choose the most appropriate set of lower level rules according to the weather and occupancy information; the second level fuzzy rules determine an optimal energy profile and the overall modes of operation of the heating, ventilating and air-conditioning system (HVAC); the third level fuzzy rules select the mode of operation of specific equipment, and assign schedules to the local controllers so that the optimal energy profile can be achieved in the most efficient way. Computer simulation is used to compare the hierarchical fuzzy control scheme with a supervisory control scheme based on expert rules. The performance is evaluated by comparing the energy consumption and thermal comfort. (author)

  11. Hierarchical optimal control of large-scale nonlinear chemical processes.

    Science.gov (United States)

    Ramezani, Mohammad Hossein; Sadati, Nasser

    2009-01-01

    In this paper, a new approach is presented for optimal control of large-scale chemical processes. In this approach, the chemical process is decomposed into smaller sub-systems at the first level, and a coordinator at the second level, for which a two-level hierarchical control strategy is designed. For this purpose, each sub-system in the first level can be solved separately, by using any conventional optimization algorithm. In the second level, the solutions obtained from the first level are coordinated using a new gradient-type strategy, which is updated by the error of the coordination vector. The proposed algorithm is used to solve the optimal control problem of a complex nonlinear chemical stirred tank reactor (CSTR), where its solution is also compared with the ones obtained using the centralized approach. The simulation results show the efficiency and the capability of the proposed hierarchical approach, in finding the optimal solution, over the centralized method.

  12. Hierarchical nanoporous metals as a path toward the ultimate three-dimensional functionality.

    Science.gov (United States)

    Fujita, Takeshi

    2017-01-01

    Nanoporous metals prepared via dealloying or selective leaching of solid solution alloys and compounds represent an emerging class of materials. They possess a three-dimensional (3D) structure of randomly interpenetrating ligaments/nanopores with sizes between 5 nm and several tens of micrometers, which can be tuned by varying their preparation conditions (such as dealloying time and temperature) or additional thermal coarsening. As compared to other nanostructured materials, nanoporous metals have many advantages, including their bicontinuous structure, tunable pore sizes, bulk form, good electrical conductivity, and high structural stability. Therefore, nanoporous metals represent ideal 3D materials with versatile functionality, which can be utilized in various fields. In this review, we describe the recent applications of nanoporous metals in molecular detection, catalysis, 3D graphene synthesis, hierarchical pore formation, and additive manufacturing (3D printing) together with our own achievements in these areas. Finally, we discuss possible ways of realizing the ultimate 3D functionality beyond the scope of nanoporous metals.

  13. Comparisons of Flow Patterns over a Hierarchical and a Non-hierarchical Surface in Relation to Biofouling Control

    Directory of Open Access Journals (Sweden)

    Bin Ahmad Fawzan Mohammed Ridha

    2018-01-01

    Full Text Available Biofouling can be defined as unwanted deposition and development of organisms on submerged surfaces. It is a major problem as it causes water contamination, infrastructures damage and increase in maintenance and operational cost especially in the shipping industry. There are a few methods that can prevent this problem. One of the most effective methods which is using chemicals particularly Tributyltin has been banned due to adverse effects on the environment. One of the non-toxic methods found to be effective is surface modification which involves altering the surface topography so that it becomes a low-fouling or a non-stick surface to biofouling organisms. Current literature suggested that non-hierarchical topographies has lower antifouling performance compared to hierarchical topographies. It is still unclear if the effects of the flow on these topographies could have aided in their antifouling properties. This research will use Computational Fluid Dynamics (CFD simulations to study the flow on these two topographies which also involves comparison study of the topographies used. According to the results obtained, it is shown that hierarchical topography has higher antifouling performance compared to non-hierarchical topography. This is because the fluid characteristics at the hierarchical topography is more favorable in controlling biofouling. In addition, hierarchical topography has higher wall shear stress distribution compared to non-hierarchical topography

  14. Hierarchical Active Inference: A Theory of Motivated Control.

    Science.gov (United States)

    Pezzulo, Giovanni; Rigoli, Francesco; Friston, Karl J

    2018-04-01

    Motivated control refers to the coordination of behaviour to achieve affectively valenced outcomes or goals. The study of motivated control traditionally assumes a distinction between control and motivational processes, which map to distinct (dorsolateral versus ventromedial) brain systems. However, the respective roles and interactions between these processes remain controversial. We offer a novel perspective that casts control and motivational processes as complementary aspects - goal propagation and prioritization, respectively - of active inference and hierarchical goal processing under deep generative models. We propose that the control hierarchy propagates prior preferences or goals, but their precision is informed by the motivational context, inferred at different levels of the motivational hierarchy. The ensuing integration of control and motivational processes underwrites action and policy selection and, ultimately, motivated behaviour, by enabling deep inference to prioritize goals in a context-sensitive way. Copyright © 2018 The Author(s). Published by Elsevier Ltd.. All rights reserved.

  15. Hierarchical Control Architecture for Demand Response in Smart Grid Scenario

    DEFF Research Database (Denmark)

    Bhattarai, Bishnu Prasad; Bak-Jensen, Birgitte; Mahat, Pukar

    2013-01-01

    , a number of issues, including DR enabling technologies, control strategy, and control architecture, are still under discussion. This paper outlines novel control requirements based on the categorization of existing DR techniques. More specifically, the roles and responsibilities of smart grid actors...... effective tool for optimum asset utilization and to avoid or delay the need for new infrastructure investment. Furthermore, most of the power networks are under the process of reconfiguration to realize the concept of smart grid and are at the transforming stage to support various forms of DR. However...... for every DR category are allotted and their mode of interactions to coordinate individual as well as coordinative goals is described. Next, hierarchical control architecture (HCA) is developed for the overall coordination of control strategies for individual DR categories. The involved issues are discussed...

  16. Position and Attitude Alternate of Path Tracking Heading Control

    Directory of Open Access Journals (Sweden)

    Baocheng Tan

    2014-03-01

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

  17. Hierarchical-control-based output synchronization of coexisting attractor networks

    International Nuclear Information System (INIS)

    Yun-Zhong, Song; Yi-Fa, Tang

    2010-01-01

    This paper introduces the concept of hierarchical-control-based output synchronization of coexisting attractor networks. Within the new framework, each dynamic node is made passive at first utilizing intra-control around its own arena. Then each dynamic node is viewed as one agent, and on account of that, the solution of output synchronization of coexisting attractor networks is transformed into a multi-agent consensus problem, which is made possible by virtue of local interaction between individual neighbours; this distributed working way of coordination is coined as inter-control, which is only specified by the topological structure of the network. Provided that the network is connected and balanced, the output synchronization would come true naturally via synergy between intra and inter-control actions, where the Tightness is proved theoretically via convex composite Lyapunov functions. For completeness, several illustrative examples are presented to further elucidate the novelty and efficacy of the proposed scheme. (general)

  18. Hierarchical Controlled Grid-Connected Microgrid based on a Novel Autonomous Current Sharing Controller

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2015-01-01

    In this paper, a hierarchical control system based on a novel autonomous current sharing controller for grid-connected microgrids (MGs) is presented. A three-level hierarchical control system is implemented to guarantee the power sharing performance among voltage controlled parallel inverters......, while providing the required active and reactive power to the utility grid. A communication link is used to transmit the control signal from the tertiary and secondary control levels to the primary control. Simulation results from a MG based on two grid-connected parallel inverters are shown in order...

  19. Force characteristics in continuous path controlled crankpin grinding

    Science.gov (United States)

    Zhang, Manchao; Yao, Zhenqiang

    2015-03-01

    Recent research on the grinding force involved in cylindrical plunge grinding has focused mainly on steady-state conditions. Unlike in conventional external cylindrical plunge grinding, the conditions between the grinding wheel and the crankpin change periodically in path controlled grinding because of the eccentricity of the crankpin and the constant rotational speed of the crankshaft. The objective of this study is to investigate the effects of various grinding conditions on the characteristics of the grinding force during continuous path controlled grinding. Path controlled plunge grinding is conducted at a constant rotational speed using a cubic boron nitride (CBN) wheel. The grinding force is determined by measuring the torque. The experimental results show that the force and torque vary sinusoidally during dry grinding and load grinding. The variations in the results reveal that the resultant grinding force and torque decrease with higher grinding speeds and increase with higher peripheral speeds of the pin and higher grinding depths. In path controlled grinding, unlike in conventional external cylindrical plunge grinding, the axial grinding force cannot be disregarded. The speeds and speed ratios of the workpiece and wheel are also analyzed, and the analysis results show that up-grinding and down-grinding occur during the grinding process. This paper proposes a method for describing the force behavior under varied process conditions during continuous path controlled grinding, which provides a beneficial reference for describing the material removal mechanism and for optimizing continuous controlled crankpin grinding.

  20. Hierarchical Control for Optimal and Distributed Operation of Microgrid Systems

    DEFF Research Database (Denmark)

    Meng, Lexuan

    manages the power flow with external grids, while the economic and optimal operation of MGs is not guaranteed by applying the existing schemes. Accordingly, this project dedicates to the study of real-time optimization methods for MGs, including the review of optimization algorithms, system level...... mathematical modeling, and the implementation of real-time optimization into existing hierarchical control schemes. Efficiency enhancement in DC MGs and optimal unbalance compensation in AC MGs are taken as the optimization objectives in this project. Necessary system dynamic modeling and stability analysis......, a discrete-time domain modeling method is proposed to establish an accurate system level model. Taking into account the different sampling times of real world plant, digital controller and communication devices, the system is modeled with these three parts separately, and with full consideration...

  1. Pushing Typists Back on the Learning Curve: Memory Chunking in the Hierarchical Control of Skilled Typewriting

    Science.gov (United States)

    Yamaguchi, Motonori; Logan, Gordon D.

    2016-01-01

    Hierarchical control of skilled performance depends on the ability of higher level control to process several lower level units as a single chunk. The present study investigated the development of hierarchical control of skilled typewriting, focusing on the process of memory chunking. In the first 3 experiments, skilled typists typed words or…

  2. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  3. Hierarchical control of motor units in voluntary contractions.

    Science.gov (United States)

    De Luca, Carlo J; Contessa, Paola

    2012-01-01

    For the past five decades there has been wide acceptance of a relationship between the firing rate of motor units and the afterhyperpolarization of motoneurons. It has been promulgated that the higher-threshold, larger-soma, motoneurons fire faster than the lower-threshold, smaller-soma, motor units. This relationship was based on studies on anesthetized cats with electrically stimulated motoneurons. We questioned its applicability to motor unit control during voluntary contractions in humans. We found that during linearly force-increasing contractions, firing rates increased as exponential functions. At any time and force level, including at recruitment, the firing rate values were inversely related to the recruitment threshold of the motor unit. The time constants of the exponential functions were directly related to the recruitment threshold. From the Henneman size principle it follows that the characteristics of the firing rates are also related to the size of the soma. The "firing rate spectrum" presents a beautifully simple control scheme in which, at any given time or force, the firing rate value of earlier-recruited motor units is greater than that of later-recruited motor units. This hierarchical control scheme describes a mechanism that provides an effective economy of force generation for the earlier-recruited lower force-twitch motor units, and reduces the fatigue of later-recruited higher force-twitch motor units-both characteristics being well suited for generating and sustaining force during the fight-or-flight response.

  4. Microgrid central controller development and hierarchical control implemetation in the intelligent microgrid lab of Aalborg University

    OpenAIRE

    Meng, Lexuan; Savaghebi, Mehdi; Andrade, Fabio; Vasquez Quintero, Juan Carlos; Guerrero, Josep M.; Graells Sobré, Moisès

    2015-01-01

    This paper presents the development of a microgrid central controller in an inverter-based intelligent microgrid (iMG) lab in Aalborg University, Denmark. The iMG lab aims to provide a flexible experimental platform for comprehensive studies of microgrids. The complete control system applied in this lab is based on the hierarchical control scheme for microgrids and includes primary, secondary and tertiary control. The structure of the lab, including the lab facilities, configurations and comm...

  5. Enriching the hierarchical model of achievement motivation: autonomous and controlling reasons underlying achievement goals.

    Science.gov (United States)

    Michou, Aikaterini; Vansteenkiste, Maarten; Mouratidis, Athanasios; Lens, Willy

    2014-12-01

    The hierarchical model of achievement motivation presumes that achievement goals channel the achievement motives of need for achievement and fear of failure towards motivational outcomes. Yet, less is known whether autonomous and controlling reasons underlying the pursuit of achievement goals can serve as additional pathways between achievement motives and outcomes. We tested whether mastery approach, performance approach, and performance avoidance goals and their underlying autonomous and controlling reasons would jointly explain the relation between achievement motives (i.e., fear of failure and need for achievement) and learning strategies (Study 1). Additionally, we examined whether the autonomous and controlling reasons underlying learners' dominant achievement goal would account for the link between achievement motives and the educational outcomes of learning strategies and cheating (Study 2). Six hundred and six Greek adolescent students (Mage = 15.05, SD = 1.43) and 435 university students (Mage M = 20.51, SD = 2.80) participated in studies 1 and 2, respectively. In both studies, a correlational design was used and the hypotheses were tested via path modelling. Autonomous and controlling reasons underlying the pursuit of achievement goals mediated, respectively, the relation of need for achievement and fear of failure to aspects of learning outcomes. Autonomous and controlling reasons underlying achievement goals could further explain learners' functioning in achievement settings. © 2014 The British Psychological Society.

  6. The problem of the driverless vehicle specified path stability control

    Science.gov (United States)

    Buznikov, S. E.; Endachev, D. V.; Elkin, D. S.; Strukov, V. O.

    2018-02-01

    Currently the effort of many leading foreign companies is focused on creation of driverless transport for transportation of cargo and passengers. Among many practical problems arising while creating driverless vehicles, the problem of the specified path stability control occupies a central place. The purpose of this paper is formalization of the problem in question in terms of the quadratic functional of the control quality, the comparative analysis of the possible solutions and justification of the choice of the optimum technical solution. As square value of the integral of the deviation from the specified path is proposed as the quadratic functional of the control quality. For generation of the set of software and hardware solution variants the Zwicky “morphological box” method is used within the hardware and software environments. The heading control algorithms use the wheel steering angle data and the deviation from the lane centerline (specified path) calculated based on the navigation data and the data from the video system. Where the video system does not detect the road marking, the control is carried out based on the wheel navigation system data and where recognizable road marking exits - based on to the video system data. The analysis of the test results allows making the conclusion that the application of the combined navigation system algorithms that provide quasi-optimum solution of the problem while meeting the strict functional limits for the technical and economic indicators of the driverless vehicle control system under development is effective.

  7. Compact wireless control network protocol with fast path switching

    Directory of Open Access Journals (Sweden)

    Yasutaka Kawamoto

    2017-08-01

    Full Text Available Sensor network protocol stacks require the addition or adjustment of functions based on customer requirements. Sensor network protocols that require low delay and low packet error rate (PER, such as wireless control networks, often adopt time division multiple access (TDMA. However, it is difficult to add or adjust functions in protocol stacks that use TDMA methods. Therefore, to add or adjust functions easily, we propose NES-SOURCE, a compact wireless control network protocol with a fast path-switching function. NES-SOURCE is implemented using carrier sense multiple access/collision avoidance (CSMA/CA rather than TDMA. Wireless control networks that use TDMA prevent communication failure by duplicating the communication path. If CSMA/CA networks use duplicate paths, collisions occur frequently, and communication will fail. NES-SOURCE switches paths quickly when communication fails, which reduces the effect of communication failures. Since NES-SOURCE is implemented using CSMA/CA rather than TDMA, the implementation scale is less than one-half that of existing network stacks. Furthermore, since NES-SOURCE’s code complexity is low, functions can be added or adjusted easily and quickly. Communication failures occur owing to changes in the communication environment and collisions. Experimental results demonstrate that the proposed NES-SOURCE’s path-switching function reduces the amount of communication failures when the communication environment changes owing to human movement and others. Furthermore, we clarify the relationships among the probability of a changing communication environment, the collision occurrence rate, and the PER of NES-SOURCE.

  8. Road Network Selection Based on Road Hierarchical Structure Control

    Directory of Open Access Journals (Sweden)

    HE Haiwei

    2015-04-01

    Full Text Available A new road network selection method based on hierarchical structure is studied. Firstly, road network is built as strokes which are then classified into hierarchical collections according to the criteria of betweenness centrality value (BC value. Secondly, the hierarchical structure of the strokes is enhanced using structural characteristic identification technique. Thirdly, the importance calculation model was established according to the relationships among the hierarchical structure of the strokes. Finally, the importance values of strokes are got supported with the model's hierarchical calculation, and with which the road network is selected. Tests are done to verify the advantage of this method by comparing it with other common stroke-oriented methods using three kinds of typical road network data. Comparision of the results show that this method had few need to semantic data, and could eliminate the negative influence of edge strokes caused by the criteria of BC value well. So, it is better to maintain the global hierarchical structure of road network, and suitable to meet with the selection of various kinds of road network at the same time.

  9. Hierarchical Control of Droop-Controlled DC and AC Microgrids - A General Approach Towards Standardization

    DEFF Research Database (Denmark)

    Guerrero, Josep M.; Vásquez, Juan V.; Teodorescu, Remus

    2009-01-01

    DC and AC Microgrids are key elements to integrate renewable and distributed energy resources as well as distributed energy storage systems. In the last years, efforts toward the standardization of these Microgrids have been made. In this sense, this paper present the hierarchical control derived...

  10. Preventing Distribution Grid Congestion by Integrating Indirect Control in a Hierarchical Electric Vehicles Management System

    DEFF Research Database (Denmark)

    Hu, Junjie; Si, Chengyong; Lind, Morten

    2016-01-01

    In this paper, a hierarchical management system is proposed to integrate electric vehicles (EVs) into a distribution grid. Three types of actors are included in the system: Distribution system operators (DSOs), Fleet operators (FOs) and EV owners. In contrast to a typical hierarchical control sys...

  11. Hierarchical sliding mode control for under-actuated cranes design, analysis and simulation

    CERN Document Server

    Qian, Dianwei

    2015-01-01

    This book reports on the latest developments in sliding mode overhead crane control, presenting novel research ideas and findings on sliding mode control (SMC), hierarchical SMC and compensator design-based hierarchical sliding mode. The results, which were previously scattered across various journals and conference proceedings, are now presented in a systematic and unified form. The book will be of interest to researchers, engineers and graduate students in control engineering and mechanical engineering who want to learn the methods and applications of SMC.

  12. Kinematics and Path Following Control of an Articulated Drum Roller

    Science.gov (United States)

    BIAN, Yongming; YANG, Meng; FANG, Xiaojun; WANG, Xiahui

    2017-07-01

    Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work efficiency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state-feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What's more, to evaluate the performance of the proposed method, simulation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial displacement error (-1.5 m), heading error (-0.11 rad) and steering angle (-0.19 rad). Finally, simulation and experimental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articulated drum roller can lock into a desired path with the proposed method in uneven fields.

  13. A Hierarchical Control Scheme for Reactive Power and Harmonic Current Sharing in Islanded Microgrids

    DEFF Research Database (Denmark)

    Lorzadeh, Iman; Firoozabadi, Mehdi Savaghebi; Askarian Abyaneh, Hossein

    2015-01-01

    In this paper, a hierarchical control scheme consisting of primary and secondary levels is proposed for achieving accurate reactive power and harmonic currents sharing among interface inverters of distributed generators (DGs) in islanded microgrids. Firstly, fundamental and main harmonic componen...

  14. Hierarchically Ordered Nanopatterns for Spatial Control of Biomolecules

    Science.gov (United States)

    2015-01-01

    The development and study of a benchtop, high-throughput, and inexpensive fabrication strategy to obtain hierarchical patterns of biomolecules with sub-50 nm resolution is presented. A diblock copolymer of polystyrene-b-poly(ethylene oxide), PS-b-PEO, is synthesized with biotin capping the PEO block and 4-bromostyrene copolymerized within the polystyrene block at 5 wt %. These two handles allow thin films of the block copolymer to be postfunctionalized with biotinylated biomolecules of interest and to obtain micropatterns of nanoscale-ordered films via photolithography. The design of this single polymer further allows access to two distinct superficial nanopatterns (lines and dots), where the PEO cylinders are oriented parallel or perpendicular to the substrate. Moreover, we present a strategy to obtain hierarchical mixed morphologies: a thin-film coating of cylinders both parallel and perpendicular to the substrate can be obtained by tuning the solvent annealing and irradiation conditions. PMID:25363506

  15. Hierarchical Control Scheme for Voltage Harmonics Compensation in an Islanded Droop-Controlled Microgrid

    DEFF Research Database (Denmark)

    Savaghebi, Mehdi; Guerrero, Josep M.; Jalilian, Alireza

    2011-01-01

    In this paper, a microgrid hierarchical control scheme is proposed which includes primary and secondary control levels. The primary level comprises distributed generators (DGs) local controllers. The local controller mainly consists of active and reactive power controllers, voltage and current...... controllers, and virtual impedance loop. A novel virtual impedance structure is proposed to achieve proper sharing of non-fundamental power among the microgrid DGs. The secondary level is designed to manage compensation of voltage harmonics at the microgrid load bus (LB) to which the sensitive loads may...... be connected. Also, restoration of LB voltage amplitude and microgrid frequency to the rated values is directed by the secondary level. These functions are achieved by sending proper control signals to the local controllers. The simulation results show the effectiveness of the proposed control scheme....

  16. Power flow analysis for islanded microgrid in hierarchical structure of control system using optimal control theory

    Directory of Open Access Journals (Sweden)

    Thang Diep Thanh

    2017-12-01

    Full Text Available In environmental uncertainties, the power flow problem in islanded microgrid (MG becomes complex and non-trivial. The optimal power flow (OPL problem is described in this paper by using the energy balance between the power generation and load demand. The paper also presents the hierarchical control structure which consists of primary, secondary, tertiary, and emergency controls. Clearly, optimal power flow (OPL which implements a distributed tertiary control in hierarchical control. MG consists of diesel engine generator (DEG, wind turbine generator (WTG, and photovoltaic (PV power. In the control system considered, operation planning is realized based on profiles such that the MG, load, wind and photovoltaic power must be forecasted in short-period, meanwhile the dispatch source (i.e., DEG needs to be scheduled. The aim of the control problem is to find the dispatch output power by minimizing the total cost of energy that leads to the Hamilton-Jacobi-Bellman equation. Experimental results are presented, showing the effectiveness of optimal control such that the generation allows demand profile.

  17. A Hierarchical Algorithm for Integrated Scheduling and Control With Applications to Power Systems

    DEFF Research Database (Denmark)

    Sokoler, Leo Emil; Dinesen, Peter Juhler; Jørgensen, John Bagterp

    2016-01-01

    The contribution of this paper is a hierarchical algorithm for integrated scheduling and control via model predictive control of hybrid systems. The controlled system is a linear system composed of continuous control, state, and output variables. Binary variables occur as scheduling decisions in ...

  18. Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation

    Science.gov (United States)

    Guo, Jinghua; Luo, Yugong; Li, Keqiang; Dai, Yifan

    2018-05-01

    This paper presents a novel coordinated path following system (PFS) and direct yaw-moment control (DYC) of autonomous electric vehicles via hierarchical control technique. In the high-level control law design, a new fuzzy factor is introduced based on the magnitude of longitudinal velocity of vehicle, a linear time varying (LTV)-based model predictive controller (MPC) is proposed to acquire the wheel steering angle and external yaw moment. Then, a pseudo inverse (PI) low-level control allocation law is designed to realize the tracking of desired external moment torque and management of the redundant tire actuators. Furthermore, the vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS, which can be obtained by the integral of modified INS signals with GPS signals as initial value. Finally, the effectiveness of the proposed control system is validated by the simulation and experimental tests.

  19. Hierarchical Control of Parallel AC-DC Converter Interfaces for Hybrid Microgrids

    DEFF Research Database (Denmark)

    Lu, Xiaonan; Guerrero, Josep M.; Sun, Kai

    2014-01-01

    In this paper, a hierarchical control system for parallel power electronics interfaces between ac bus and dc bus in a hybrid microgrid is presented. Both standalone and grid-connected operation modes in the dc side of the microgrid are analyzed. Concretely, a three-level hierarchical control system...... equal or proportional dc load current sharing. The common secondary control level is designed to eliminate the dc bus voltage deviation produced by the droop control, with dc bus voltage in the hybrid microgrid boosted to an acceptable range. After guaranteeing the performance of the dc side standalone...

  20. Hierarchical Delay-Dependent Distributed Coordinated Control for DC Ring-Bus Microgrids

    DEFF Research Database (Denmark)

    Dou, Chunxia; Yue, Dong; Zhang, Zhanqiang

    2017-01-01

    In this paper, a hierarchical distributed coordinated control method is proposed based on the multi-agent system for dc ring-bus microgrids to improve the bus voltage performance. First, a two-level multi-agent system is built, where each first-level unit control agent is associated with a distri......In this paper, a hierarchical distributed coordinated control method is proposed based on the multi-agent system for dc ring-bus microgrids to improve the bus voltage performance. First, a two-level multi-agent system is built, where each first-level unit control agent is associated...

  1. Hierarchical control of a photovoltaic/battery based DC microgrid including electric vehicle wireless charging station

    DEFF Research Database (Denmark)

    Xiao, Zhao xia; Fan, Haodong; Guerrero, Josep M.

    2017-01-01

    In this paper, the hierarchical control strategy of a photovoltaic/battery based dc microgrid is presented for electric vehicle (EV) wireless charging. Considering irradiance variations, battery charging/discharging requirements, wireless power transmission characteristics, and onboard battery...... coils, receiving coils and compensation capacitors, the wireless power transmission system is designed to be resonant when it is operating at the rated power, with the aim to achieve the optimum transmission system efficiency. Simulation and experimental results of the hierarchical control...... charging power change and other factors, the possible operation states are obtained. A hierarchical control strategy is established, which includes central and local controllers. The central controller is responsible for the selection and transfer of operation states and the management of the local...

  2. Steering Angle Control of Car for Dubins Path-tracking Using Model Predictive Control

    Science.gov (United States)

    Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

    2018-03-01

    Car as one of transportation is inseparable from technological developments. About ten years, there are a lot of research and development on lane keeping system(LKS) which is a system that automaticaly controls the steering to keep the vehicle especially car always on track. This system can be developed for unmanned cars. Unmanned system car requires navigation, guidance and control which is able to direct the vehicle to move toward the desired path. The guidance system is represented by using Dubins-Path that will be controlled by using Model Predictive Control. The control objective is to keep the car’s movement that represented by dinamic lateral motion model so car can move according to the path appropriately. The simulation control on the four types of trajectories that generate the value for steering angle and steering angle changes are at the specified interval.

  3. Controllable synthesis of hierarchical strontium molybdate by sonochemical method

    Energy Technology Data Exchange (ETDEWEB)

    Jiang, Wanquan; Zhu, Wei [Department of Chemistry, University of Science and Technology of China (USTC), Hefei 230026 (China); Peng, Chao; Yang, Fan; Xuan, Shouhu; Gong, Xinglong [CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, USTC, Hefei 230027 (China)

    2012-09-15

    Large-scale chrysanthemum-like strontium molybdate (SrMoO{sub 4}) with hierarchical structure has been successfully synthesized via a facile and fast ultrasound irradiation approach at room temperature. By varying the experimental conditions, SrMoO{sub 4} with different morphologies, such as spindles, peanuts, spheres, and rods, can be obtained. The products are characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), transmission electron microscopy (TEM), and selected-area electron diffraction (SAED). The influent parameters including concentration, pH value, and surfactants have been investigated. A possible growth mechanism is proposed and the shape evolution of the products is characterized. The as-prepared chrysanthemum-like SrMoO{sub 4} particles are used as the precursor for electrorheological fluid and their electrorheological property is investigated. (Copyright copyright 2012 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim)

  4. Quadcopter Path Following Control Design Using Output Feedback with Command Generator Tracker LOS Based At Square Path

    Science.gov (United States)

    Nugraha, A. T.; Agustinah, T.

    2018-01-01

    Quadcopter an unstable system, underactuated and nonlinear in quadcopter control research developments become an important focus of attention. In this study, following the path control method for position on the X and Y axis, used structure-Generator Tracker Command (CGT) is tested. Attitude control and position feedback quadcopter is compared using the optimal output. The addition of the H∞ performance optimal output feedback control is used to maintain the stability and robustness of quadcopter. Iterative numerical techniques Linear Matrix Inequality (LMI) is used to find the gain controller. The following path control problems is solved using the method of LQ regulators with output feedback. Simulations show that the control system can follow the paths that have been defined in the form of a reference signal square shape. The result of the simulation suggest that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean X=0.5 m and Y=0.2 m.

  5. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    OpenAIRE

    Peng, Jiankun; He, Hongwen; Liu, Wei; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking s...

  6. Multi-rate path-following control for unmanned air vehicles

    NARCIS (Netherlands)

    Guerreiro Tome Antunes, D.J.; Silvestre, C.J.; Cunha, R.

    2008-01-01

    A methodology is provided to tackle the path-following integrated guidance and control problem for unmanned air vehicles with measured outputs available at different rates. The path-following problem is addressed by defining a suitable non-linear path dependent error space to express the vehicle’s

  7. An enhanced hierarchical control strategy for the Internet of Things-based home scale microgrid

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2017-01-01

    As the intelligent control and detection technology improving, more and more smart devices/sensors can be used to increase the living standard. In order to integrate the Internet of Things (IoT) with microgrid (MG), an enhanced hierarchical control strategy for IoT-based home scale MG is proposed...

  8. A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making

    Directory of Open Access Journals (Sweden)

    Xin Gao

    2016-01-01

    Full Text Available In order to maintain and enhance the operational reliability of a robotic manipulator deployed in space, an operational reliability system control method is presented in this paper. First, a method to divide factors affecting the operational reliability is proposed, which divides the operational reliability factors into task-related factors and cost-related factors. Then the models describing the relationships between the two kinds of factors and control variables are established. Based on this, a multivariable and multiconstraint optimization model is constructed. Second, a hierarchical system control model which incorporates the operational reliability factors is constructed. The control process of the space manipulator is divided into three layers: task planning, path planning, and motion control. Operational reliability related performance parameters are measured and used as the system’s feedback. Taking the factors affecting the operational reliability into consideration, the system can autonomously decide which control layer of the system should be optimized and how to optimize it using a control level adjustment decision module. The operational reliability factors affect these three control levels in the form of control variable constraints. Simulation results demonstrate that the proposed method can achieve a greater probability of meeting the task accuracy requirements, while extending the expected lifetime of the space manipulator.

  9. Vibration control for the ARGOS laser launch path

    Science.gov (United States)

    Peter, Diethard; Gässler, Wolfgang; Borelli, Jose; Barl, Lothar; Rabien, S.

    2012-07-01

    Present and future adaptive optics systems aim for the correction of the atmospheric turbulence over a large field of view combined with large sky coverage. To achieve this goal the telescope is equipped with multiple laser beacons. Still, to measure tip-tilt aberrations a natural guide star is used. For some fields such a tilt-star is not available and a correction on the laser beacons alone is applied. For this method to work well the laser beacons must not be affected by telescope vibrations on their up-link path. For the ARGOS system the jitter of the beacons is specified to be below 0.05. To achieve this goal a vibration compensation system is necessary to mitigate the mechanical disturbances. The ARGOS vibration compensation system is an accelerometer based feed forward system. The accelerometer measurements are fed into a real time controller. To achieve high performance the controller of the system is model based. The output is applied to a fast steering mirror. This paper presents the concept of the ARGOS vibration compensation, the hardware, and laboratory results.

  10. Decentralized Hierarchical Controller Design for Selective Damping of Inter Area Oscillations Using PMU Signals

    Directory of Open Access Journals (Sweden)

    Ashfaque Ahmed Hashmani

    2011-07-01

    Full Text Available This paper deals with the decentralized hierarchical PSS (Power System Stabilizer controller design to achieve a better damping of specific inter-area oscillations. The two-level decentralized hierarchical structure consists of two PSS controllers. The first level controller is a local PSS controller for each generator to damp local mode in the area where controller is located. This controller uses only local signals as input signals. The local signal comes from the generator at which the controller is located. The secondary level controller is a multivariable decentralized global PSS controller to damp inter-area modes. This controller uses selected suitable wide area PMU (Phasor Measurement Units signals as inputs. The PMU or global signals are taken from network locations where the oscillations are well observable. The global controller uses only those global input signals in which the assigned single inter-area mode is most observable and is located at a generator that is most effective in controlling the assigned mode. The global controller works mainly in a frequency band given by the natural frequency of the assigned mode. The effectiveness of the resulting hierarchical controller is demonstrated through simulation studies conducted on a test power system.

  11. Local hierarchical control for industrial microgrids with improved frequency regulation

    DEFF Research Database (Denmark)

    Rey, Juan M.; Vergara, Pedro P.; Castilla, Miguel

    2018-01-01

    Local control strategies that operate without relying on communication systems enhance flexibility and reliability of AC industrial microgrids. Based on a previous work in which a secondary switched control was proposed, this paper presents a complementary strategy to improve the frequency......-use of communications. Experimental results obtained on a laboratory microgrid are presented to validate the performance of the proposed complementary control strategy....

  12. Unified Brake Service by a Hierarchical Controller for Active Deceleration Control in an Electric and Automated Vehicle

    Directory of Open Access Journals (Sweden)

    Yuliang Nie

    2017-12-01

    Full Text Available Unified brake service is a universal service for generating certain brake force to meet the demand deceleration and is essential for an automated driving system. However, it is rather difficult to control the pressure in the wheel cylinders to reach the target deceleration of the automated vehicle, which is the key issue of the active deceleration control system (ADC. This paper proposes a hierarchical control method to actively control vehicle deceleration with active-brake actuators. In the upper hierarchical, the target pressure of wheel cylinders is obtained by dynamic equations of a pure electric vehicle. In the lower hierarchical, the solenoid valve instructions and the pump speed of hydraulic control unit (HCU are determined to satisfy the desired pressure with the feedback of measured wheel cylinder pressure by pressure sensors. Results of road experiments of a pure electric and automated vehicle indicate that the proposed method realizes the target deceleration accurately and efficiently.

  13. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle.

    Science.gov (United States)

    Peng, Jiankun; He, Hongwen; Liu, Wei; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

  14. The hierarchical expert tuning of PID controllers using tools of soft computing.

    Science.gov (United States)

    Karray, F; Gueaieb, W; Al-Sharhan, S

    2002-01-01

    We present soft computing-based results pertaining to the hierarchical tuning process of PID controllers located within the control loop of a class of nonlinear systems. The results are compared with PID controllers implemented either in a stand alone scheme or as a part of conventional gain scheduling structure. This work is motivated by the increasing need in the industry to design highly reliable and efficient controllers for dealing with regulation and tracking capabilities of complex processes characterized by nonlinearities and possibly time varying parameters. The soft computing-based controllers proposed are hybrid in nature in that they integrate within a well-defined hierarchical structure the benefits of hard algorithmic controllers with those having supervisory capabilities. The controllers proposed also have the distinct features of learning and auto-tuning without the need for tedious and computationally extensive online systems identification schemes.

  15. Control of the tritium path in process heat HTR's

    International Nuclear Information System (INIS)

    Kirch, N.; Scheidler, G.

    1985-01-01

    Nuclear Process Heat plant converting fossil fuels into liquid or gaseous secondary energy carriers generate tritium by several nuclear reactions. Control of the tritium path through the walls of the heat exchanger is highly important to meet regulatory requirements on the acceptable contamination in the product gas or liquid. Therefore, significant effort in the project 'Prototypanlage Nukleare Prozesswaerme' was put not only into generating a data base, but also into means of reducing tritium generation and permeation. Clean graphites with lithium impurities in the ppb level provide a low tritium source term. Realistic modeling of graphite retention and special helium purification systems are essentials. The main barrier to tritium permeation are heat exchanger walls requiring detailed characterization of in-situ surface layers. Studies to optimize the water/steam mass flow in the conversion process offer possibilities for further tritium retention. Progress can be demonstrated as follows: In 1980, between 2 and 8 Bq tritium per gram of product were predicted based on available data and even higher concentrations during startup. However, present day validated code predictions are below required 0.5 Bq/g equilibrium concentration level. During transients - particularly startup - this limit cannot be guaranteed as yet, but further retention potential is being offered by tritium gettering or filtering. An expected increase of the German regulatory requirement to 5 Bq/g will easily be met by present plant design under all operational conditions. (author)

  16. Hierarchical Motion Control for a Team of Humanoid Soccer Robots

    Directory of Open Access Journals (Sweden)

    Seung-Joon Yi

    2016-02-01

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

  17. A Novel Passive Path Following Controller for a Rehabilitation Robot

    National Research Council Canada - National Science Library

    Zhang, X; Behal, A; Dawson, D. M; Chen, J

    2004-01-01

    .... Motivated by a nonholonomic kinematic constraint, a dynamic path generator is designed to trace a desired contour in the robot's workspace when an interaction force is applied at the robot's end-effector...

  18. Hierarchical type-2 fuzzy aggregation of fuzzy controllers

    CERN Document Server

    Cervantes, Leticia

    2016-01-01

    This book focuses on the fields of fuzzy logic, granular computing and also considering the control area. These areas can work together to solve various control problems, the idea is that this combination of areas would enable even more complex problem solving and better results. In this book we test the proposed method using two benchmark problems: the total flight control and the problem of water level control for a 3 tank system. When fuzzy logic is used it make it easy to performed the simulations, these fuzzy systems help to model the behavior of a real systems, using the fuzzy systems fuzzy rules are generated and with this can generate the behavior of any variable depending on the inputs and linguistic value. For this reason this work considers the proposed architecture using fuzzy systems and with this improve the behavior of the complex control problems.

  19. Hierarchical model-based predictive control of a power plant portfolio

    DEFF Research Database (Denmark)

    Edlund, Kristian; Bendtsen, Jan Dimon; Jørgensen, John Bagterp

    2011-01-01

    One of the main difficulties in large-scale implementation of renewable energy in existing power systems is that the production from renewable sources is difficult to predict and control. For this reason, fast and efficient control of controllable power producing units – so-called “portfolio...... design for power system portfolio control, which aims specifically at meeting these demands.The design involves a two-layer hierarchical structure with clearly defined interfaces that facilitate an object-oriented implementation approach. The same hierarchical structure is reflected in the underlying...... optimisation problem, which is solved using Dantzig–Wolfe decomposition. This decomposition yields improved computational efficiency and better scalability compared to centralised methods.The proposed control scheme is compared to an existing, state-of-the-art portfolio control system (operated by DONG Energy...

  20. Energy Management Systems and tertiary regulation in hierarchical control architectures for islanded micro-grids

    DEFF Research Database (Denmark)

    Sanseverino, Eleonora Riva; Di Silvestre, Maria Luisa; Quang, Ninh Nguyen

    2015-01-01

    In this paper, the structure of the highest level of a hierarchical control architecture for micro-grids is proposed. Such structure includes two sub-levels: the Energy Management System, EMS, and the tertiary regulation. The first devoted to energy resources allocation in each time slot based...

  1. Speed-Accuracy Trade-Off in Skilled Typewriting: Decomposing the Contributions of Hierarchical Control Loops

    Science.gov (United States)

    Yamaguchi, Motonori; Crump, Matthew J. C.; Logan, Gordon D.

    2013-01-01

    Typing performance involves hierarchically structured control systems: At the higher level, an outer loop generates a word or a series of words to be typed; at the lower level, an inner loop activates the keystrokes comprising the word in parallel and executes them in the correct order. The present experiments examined contributions of the outer-…

  2. Hierarchical predictive control scheme for distributed energy storage integrated with residential demand and photovoltaic generation

    NARCIS (Netherlands)

    Lampropoulos, I.; Garoufalis, P.; van den Bosch, P.P.J.; Kling, W.L.

    2015-01-01

    A hierarchical control scheme is defined for the energy management of a battery energy storage system which is integrated in a low-voltage distribution grid with residential customers and photovoltaic installations. The scope is the economic optimisation of the integrated system by employing

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

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  4. Exporting Variables in a Hierarchically Distributed Control System

    Energy Technology Data Exchange (ETDEWEB)

    Chamizo Llatas, M

    1995-07-01

    We describe the Remote Variable Access Service (RVAS), a network service developed and used in the distributed control and monitoring system of the TJ-II Heliac, which is under construction at CIEMAT (Madrid, Spain) and devoted to plasma studies in the nuclear fusion field. The architecture of the TJ-II control system consists of one central Sun workstation Sparc 10 and several autonomous subsystems based on VME crates with embedded processors running the OS-9 (V.24) real time operating system. The RVAS service allows state variables in local control processes running in subsystems to be exported to remote processes running in the central control workstation. Thus we extend the concept of exporting of file systems in UNIX machines to variables in processes running in different machines. (Author) 6 refs.

  5. Exporting Variables in a Hierarchically Distributed Control System

    International Nuclear Information System (INIS)

    Diaz Martin; Martinez Laso, L.

    1995-01-01

    We describe the Remote Variable Access Service (RVAS), a network service developed and use in the distributed control and monitoring system of the TJ-II Heliac, which is under construction at CIEMAT (Madrid, Spain) and devoted to plasma studies in the nuclear fusion field. The architecture of the TJ-II control system consists of one central Sun workstation Sparc 10 and several autonomous subsystems based on VME crates with embedded processors running the os-9 (V.24) real time operating system. The RVAS service allows state variables in local control processes running in subsystems to be exported to remote processes running in the central control workstation. Thus we extend the concept of exporting of file systems in UNIX machines to variables in processes running in different machines. (Author)

  6. Exporting Variables in a Hierarchically Distributed Control System

    International Nuclear Information System (INIS)

    Chamizo Llatas, M.

    1995-01-01

    We describe the Remote Variable Access Service (RVAS), a network service developed and used in the distributed control and monitoring system of the TJ-II Heliac, which is under construction at CIEMAT (Madrid, Spain) and devoted to plasma studies in the nuclear fusion field. The architecture of the TJ-II control system consists of one central Sun workstation Sparc 10 and several autonomous subsystems based on VME crates with embedded processors running the OS-9 (V.24) real time operating system. The RVAS service allows state variables in local control processes running in subsystems to be exported to remote processes running in the central control workstation. Thus we extend the concept of exporting of file systems in UNIX machines to variables in processes running in different machines. (Author) 6 refs

  7. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

    Directory of Open Access Journals (Sweden)

    Fitri Yakub

    2016-01-01

    Full Text Available We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.

  8. Evolution of cooperation in a hierarchical society with corruption control.

    Science.gov (United States)

    Huang, Feng; Chen, Xiaojie; Wang, Long

    2018-07-14

    Punishment is widely recognized as a potential promoter in sustaining or even enhancing public cooperation, but it meanwhile induces the problem of second-order free-riders. Particularly, recent evidence shows that costly punishment can be maintained if punishers may engage in corruption. However, how to reduce or eliminate incidents of corruption has been the enduring conundrum in human society. As power asymmetries are associated with hierarchies, we investigate how costly punishment affects the evolution of cooperation in the cases without and with corruption control. In the absence of corruption control, altruistic punishers are incapable of punishing corrupt punishers. Corrupt punishment maintains civilian cooperation but undermines the evolution of altruistic punishment. Otherwise, altruistic punishers can enforce symmetrical or asymmetrical punishment on both corrupt punishers and civilian defectors. In this case, both civilian cooperation and altruistic punishment can be promoted. And as an instrument of corruption control, the policy of asymmetrical punishment is more effective in fostering public cooperation and improving social welfare than symmetrical punishment. Moreover, no matter whether corruption control is considered or not, spiteful corruption that non-cooperative punishers penalize defectors is a more effective form for enhancing cooperation compared with bribery. Our work may thus offer an insight into the effects of corruption on public cooperation and the policy of anti-corruption. Copyright © 2018 Elsevier Ltd. All rights reserved.

  9. Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles.

    Science.gov (United States)

    Liu, Quan; Liu, Aiming; Meng, Wei; Ai, Qingsong; Xie, Sheng Q

    2017-01-01

    Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs) is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient's active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant's assessment. The robot reduces its assistance output when participants contribute more and vice versa , thus providing a potentially feasible solution to the patient-in-loop cooperative training strategy.

  10. Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles

    Directory of Open Access Journals (Sweden)

    Quan Liu

    2017-12-01

    Full Text Available Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient’s active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant’s assessment. The robot reduces its assistance output when participants contribute more and vice versa, thus providing a potentially feasible solution to the patient-in-loop cooperative training strategy.

  11. Local Design Methodologies for a Hierarchic Control Architecture

    Science.gov (United States)

    1990-04-12

    regional (in the sense of knowledge and influence) controllers which are distributed throughout the structure [9,39,54,56,65,68]. Many decentralized...occurs, it is necessary that - gpk = gk > 0 (3.74) I which is true provided Hk > 0 and gt 0 0. These conditions will be met near a strong minimum, but...Astronautics, 19763 Semester spent at Leningrad State University, 1975 PROFESSIONAL SUMMARY Current major area of teaching and research is in the design and

  12. Hierarchical CuO hollow microspheres: Controlled synthesis for enhanced lithium storage performance

    International Nuclear Information System (INIS)

    Guan Xiangfeng; Li Liping; Li Guangshe; Fu Zhengwei; Zheng Jing; Yan Tingjiang

    2011-01-01

    Graphical abstract: Hierarchical CuO microspheres with hollow interiors were formed through self-wrapping of a single layer of radically oriented CuO nanorods, and these microspheres showed excellent cycle performance and enhanced lithium storage capacity. Display Omitted Research highlights: → Hierarchical CuO hollow microspheres were prepared by a hydrothermal method. → The CuO hollow microspheres were assembled from radically oriented nanorods. → The growth mechanism was proposed to proceed via self-assembly and Ostwald's ripening. → The microspheres showed good cycle performance and enhanced lithium storage capacity. → Hierarchical microstructures with hollow interiors promote electrochemical property. - Abstract: In this work, hierarchical CuO hollow microspheres were hydrothermally prepared without use of any surfactants or templates. By controlling the formation reaction conditions and monitoring the relevant reaction processes using time-dependent experiments, it is demonstrated that hierarchical CuO microspheres with hollow interiors were formed through self-wrapping of a single layer of radically oriented CuO nanorods, and that hierarchical spheres could be tuned to show different morphologies and microstructures. As a consequence, the formation mechanism was proposed to proceed via a combined process of self-assembly and Ostwald's ripening. Further, these hollow microspheres were initiated as the anode material in lithium ion batteries, which showed excellent cycle performance and enhanced lithium storage capacity, most likely because of the synergetic effect of small diffusion lengths in building blocks of nanorods and proper void space that buffers the volume expansion. The strategy reported in this work is reproducible, which may help to significantly improve the electrochemical performance of transition metal oxide-based anode materials via designing the hollow structures necessary for developing lithium ion batteries and the relevant

  13. Hierarchical Model Predictive Control for Plug-and-Play Resource Distribution

    DEFF Research Database (Denmark)

    Bendtsen, Jan Dimon; Trangbæk, K; Stoustrup, Jakob

    2012-01-01

    of autonomous units. The approach is inspired by smart-grid electric power production and consumption systems, where the flexibility of a large number of power producing and/or power consuming units can be exploited in a smart-grid solution. The objective is to accommodate the load variation on the grid......This chapter deals with hierarchical model predictive control (MPC) of distributed systems. A three level hierarchical approach is proposed, consisting of a high level MPC controller, a second level of so-called aggregators, controlled by an online MPC-like algorithm, and a lower level......, arising on one hand from varying consumption, on the other hand by natural variations in power production e.g. from wind turbines. The proposed method can also be applied to supply chain management systems, where the challenge is to balance demand and supply, using a number of storages each with a maximal...

  14. Naturalizing sense of agency with a hierarchical event-control approach.

    Directory of Open Access Journals (Sweden)

    Devpriya Kumar

    Full Text Available Unraveling the mechanisms underlying self and agency has been a difficult scientific problem. We argue for an event-control approach for naturalizing the sense of agency by focusing on the role of perception-action regularities present at different hierarchical levels and contributing to the sense of self as an agent. The amount of control at different levels of the control hierarchy determines the sense of agency. The current study investigates this approach in a set of two experiments using a scenario containing multiple agents sharing a common goal where one of the agents is partially controlled by the participant. The participant competed with other agents for achieving the goal and subsequently answered questions on identification (which agent was controlled by the participant, the degree to which they are confident about their identification (sense of identification and the degree to which the participant believed he/she had control over his/her actions (sense of authorship. Results indicate a hierarchical relationship between goal-level control (higher level and perceptual-motor control (lower level for sense of agency. Sense of identification ratings increased with perceptual-motor control when the goal was not completed but did not vary with perceptual-motor control when the goal was completed. Sense of authorship showed a similar interaction effect only in experiment 2 that had only one competing agent unlike the larger number of competing agents in experiment 1. The effect of hierarchical control can also be seen in the misidentification pattern and misidentification was greater with the agent affording greater control. Results from the two studies support the event-control approach in understanding sense of agency as grounded in control. The study also offers a novel paradigm for empirically studying sense of agency and self.

  15. GOTHIC: Gravitational oct-tree code accelerated by hierarchical time step controlling

    Science.gov (United States)

    Miki, Yohei; Umemura, Masayuki

    2017-04-01

    The tree method is a widely implemented algorithm for collisionless N-body simulations in astrophysics well suited for GPU(s). Adopting hierarchical time stepping can accelerate N-body simulations; however, it is infrequently implemented and its potential remains untested in GPU implementations. We have developed a Gravitational Oct-Tree code accelerated by HIerarchical time step Controlling named GOTHIC, which adopts both the tree method and the hierarchical time step. The code adopts some adaptive optimizations by monitoring the execution time of each function on-the-fly and minimizes the time-to-solution by balancing the measured time of multiple functions. Results of performance measurements with realistic particle distribution performed on NVIDIA Tesla M2090, K20X, and GeForce GTX TITAN X, which are representative GPUs of the Fermi, Kepler, and Maxwell generation of GPUs, show that the hierarchical time step achieves a speedup by a factor of around 3-5 times compared to the shared time step. The measured elapsed time per step of GOTHIC is 0.30 s or 0.44 s on GTX TITAN X when the particle distribution represents the Andromeda galaxy or the NFW sphere, respectively, with 224 = 16,777,216 particles. The averaged performance of the code corresponds to 10-30% of the theoretical single precision peak performance of the GPU.

  16. Ion-Pair Oligomerization of Chromogenic Triangulenium Cations with Cyanostar-Modified Anions That Controls Emission in Hierarchical Materials

    DEFF Research Database (Denmark)

    Qiao, Bo; Hirsch, Brandon E.; Lee, Semin

    2017-01-01

    The hierarchical assembly of colored cationic molecules with receptor-modified counteranions can be used to control optical properties in materials. However, our knowledge of when the optical properties emerge in the hierarchical organization and the variety of cation-anion salts that are availab...

  17. Combining control input with flight path data to evaluate pilot performance in transport aircraft.

    Science.gov (United States)

    Ebbatson, Matt; Harris, Don; Huddlestone, John; Sears, Rodney

    2008-11-01

    When deriving an objective assessment of piloting performance from flight data records, it is common to employ metrics which purely evaluate errors in flight path parameters. The adequacy of pilot performance is evaluated from the flight path of the aircraft. However, in large jet transport aircraft these measures may be insensitive and require supplementing with frequency-based measures of control input parameters. Flight path and control input data were collected from pilots undertaking a jet transport aircraft conversion course during a series of symmetric and asymmetric approaches in a flight simulator. The flight path data were analyzed for deviations around the optimum flight path while flying an instrument landing approach. Manipulation of the flight controls was subject to analysis using a series of power spectral density measures. The flight path metrics showed no significant differences in performance between the symmetric and asymmetric approaches. However, control input frequency domain measures revealed that the pilots employed highly different control strategies in the pitch and yaw axes. The results demonstrate that to evaluate pilot performance fully in large aircraft, it is necessary to employ performance metrics targeted at both the outer control loop (flight path) and the inner control loop (flight control) parameters in parallel, evaluating both the product and process of a pilot's performance.

  18. Hierarchical Control with Virtual Resistance Optimization for Efficiency Enhancement and State-of-Charge Balancing in DC Microgrids

    DEFF Research Database (Denmark)

    Meng, Lexuan; Dragicevic, Tomislav; Quintero, Juan Carlos Vasquez

    2015-01-01

    This paper proposes a hierarchical control scheme which applies optimization method into DC microgrids in order to improve the system overall efficiency while considering the State-of-Charge (SoC) balancing at the same time. Primary droop controller, secondary voltage restoration controller...... and tertiary optimization tool formulate the complete hierarchical control system. Virtual resistances are taken as the decision variables for achieving the objective. simulation results are presented to verify the proposed approach....

  19. Hierarchical Control and Skilled Typing: Evidence for Word-Level Control over the Execution of Individual Keystrokes

    Science.gov (United States)

    Crump, Matthew J. C.; Logan, Gordon D.

    2010-01-01

    Routine actions are commonly assumed to be controlled by hierarchically organized processes and representations. In the domain of typing theories, word-level information is assumed to activate the constituent keystrokes required to type each letter in a word. We tested this assumption directly using a novel single-letter probe technique. Subjects…

  20. A robust H∞ control-based hierarchical mode transition control system for plug-in hybrid electric vehicle

    Science.gov (United States)

    Yang, Chao; Jiao, Xiaohong; Li, Liang; Zhang, Yuanbo; Chen, Zheng

    2018-01-01

    To realize a fast and smooth operating mode transition process from electric driving mode to engine-on driving mode, this paper presents a novel robust hierarchical mode transition control method for a plug-in hybrid electric bus (PHEB) with pre-transmission parallel hybrid powertrain. Firstly, the mode transition process is divided into five stages to clearly describe the powertrain dynamics. Based on the dynamics models of powertrain and clutch actuating mechanism, a hierarchical control structure including two robust H∞ controllers in both upper layer and lower layer is proposed. In upper layer, the demand clutch torque can be calculated by a robust H∞controller considering the clutch engaging time and the vehicle jerk. While in lower layer a robust tracking controller with L2-gain is designed to perform the accurate position tracking control, especially when the parameters uncertainties and external disturbance occur in the clutch actuating mechanism. Simulation and hardware-in-the-loop (HIL) test are carried out in a traditional driving condition of PHEB. Results show that the proposed hierarchical control approach can obtain the good control performance: mode transition time is greatly reduced with the acceptable jerk. Meanwhile, the designed control system shows the obvious robustness with the uncertain parameters and disturbance. Therefore, the proposed approach may offer a theoretical reference for the actual vehicle controller.

  1. Design of an arbitrary path-following controller for a non-holonomic mobile platform

    CSIR Research Space (South Africa)

    Sabatta, DG

    2009-11-01

    Full Text Available required for the platform to asymptotically track the path. The controller derived in this paper is implemented on the Seekur platform from Mobile Robots. Results showing the following of a pre-recorded path from differential GPS are discussed....

  2. Strategy Implementation through Hierarchical Couplings in a Management Control Package: An Explorative Case Study

    OpenAIRE

    van der Kolk, Berend; Schokker, Tom

    2016-01-01

    We examine how couplings of management control (MC) elements help to implement an organization’s strategy. Despite prior research stating that couplings between MC elements form fruitful soil for further research, empirical studies in this area are still scarce. We draw on coupling theory to explore three hierarchical relations between MC elements, and examine how these couplings help to implement the organization’s strategy. We conducted a single case study in a medium-sized Dutch municipali...

  3. Hierarchical Control Strategy for Active Hydropneumatic Suspension Vehicles Based on Genetic Algorithms

    Directory of Open Access Journals (Sweden)

    Jinzhi Feng

    2015-02-01

    Full Text Available A new hierarchical control strategy for active hydropneumatic suspension systems is proposed. This strategy considers the dynamic characteristics of the actuator. The top hierarchy controller uses a combined control scheme: a genetic algorithm- (GA- based self-tuning proportional-integral-derivative controller and a fuzzy logic controller. For practical implementations of the proposed control scheme, a GA-based self-learning process is initiated only when the defined performance index of vehicle dynamics exceeds a certain debounce time threshold. The designed control algorithm is implemented on a virtual prototype and cosimulations are performed with different road disturbance inputs. Cosimulation results show that the active hydropneumatic suspension system designed in this study significantly improves riding comfort characteristics of vehicles. The robustness and adaptability of the proposed controller are also examined when the control system is subjected to extremely rough road conditions.

  4. Supervisory control in a distributed, hierarchical architecture for a multimodular LMR

    International Nuclear Information System (INIS)

    Otaduy, P.J.; Brittain, C.R.; Rovere, L.A.

    1989-01-01

    This paper describes the directions and present status of the research in supervisory control for multimodular nuclear plants being conducted at Oak Ridge National Laboratory (ORNL) as part of US Department of Energy's (DOE) Advanced Controls Program. First, the hierarchical supervisory control structure envisioned for a Power Reactor Inherently Safe Module (PRISM) multimodular LMR is discussed. Next, the architecture of the supervisory module closest to the process actuators and its implementation for demonstration in a network of CPU's are presented. 12 refs., 3 figs

  5. Distributed hierarchical control architecture for integrating smart grid assets during normal and disrupted operations

    Science.gov (United States)

    Kalsi, Karan; Fuller, Jason C.; Somani, Abhishek; Pratt, Robert G.; Chassin, David P.; Hammerstrom, Donald J.

    2017-09-12

    Disclosed herein are representative embodiments of methods, apparatus, and systems for facilitating operation and control of a resource distribution system (such as a power grid). Among the disclosed embodiments is a distributed hierarchical control architecture (DHCA) that enables smart grid assets to effectively contribute to grid operations in a controllable manner, while helping to ensure system stability and equitably rewarding their contribution. Embodiments of the disclosed architecture can help unify the dispatch of these resources to provide both market-based and balancing services.

  6. A path-following driver/vehicle model with optimized lateral dynamic controller

    Directory of Open Access Journals (Sweden)

    Behrooz Mashadi

    Full Text Available Reduction in traffic congestion and overall number of accidents, especially within the last decade, can be attributed to the enormous progress in active safety. Vehicle path following control with the presence of driver commands can be regarded as one of the important issues in vehicle active safety systems development and more realistic explanation of vehicle path tracking problem. In this paper, an integrated driver/DYC control system is presented that regulates the steering angle and yaw moment, considering driver previewed path. Thus, the driver previewed distance, the heading error and the lateral deviation between the vehicle and desired path are used as inputs. Then, the controller determines and applies a corrective steering angle and a direct yaw moment to make the vehicle follow the desired path. A PID controller with optimized gains is used for the control of integrated driver/DYC system. Genetic Algorithm as an intelligent optimization method is utilized to adapt PID controller gains for various working situations. Proposed integrated driver/DYC controller is examined on lane change manuvers andthe sensitivity of the control system is investigated through the changes in the driver model and vehicle parameters. Simulation results show the pronounced effectiveness of the controller in vehicle path following and stability.

  7. Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

    Directory of Open Access Journals (Sweden)

    Yiding Hua

    2017-01-01

    Full Text Available This paper establishes the kinematic model of the automatic parking system and analyzes the kinematic constraints of the vehicle. Furthermore, it solves the problem where the traditional automatic parking system model fails to take into account the time delay. Firstly, based on simulating calculation, the influence of time delay on the dynamic trajectory of a vehicle in the automatic parking system is analyzed under the transverse distance Dlateral between different target spaces. Secondly, on the basis of cloud model, this paper utilizes the tracking control of an intelligent path closer to human intelligent behavior to further study the Cloud Generator-based parking path tracking control method and construct a vehicle path tracking control model. Moreover, tracking and steering control effects of the model are verified through simulation analysis. Finally, the effectiveness and timeliness of automatic parking controller in the aspect of path tracking are tested through a real vehicle experiment.

  8. Analysis of explicit model predictive control for path-following control

    Science.gov (United States)

    2018-01-01

    In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can reduce this computational burden using a multi-parametric quadratic programming technique(mp-QP). The control objective is to derive an optimal front steering wheel angle at each sampling time so that autonomous vehicles travel along desired paths, including straight, circular, and clothoid parts, at high entry speeds. In terms of the design of the proposed controller, a method of choosing weighting matrices in an optimization problem and the range of horizons for path-following control are described through simulations. For the verification of the proposed controller, simulation results obtained using other control methods such as MPC, Linear-Quadratic Regulator(LQR), and driver model are employed, and CarSim, which reflects the features of a vehicle more realistically than MATLAB/Simulink, is used for reliable demonstration. PMID:29534080

  9. Analysis of explicit model predictive control for path-following control.

    Science.gov (United States)

    Lee, Junho; Chang, Hyuk-Jun

    2018-01-01

    In this paper, explicit Model Predictive Control(MPC) is employed for automated lane-keeping systems. MPC has been regarded as the key to handle such constrained systems. However, the massive computational complexity of MPC, which employs online optimization, has been a major drawback that limits the range of its target application to relatively small and/or slow problems. Explicit MPC can reduce this computational burden using a multi-parametric quadratic programming technique(mp-QP). The control objective is to derive an optimal front steering wheel angle at each sampling time so that autonomous vehicles travel along desired paths, including straight, circular, and clothoid parts, at high entry speeds. In terms of the design of the proposed controller, a method of choosing weighting matrices in an optimization problem and the range of horizons for path-following control are described through simulations. For the verification of the proposed controller, simulation results obtained using other control methods such as MPC, Linear-Quadratic Regulator(LQR), and driver model are employed, and CarSim, which reflects the features of a vehicle more realistically than MATLAB/Simulink, is used for reliable demonstration.

  10. Requirements for implementing real-time control functional modules on a hierarchical parallel pipelined system

    Science.gov (United States)

    Wheatley, Thomas E.; Michaloski, John L.; Lumia, Ronald

    1989-01-01

    Analysis of a robot control system leads to a broad range of processing requirements. One fundamental requirement of a robot control system is the necessity of a microcomputer system in order to provide sufficient processing capability.The use of multiple processors in a parallel architecture is beneficial for a number of reasons, including better cost performance, modular growth, increased reliability through replication, and flexibility for testing alternate control strategies via different partitioning. A survey of the progression from low level control synchronizing primitives to higher level communication tools is presented. The system communication and control mechanisms of existing robot control systems are compared to the hierarchical control model. The impact of this design methodology on the current robot control systems is explored.

  11. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Jiankun Peng

    2015-01-01

    Full Text Available This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

  12. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    Science.gov (United States)

    Peng, Jiankun; He, Hongwen; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved. PMID:26236772

  13. Hierarchical LiFePO4 with a controllable growth of the (010) facet for lithium-ion batteries.

    Science.gov (United States)

    Guo, Binbin; Ruan, Hongcheng; Zheng, Cheng; Fei, Hailong; Wei, Mingdeng

    2013-09-27

    Hierarchically structured LiFePO4 was successfully synthesized by ionic liquid solvothermal method. These hierarchically structured LiFePO4 samples were constructed from nanostructured platelets with their (010) facets mainly exposed. To the best of our knowledge, facet control of a hierarchical LiFePO4 crystal has not been reported yet. Based on a series of experimental results, a tentative mechanism for the formation of these hierarchical structures was proposed. After these hierarchically structured LiFePO4 samples were coated with a thin carbon layer and used as cathode materials for lithium-ion batteries, they exhibited excellent high-rate discharge capability and cycling stability. For instance, a capacity of 95% can be maintained for the LiFePO4 sample at a rate as high as 20 C, even after 1000 cycles.

  14. A distributed hierarchical architecture of expert systems for supervisory control of multimodular nuclear reactors

    International Nuclear Information System (INIS)

    Otaduy, P.J.; Brittain, C.R.; Rovere, L.A.; Gove, N.B.

    1991-01-01

    A hierarchical supervisory control architecture has being implemented at ORNL to coordinate the controllers of a multimodular nuclear plant. The supervisory controller form a network of distributed expert system interfaced with a real-time simulation of the plant, the plant's automatic controllers, and the human operator. The main goal of the supervisory controllers is to maintain the plant operating within safety envelopes while optimizing availability, minimizing stress to components and operators, and facilitating operations. Representative rules implementing strategies for situation dependent reassignment of process goals by embedding diagnostics into the control philosophy are discussed. It should noted that the control philosophies here described use the ALMR concept for illustration purposes and are not part of the official ALMR design at this time. 3 refs., 1 fig

  15. Frequency Stability of Hierarchically Controlled Hybrid Photovoltaic-Battery-Hydropower Microgrids

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2015-01-01

    -based local grid is supplied. In this case, the PV-battery system will operate as a PQ bus to inject the desired active and reactive powers to local grid, while the hydropower station will act as a slack bus which maintains its voltage amplitude and frequency. An integrated small-signal state-space model......, a hierarchical controller for hybrid PV-battery-hydropower microgrid is proposed in order to achieve the parallel operation of hydropower and PV-battery system with different rates, and to guarantee power sharing performance among PV voltage controlled inverters, while the required power to hydropower...

  16. Functional integration of vertical flight path and speed control using energy principles

    Science.gov (United States)

    Lambregts, A. A.

    1984-01-01

    A generalized automatic flight control system was developed which integrates all longitudinal flight path and speed control functions previously provided by a pitch autopilot and autothrottle. In this design, a net thrust command is computed based on total energy demand arising from both flight path and speed targets. The elevator command is computed based on the energy distribution error between flight path and speed. The engine control is configured to produce the commanded net thrust. The design incorporates control strategies and hierarchy to deal systematically and effectively with all aircraft operational requirements, control nonlinearities, and performance limits. Consistent decoupled maneuver control is achieved for all modes and flight conditions without outer loop gain schedules, control law submodes, or control function duplication.

  17. Controlling the optical path length in turbid media using differential path-length spectroscopy: fiber diameter dependence

    NARCIS (Netherlands)

    Kaspers, O. P.; Sterenborg, H. J. C. M.; Amelink, A.

    2008-01-01

    We have characterized the path length for the differential path-length spectroscopy (DPS) fiber optic geometry for a wide range of optical properties and for fiber diameters ranging from 200 mu m to 1000 mu m. Phantom measurements show that the path length is nearly constant for scattering

  18. Habits as action sequences: hierarchical action control and changes in outcome value.

    Science.gov (United States)

    Dezfouli, Amir; Lingawi, Nura W; Balleine, Bernard W

    2014-11-05

    Goal-directed action involves making high-level choices that are implemented using previously acquired action sequences to attain desired goals. Such a hierarchical schema is necessary for goal-directed actions to be scalable to real-life situations, but results in decision-making that is less flexible than when action sequences are unfolded and the decision-maker deliberates step-by-step over the outcome of each individual action. In particular, from this perspective, the offline revaluation of any outcomes that fall within action sequence boundaries will be invisible to the high-level planner resulting in decisions that are insensitive to such changes. Here, within the context of a two-stage decision-making task, we demonstrate that this property can explain the emergence of habits. Next, we show how this hierarchical account explains the insensitivity of over-trained actions to changes in outcome value. Finally, we provide new data that show that, under extended extinction conditions, habitual behaviour can revert to goal-directed control, presumably as a consequence of decomposing action sequences into single actions. This hierarchical view suggests that the development of action sequences and the insensitivity of actions to changes in outcome value are essentially two sides of the same coin, explaining why these two aspects of automatic behaviour involve a shared neural structure. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

  19. Effects of a GPC-PID control strategy with hierarchical structure for a cooling coil unit

    International Nuclear Information System (INIS)

    Xu Min; Li Shaoyuan; Cai Wenjian; Lu Lu

    2006-01-01

    This paper presents a GPC-PID control strategy for a cooling-coil unit in heating, ventilation and air conditioning systems. By analysis of the cooling towers and chillers, different models in the occupied period are considered in each operating condition. Because of the complication of components, well tuned PID controllers are unsatisfied, and the results are poor over a wide range of operation conditions. To solve this problem, a GPC-PID controller with hierarchical structure is proposed based on minimizing the generalized predictive control criterion to tune conventional PID controller parameters. Simulation and experiments show that the proposed controller is able to deal with a wide range of operating conditions and to achieve better performance than conventional methods

  20. MPC-Based Path Following Control of an Omnidirectional Mobile Robot with Consideration of Robot Constraints

    Directory of Open Access Journals (Sweden)

    Kiattisin Kanjanawanishkul

    2015-01-01

    Full Text Available In this paper, the path following problem of an omnidirectional mobile robot (OMR has been studied. Unlike nonholonomic mobile robots, translational and rotational movements of OMRs can be controlled simultaneously and independently. However the constraints of translational and rotational velocities are coupled through the OMR's orientation angle. Therefore, a combination of a virtual-vehicle concept and a model predictive control (MPC strategy is proposed in this work to handle both robot constraints and the path following problem. Our proposed control scheme allows the OMR to follow the reference path successfully and safely, as illustrated in simulation experiments. The forward velocity is close to the desired one and the desired orientation angle is achieved at a given point on the path, while the robot's wheel velocities are maintained within boundaries.

  1. Path following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Xiao Liang

    2016-06-01

    Full Text Available This paper addresses the path following problem of an underactuated autonomous underwater vehicle (AUV with the aim of dealing with parameter uncertainties and current disturbances. An adaptive robust control system was proposed by employing fuzzy logic, backstepping and sliding mode control theory. Fuzzy logic theory is adopted to approximate unknown system function, and the controller was designed by combining sliding mode control with backstepping thought. Firstly, the longitudinal speed was controlled, then the yaw angle was made as input of path following error to design the calm function and the change rate of path parameters. The controller stability was proved by Lyapunov stable theory. Simulation and outfield tests were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances. It is also shown to be able to avoid the chattering of AUV actuators.

  2. Cellular Decomposition Based Hybrid-Hierarchical Control Systems with Applications to Flight Management Systems

    Science.gov (United States)

    Caines, P. E.

    1999-01-01

    The work in this research project has been focused on the construction of a hierarchical hybrid control theory which is applicable to flight management systems. The motivation and underlying philosophical position for this work has been that the scale, inherent complexity and the large number of agents (aircraft) involved in an air traffic system imply that a hierarchical modelling and control methodology is required for its management and real time control. In the current work the complex discrete or continuous state space of a system with a small number of agents is aggregated in such a way that discrete (finite state machine or supervisory automaton) controlled dynamics are abstracted from the system's behaviour. High level control may then be either directly applied at this abstracted level, or, if this is in itself of significant complexity, further layers of abstractions may be created to produce a system with an acceptable degree of complexity at each level. By the nature of this construction, high level commands are necessarily realizable at lower levels in the system.

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

    Science.gov (United States)

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

    2016-03-01

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

  4. Active Disturbance Rejection with Sliding Mode Control Based Course and Path Following for Underactuated Ships

    Directory of Open Access Journals (Sweden)

    Ronghui Li

    2013-01-01

    Full Text Available The compound control of active-disturbance-rejection control (ADRC with sliding mode is proposed to improve the performance of the closed-loop system and deal with the constraint condition problem of a surface ship. The advantages of ADRC with sliding mode were verified by ship course control simulations. Meanwhile, to solve the path-following problem of underactuated surface ships with uncertainties of internal dynamic and external disturbances, the ADRC controller with sliding mode is introduced to steer the ship to follow the desired path. In order to overcome the cross-track error caused by wind and current, drift angle is compensated in the controller by designing a coordinate transformation equation. Simulations were performed on a nonlinear kinematics model of a training ship to validate the stability and excellent robustness of the proposed path-following controller.

  5. Path tracking control of an omni-directional walker considering pressures from a user.

    Science.gov (United States)

    Tan, Renpeng; Wang, Shuoyu; Jiang, Yinlai; Ishida, Kenji; Fujie, Masakatsu G

    2013-01-01

    An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training path in real rehabilitation, which is caused by the variation of the whole system's parameters due to the force from the user. In this paper, the characteristics of pressures from a user are measured, based on which an adaptive controller is proposed to deal with this problem, and validated in an experiment in which a pseudo handicapped person follows the ODW. The experimental results show that the proposed method can control the ODW to accurately follow the defined path with or without a user.

  6. Controller synthesis for dynamic hierarchical real-time plants using timed automata

    DEFF Research Database (Denmark)

    Bin Waez, Md Tawhid; Wasowski, Andrzej; Dingel, Juergen

    2017-01-01

    We use timed I/O automata based timed games to synthesize task-level reconfiguration services for cost-effective fault tolerance in a case study. The case study shows that state-space explosion is a severe problem for timed games. By applying suitable abstractions, we dramatically improve...... the scalability. However, timed I/O automata do not facilitate algorithmic abstraction generation techniques. The case study motivates the development of timed process automata to improve modeling and analysis for controller synthesis of time-critical plants which can be hierarchical and dynamic. The model offers...

  7. Hierarchical Load Tracking Control of a Grid-connected Solid Oxide Fuel Cell for Maximum Electrical Efficiency Operation

    DEFF Research Database (Denmark)

    Li, Yonghui; Wu, Qiuwei; Zhu, Haiyu

    2015-01-01

    efficiency operation obtained at different active power output levels, a hierarchical load tracking control scheme for the grid-connected SOFC was proposed to realize the maximum electrical efficiency operation with the stack temperature bounded. The hierarchical control scheme consists of a fast active...... power control and a slower stack temperature control. The active power control was developed by using a decentralized control method. The efficiency of the proposed hierarchical control scheme was demonstrated by case studies using the benchmark SOFC dynamic model......Based on the benchmark solid oxide fuel cell (SOFC) dynamic model for power system studies and the analysis of the SOFC operating conditions, the nonlinear programming (NLP) optimization method was used to determine the maximum electrical efficiency of the grid-connected SOFC subject...

  8. Multiple-Time-Scales Hierarchical Frequency Stability Control Strategy of Medium-Voltage Isolated Microgrid

    DEFF Research Database (Denmark)

    Zhao, Zhuoli; Yang, Ping; Guerrero, Josep M.

    2016-01-01

    In this paper, an islanded medium-voltage (MV) microgrid placed in Dongao Island is presented, which integrates renewable-energy-based distributed generations (DGs), energy storage system (ESS), and local loads. In an isolated microgrid without connection to the main grid to support the frequency......, it is more complex to control and manage. Thus in order to maintain the frequency stability in multiple-time-scales, a hierarchical control strategy is proposed. The proposed control architecture divides the system frequency in three zones: (A) stable zone, (B) precautionary zone and (C) emergency zone...... of Zone B. Theoretical analysis, time-domain simulation and field test results under various conditions and scenarios in the Dongao Island microgrid are presented to prove the validity of the introduced control strategy....

  9. Resilient control of cyber-physical systems against intelligent attacker: a hierarchal stackelberg game approach

    Science.gov (United States)

    Yuan, Yuan; Sun, Fuchun; Liu, Huaping

    2016-07-01

    This paper is concerned with the resilient control under denial-of-service attack launched by the intelligent attacker. The resilient control system is modelled as a multi-stage hierarchical game with a corresponding hierarchy of decisions made at cyber and physical layer, respectively. Specifically, the interaction in the cyber layer between different security agents is modelled as a static infinite Stackelberg game, while in the underlying physical layer the full-information H∞ minimax control with package drops is modelled as a different Stackelberg game. Both games are solved sequentially, which is consistent with the actual situations. Finally, the proposed method is applied to the load frequency control of the power system, which demonstrates its effectiveness.

  10. Active Power Quality Improvement Strategy for Grid-connected Microgrid Based on Hierarchical Control

    DEFF Research Database (Denmark)

    Wei, Feng; Sun, Kai; Guan, Yajuan

    2018-01-01

    proposes an active, unbalanced, and harmonic GCC suppression strategy based on hierarchical theory. The voltage error between the bus of the DCGC-MG and the grid’s PCC was transformed to the dq frame. On the basis of the grid, an additional compensator, which consists of multiple resonant voltage......When connected to a distorted grid utility, droop-controlled grid-connected microgrids (DCGC-MG) exhibit low equivalent impedance. The harmonic and unbalanced voltage at the point of common coupling (PCC) deteriorates the power quality of the grid-connected current (GCC) of DCGC-MG. This work...... regulators, was then added to the original secondary control to generate the negative fundamental and unbalanced harmonic voltage reference. Proportional integral and multiple resonant controllers were adopted as voltage controller at the original primary level to improve the voltage tracking performance...

  11. Economic–environmental hierarchical frequency management of a droop-controlled islanded microgrid

    International Nuclear Information System (INIS)

    Rezaei, Navid; Kalantar, Mohsen

    2014-01-01

    Highlights: • Modeling the steady-state frequency of the droop-controlled microgrids. • Precise formulation the hierarchical control levels of islanded microgrids. • Economic–environmental frequency management using mixed-integer linear programming. • Proposing a novel objective function based on the microgrid daily frequency profile. • Scheduling primary and secondary control reserves using a stochastic optimization. - Abstract: This paper presents a novel energy management system (EMS) for a microgrid to enhance the power system security in a cost-effective manner. Small size of the islanded microgrids, high levels of intermittency and energy fluctuations, lower inertia potential of inverter-interfaced distributed energy resources (DERs) makes the frequency a vital factor in the microgrid energy management system that should be managed subject to the economic–environmental policies of the microgrid EMS. The proposed model is based on precise energy and reserve scheduling of the DERs in a droop-controlled islanded microgrid to manage the possible microgrid frequency excursions. The expected value of the microgrid frequency excursions stem from system power deviations is employed as a new objective function in this study, which is aimed to be minimized using a two stage stochastic mixed-integer linear programming method. In order to model the hierarchical control structure of the islanded microgrid, the frequency dependent behavior of the droop-controlled inverter-interfaced DERs is formulated thoroughly. The proposed model is applied to a typical microgrid test system. The primary and secondary frequency control reserves are appropriately scheduled over a 24 h period. A methodology based on the Monte-Carlo simulation strategy is adapted to generate some random scenarios corresponding to renewable generation variations, load consumption deviations and contingencies of line/unit outages. The generated scenarios are reduced and applied to the

  12. Charting a Path to Location Intelligence for STD Control.

    Science.gov (United States)

    Gerber, Todd M; Du, Ping; Armstrong-Brown, Janelle; McNutt, Louise-Anne; Coles, F Bruce

    2009-01-01

    This article describes the New York State Department of Health's GeoDatabase project, which developed new methods and techniques for designing and building a geocoding and mapping data repository for sexually transmitted disease (STD) control. The GeoDatabase development was supported through the Centers for Disease Control and Prevention's Outcome Assessment through Systems of Integrated Surveillance workgroup. The design and operation of the GeoDatabase relied upon commercial-off-the-shelf tools that other public health programs may also use for disease-control systems. This article provides a blueprint of the structure and software used to build the GeoDatabase and integrate location data from multiple data sources into the everyday activities of STD control programs.

  13. Charting a Path to Location Intelligence for STD Control

    OpenAIRE

    Gerber, Todd M.; Du, Ping; Armstrong-Brown, Janelle; McNutt, Louise-Anne; Coles, F. Bruce

    2009-01-01

    This article describes the New York State Department of Health's GeoDatabase project, which developed new methods and techniques for designing and building a geocoding and mapping data repository for sexually transmitted disease (STD) control. The GeoDatabase development was supported through the Centers for Disease Control and Prevention's Outcome Assessment through Systems of Integrated Surveillance workgroup. The design and operation of the GeoDatabase relied upon commercial-off-the-shelf ...

  14. A conceptual modeling framework for discrete event simulation using hierarchical control structures

    Science.gov (United States)

    Furian, N.; O’Sullivan, M.; Walker, C.; Vössner, S.; Neubacher, D.

    2015-01-01

    Conceptual Modeling (CM) is a fundamental step in a simulation project. Nevertheless, it is only recently that structured approaches towards the definition and formulation of conceptual models have gained importance in the Discrete Event Simulation (DES) community. As a consequence, frameworks and guidelines for applying CM to DES have emerged and discussion of CM for DES is increasing. However, both the organization of model-components and the identification of behavior and system control from standard CM approaches have shortcomings that limit CM’s applicability to DES. Therefore, we discuss the different aspects of previous CM frameworks and identify their limitations. Further, we present the Hierarchical Control Conceptual Modeling framework that pays more attention to the identification of a models’ system behavior, control policies and dispatching routines and their structured representation within a conceptual model. The framework guides the user step-by-step through the modeling process and is illustrated by a worked example. PMID:26778940

  15. Hierarchical Brokering with Feedback Control Framework in Mobile Device-Centric Clouds

    Directory of Open Access Journals (Sweden)

    Chao-Lieh Chen

    2016-01-01

    Full Text Available We propose a hierarchical brokering architecture (HiBA and Mobile Multicloud Networking (MMCN feedback control framework for mobile device-centric cloud (MDC2 computing. Exploiting the MMCN framework and RESTful web-based interconnection, each tier broker probes resource state of its federation for control and management. Real-time and seamless services were developed. Case studies including intrafederation energy-aware balancing based on fuzzy feedback control and higher tier load balancing are further demonstrated to show how HiBA with MMCN relieves the embedding of algorithms when developing services. Theoretical performance model and real-world experiments both show that an MDC2 based on HiBA features better quality in terms of resource availability and network latency if it federates devices with enough resources distributed in lower tier hierarchy. The proposed HiBA realizes a development platform for MDC2 computing which is a feasible solution to User-Centric Networks (UCNs.

  16. A conceptual modeling framework for discrete event simulation using hierarchical control structures.

    Science.gov (United States)

    Furian, N; O'Sullivan, M; Walker, C; Vössner, S; Neubacher, D

    2015-08-01

    Conceptual Modeling (CM) is a fundamental step in a simulation project. Nevertheless, it is only recently that structured approaches towards the definition and formulation of conceptual models have gained importance in the Discrete Event Simulation (DES) community. As a consequence, frameworks and guidelines for applying CM to DES have emerged and discussion of CM for DES is increasing. However, both the organization of model-components and the identification of behavior and system control from standard CM approaches have shortcomings that limit CM's applicability to DES. Therefore, we discuss the different aspects of previous CM frameworks and identify their limitations. Further, we present the Hierarchical Control Conceptual Modeling framework that pays more attention to the identification of a models' system behavior, control policies and dispatching routines and their structured representation within a conceptual model. The framework guides the user step-by-step through the modeling process and is illustrated by a worked example.

  17. Hierarchical tailoring of strut architecture to control permeability of additive manufactured titanium implants

    International Nuclear Information System (INIS)

    Zhang, Z.; Jones, D.; Yue, S.; Lee, P.D.; Jones, J.R.; Sutcliffe, C.J.; Jones, E.

    2013-01-01

    Porous titanium implants are a common choice for bone augmentation. Implants for spinal fusion and repair of non-union fractures must encourage blood flow after implantation so that there is sufficient cell migration, nutrient and growth factor transport to stimulate bone ingrowth. Additive manufacturing techniques allow a large number of pore network designs. This study investigates how the design factors offered by selective laser melting technique can be used to alter the implant architecture on multiple length scales to control and even tailor the flow. Permeability is a convenient parameter that characterises flow, correlating to structure openness (interconnectivity and pore window size), tortuosity and hence flow shear rates. Using experimentally validated computational simulations, we demonstrate how additive manufacturing can be used to tailor implant properties by controlling surface roughness at a microstructual level (microns), and by altering the strut ordering and density at a mesoscopic level (millimetre). Highlights: • Experimentally validated permeability prediction tools for hierarchical implants. • Randomised structures form preferential flow channels with stronger shear flows. • Hierarchical strut structures allow independent tailoring of flow and pore size

  18. Hierarchical tailoring of strut architecture to control permeability of additive manufactured titanium implants

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Z. [Department of Materials, Imperial College London, South Kensington Campus, London, SW7 2AZ (United Kingdom); Jones, D. [School of Engineering, University of Liverpool, Brownlow Hill, Liverpool, L69 3GH (United Kingdom); Yue, S. [Manchester X-ray Imaging Facility, School of Materials, The University of Manchester, Oxford Road, M13 9PL (United Kingdom); Lee, P.D., E-mail: peter.lee@manchester.ac.uk [Manchester X-ray Imaging Facility, School of Materials, The University of Manchester, Oxford Road, M13 9PL (United Kingdom); Jones, J.R. [Department of Materials, Imperial College London, South Kensington Campus, London, SW7 2AZ (United Kingdom); Sutcliffe, C.J. [School of Engineering, University of Liverpool, Brownlow Hill, Liverpool, L69 3GH (United Kingdom); Jones, E. [Department of Advanced Technology, Stryker Orthopaedics, Raheen Business Park, Limerick (Ireland)

    2013-10-15

    Porous titanium implants are a common choice for bone augmentation. Implants for spinal fusion and repair of non-union fractures must encourage blood flow after implantation so that there is sufficient cell migration, nutrient and growth factor transport to stimulate bone ingrowth. Additive manufacturing techniques allow a large number of pore network designs. This study investigates how the design factors offered by selective laser melting technique can be used to alter the implant architecture on multiple length scales to control and even tailor the flow. Permeability is a convenient parameter that characterises flow, correlating to structure openness (interconnectivity and pore window size), tortuosity and hence flow shear rates. Using experimentally validated computational simulations, we demonstrate how additive manufacturing can be used to tailor implant properties by controlling surface roughness at a microstructual level (microns), and by altering the strut ordering and density at a mesoscopic level (millimetre). Highlights: • Experimentally validated permeability prediction tools for hierarchical implants. • Randomised structures form preferential flow channels with stronger shear flows. • Hierarchical strut structures allow independent tailoring of flow and pore size.

  19. Optical hierarchical control of the nuclear power plant using the PPA

    International Nuclear Information System (INIS)

    Yamagishi, Yasuaki; Tsuji, Masashi; Ogawa, Yuichi

    1986-01-01

    Optimization of a large-scale system is a very difficult task due to the requirement of an extremely large amount of calculation. One effective way to avoid the difficulty is to divide the system into a number of subsystems and carry out the optimization calculation with each subsystem allowing mutual cooperation among the subsystems to meet the need to optimize the whole system. When an algorithm based on the dividing method is realized in the parallel multi-processor system instead of the conventional computor of series type operation, the efficiency of calculation will be largely improved. In this paper, using the PPA (Parallel Processor Array) located in the ''General Purpose Simulator Facility'' of this school, and utilizing the hierarchical structure which is furnished within the PPA system, we prepare a software for the multilevel optimization system, and confirm the effectiveness of the hierarchical algorithm. We then, using the prepared algorithm, design the optimal control of the primary system of two loop PWR power plant, and confirmed the effectiveness of the designed optimal control. (author)

  20. Analysis of critical paths for schedule control of nuclear power projects

    International Nuclear Information System (INIS)

    Shi Liangmin; Ma Limin; Fan Kai

    2005-01-01

    Study on the critical paths for the schedule control of nuclear power projects has been performed for reactor M310, based on the experiences from Daya Bay project and Ling Ao project. The study shows that the critical paths for the nuclear power project are from NI civil work, NI erection, commissioning of single systems directly serving the CFT to the joint-test. For NI civil work, the critical path is the main civil work of the reactor building, pre-stressing, handover of rooms for important areas, and key CW-erection interfaces; there are four critical paths for NI erection; For startup, two stages can be identified: commissioning of 16 single systems directly serving the CFT and joint-test. (authors)

  1. Microgrid Central Controller Development and Hierarchical Control Implementation in the Intelligent MicroGrid Lab of Aalborg University

    DEFF Research Database (Denmark)

    Meng, Lexuan; Savaghebi, Mehdi; Andrade, Fabio

    2015-01-01

    This paper presents the development of a microgrid central controller in an inverter-based intelligent microgrid (iMG) lab in Aalborg University, Denmark. The iMG lab aims to provide a flexible experimental platform for comprehensive studies of microgrids. The complete control system applied...... in this lab is based on the hierarchical control scheme for microgrids and includes primary, secondary and tertiary control. The structure of the lab, including the lab facilities, configurations and communication network, is first introduced. Primary control loops are developed in MATLAB....../Simulink and compiled to dSPACEs for local control purposes. In order to realize system supervision and proper secondary and tertiary management, a LabVIEW-based microgrid central controller is also developed. The software and hardware schemes are described. An example case is introduced and tested in the iMG lab...

  2. Control Strategies for Islanded Microgrid using Enhanced Hierarchical Control Structure with Multiple Current-Loop Damping Schemes

    DEFF Research Database (Denmark)

    Han, Yang; Shen, Pan; Zhao, Xin

    2017-01-01

    In this paper, the modeling, controller design, and stability analysis of the islanded microgrid (MG) using enhanced hierarchical control structure with multiple current loop damping schemes is proposed. The islanded MG is consisted of the parallel-connected voltage source inverters using LCL...... output filters, and the proposed control structure includes: the primary control with additional phase-shift loop, the secondary control for voltage amplitude and frequency restoration, the virtual impedance loops which contains virtual positive- and negative-sequence impedance loops at fundamental...... frequency, and virtual variable harmonic impedance loop at harmonic frequencies, and the inner voltage and current loop controllers. A small-signal model for the primary and secondary controls with additional phase-shift loop is presented, which shows an over-damped feature from eigenvalue analysis...

  3. Intelligent Hierarchical Modal Control of a Novel Manipulator with Slewing and Deployable Links

    Science.gov (United States)

    Modi, V. J.; Zhang, J.; de Silva, C. W.

    1. Introduction The Space Shuttle based Canada arm has vividly demonstrated its application in launching of satellites as well as retrieval of disabled spacecraft for repair. There have been proposals for free flying robotic systems with appropriate instrumentation to monitor health of spacecraft, identify problems and even perform corrective measures. Most of these applications involve multilink manipulators with revolute joints for which there is a vast body of literature [1]. On the other hand, manipulators with revolute as well as prismatic joints, permitting slewing as well as deployment/retrieval of links, have received relatively little attention [2]. Such variable geometry, snake-like manipulators have distinct advantages of reduced coupling effects leading to simpler equations of motion and inverse kinematics, less number of singularity conditions, and ease of obstacle avoidance [3]. 2. Hierarchical Structure The control system developed for the deployable manipulator has a three-level structure. This hierarchical structure takes the advantages of a crisp controller; specially, a modal controller, with those of a soft, knowledge-based, supervisory control . The overall structure can be separated and developed as three main layers. The first layer is the lowest layer of the control system. It deals with information coming from sensors attached to the plant ( manipulator). This type of information is characterized by a large amount of individual data points of high resolution, produced and collected at high frequency. The crisp controller that is used is a state feedback regulator with its feedback gain matrix determined using the eigenstructure assignment approach. The data processing for monitoring and evaluation of the system performance occurs in this intermediate or second layer. Here high-resolution, crisp data from sensors are filtered to afford representation of the current state of the manipulator. This servo-expert layer acts as an interface

  4. Synchronization of Hierarchical Time-Varying Neural Networks Based on Asynchronous and Intermittent Sampled-Data Control.

    Science.gov (United States)

    Xiong, Wenjun; Patel, Ragini; Cao, Jinde; Zheng, Wei Xing

    In this brief, our purpose is to apply asynchronous and intermittent sampled-data control methods to achieve the synchronization of hierarchical time-varying neural networks. The asynchronous and intermittent sampled-data controllers are proposed for two reasons: 1) the controllers may not transmit the control information simultaneously and 2) the controllers cannot always exist at any time . The synchronization is then discussed for a kind of hierarchical time-varying neural networks based on the asynchronous and intermittent sampled-data controllers. Finally, the simulation results are given to illustrate the usefulness of the developed criteria.In this brief, our purpose is to apply asynchronous and intermittent sampled-data control methods to achieve the synchronization of hierarchical time-varying neural networks. The asynchronous and intermittent sampled-data controllers are proposed for two reasons: 1) the controllers may not transmit the control information simultaneously and 2) the controllers cannot always exist at any time . The synchronization is then discussed for a kind of hierarchical time-varying neural networks based on the asynchronous and intermittent sampled-data controllers. Finally, the simulation results are given to illustrate the usefulness of the developed criteria.

  5. Marine vehicle path following using inner-outer loop control.

    Digital Repository Service at National Institute of Oceanography (India)

    Maurya, P.K.; Agular, A.P.; Pascoal, A.M.

    constraints are imposed on the motion of the vehicle. This is in striking contrast with trajectory tracking, where the reference for the vehicle motion is given explicitly in terms of ”space versus time” coordinates. This strategy is seldom pursued in practice... that its output variables can be tracked infinitely fast by the inner dynamic loop. In practice, this does not hold true. Furthermore, many vehicle suppliers equip their platforms with inner dynamic control loops for which only a general characterization...

  6. Path following control of planar snake robots using virtual holonomic constraints: theory and experiments.

    Science.gov (United States)

    Rezapour, Ehsan; Pettersen, Kristin Y; Liljebäck, Pål; Gravdahl, Jan T; Kelasidi, Eleni

    This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange equations of motion of the system. Subsequently, we define geometric relations among the generalized coordinates of the system, using the method of virtual holonomic constraints. These appropriately defined constraints shape the geometry of a constraint manifold for the system, which is a submanifold of the configuration space of the robot. Furthermore, we show that the constraint manifold can be made invariant by a suitable choice of feedback. In particular, we analytically design a smooth feedback control law to exponentially stabilize the constraint manifold. We show that enforcing the appropriately defined virtual holonomic constraints for the configuration variables implies that the robot converges to and follows a desired geometric path. Numerical simulations and experimental results are presented to validate the theoretical approach.

  7. A novel decentralized hierarchical access control scheme for the medical scenario

    DEFF Research Database (Denmark)

    Eskeland, Sigurd; Prasad, Neeli R.

    2006-01-01

    to be the property of the corresponding patient, it is justified that patients should have the opportunity to exert control over their own data. In this paper, we propose a cryptographic access control scheme allowing patients to grant medical teams authorizations to access their medical data. Moreover......Electronic patient records contains highly personal and confidential information that it is essential to keep private. Thus, only the medical professionals providing care to a patient should access the patient record of the concerning patient. As personal medical data can be considered......, the hierarchical aspects of teams are taken into account so that the modules of the patient record are to be accessed according to the individual privileges of the medical professionals of the team. Thus, more privileged users obtain larger portions of the data than less privileged users....

  8. Review of Active and Reactive Power Sharing Strategies in Hierarchical Controlled Microgrids

    DEFF Research Database (Denmark)

    Han, Yang; Li, Hong; Shen, Pan

    2017-01-01

    Microgrids consist of multiple parallel-connected distributed generation (DG) units with coordinated control strategies, which are able to operate in both grid-connected and islanded mode. Microgrids are attracting more and more attention since they can alleviate the stress of main transmission...... systems, reduce feeder losses, and improve system power quality. When the islanded microgrids are concerned, it is important to maintain system stability and achieve load power sharing among the multiple parallel-connected DG units. However, the poor active and reactive power sharing problems due...... in this paper for active power sharing. Moreover, nonlinear and unbalanced loads could further affect the reactive power sharing when regulating the active power, and it is difficult to share the reactive power accurately only by using the enhanced virtual impedance method. Therefore, the hierarchical control...

  9. A novel decentralized hierarchical access control scheme for the medical scenario

    DEFF Research Database (Denmark)

    Eskeland, Sigurd; Prasad, Neeli R.

    2006-01-01

    Electronic patient records contains highly personal and confidential information that it is essential to keep private. Thus, only the medical professionals providing care to a patient should access the patient record of the concerning patient. As personal medical data can be considered...... to be the property of the corresponding patient, it is justified that patients should have the opportunity to exert control over their own data. In this paper, we propose a cryptographic access control scheme allowing patients to grant medical teams authorizations to access their medical data. Moreover......, the hierarchical aspects of teams are taken into account so that the modules of the patient record are to be accessed according to the individual privileges of the medical professionals of the team. Thus, more privileged users obtain larger portions of the data than less privileged users....

  10. Design of a Path-Tracking Steering Controller for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Chuanyang Sun

    2018-06-01

    Full Text Available This paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation at high speeds. The vehicle model is linearized by a sequence of supposed steering angles, which are obtained by assuming the vehicle can reach the desired path at the end of the MPC prediction horizon and stay in a steady-state condition. The lateral force of the front tire is directly used as the control input of the model, and the rear tire’s lateral force is linearized by an equivalent cornering stiffness. The course-direction deviation, which is the angle between the velocity vector and the path heading, is chosen as a control reference state. The linearization model is validated through the simulation, and the results show high prediction accuracy even in regions of large steering angle. This steering controller is tested through simulations on the CarSim-Simulink platform (R2013b, MathWorks, Natick, MA, USA, showing the improved performance of the present controller at high speeds.

  11. Hierarchical Velocity Control Based on Differential Flatness for a DC/DC Buck Converter-DC Motor System

    Directory of Open Access Journals (Sweden)

    R. Silva-Ortigoza

    2014-01-01

    Full Text Available This paper presents a hierarchical controller that carries out the angular velocity trajectory tracking task for a DC motor driven by a DC/DC Buck converter. The high level control is related to the DC motor and the low level control is dedicated to the DC/DC Buck converter; both controls are designed via differential flatness. The high level control provides a desired voltage profile for the DC motor to achieve the tracking of a desired angular velocity trajectory. Then, a low level control is designed to ensure that the output voltage of the DC/DC Buck converter tracks the voltage profile imposed by the high level control. In order to experimentally verify the hierarchical controller performance, a DS1104 electronic board from dSPACE and Matlab-Simulink are used. The switched implementation of the hierarchical average controller is accomplished by means of pulse width modulation. Experimental results of the hierarchical controller for the velocity trajectory tracking task show good performance and robustness against the uncertainties associated with different system parameters.

  12. On path generation and feedforward control for a class of surface sailing vessels

    DEFF Research Database (Denmark)

    Xiao, Lin; Jouffroy, Jerome

    2010-01-01

    Sailing vessels with wind as their main means of propulsion possess a unique property that the paths they take depend on the wind direction, which, in the literature, has attracted less attention than normal vehicles propelled by propellers or thrusters. This paper considers the problem of motion...... planning and controllability for sailing vehicles representing the no-sailing zone effect in sailing. Following our previous work, we present an extended algorithm for automatic path generation with a prescribed initial heading for a simple model of sailing vehicles, together with a feedforward controller...

  13. Hierarchical Mesoporous Organosilica-Silica Core-Shell Nanoparticles Capable of Controlled Fungicide Release.

    Science.gov (United States)

    Luo, Leilei; Liang, Yucang; Erichsen, Egil Severin; Anwander, Reiner

    2018-05-17

    A new class of hierarchically structured mesoporous silica core-shell nanoparticles (HSMSCSNs) with a periodic mesoporous organosilica (PMO) core and a mesoporous silica (MS) shell is reported. The applied one-pot, two-step strategy allows rational control over the core/shell chemical composition, topology, and pore/particle size, simply by adjusting the reaction conditions in the presence of cetyltrimethylammonium bromide (CTAB) as structure-directing agent under basic conditions. The spherical, ethylene- or methylene-bridged PMO cores feature hexagonal (p6mm) or cage-like cubic symmetry (Pm3‾ n) depending on the organosilica precursor. The hexagonal MS shell was obtained by n-hexane-induced controlled hydrolysis of TEOS followed by directional co-assembly/condensation of silicate/CTAB composites at the PMO cores. The HSMSCSNs feature a hierarchical pore structure with pore diameters of about 2.7 and 5.6 nm in the core and shell domains, respectively. The core sizes and shell thicknesses are adjustable in the ranges of 90-275 and 15-50 nm, respectively, and the surface areas (max. 1300 m 2  g -1 ) and pore volumes (max. 1.83 cm 3  g -1 ) are among the highest reported for core-shell nanoparticles. The adsorption and controlled release of the fungicide propiconazole by the HSMSCSNs showed a three-stage release profile. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  14. Hierarchical Control Design for Shipboard Power System with DC Distribution and Energy Storage aboard Future More-Electric Ships

    DEFF Research Database (Denmark)

    Jin, Zheming; Meng, Lexuan; Guerrero, Josep M.

    2018-01-01

    power system (SPS) with DC distribution and energy storage system (ESS) is picked as study case. To meet the requirement of control and management of such a large-scale mobile power system, a hierarchical control design is proposed in this paper. In order to fully exploit the benefit of ESS, as well...

  15. The force control and path planning of electromagnetic induction-based massage robot.

    Science.gov (United States)

    Wang, Wendong; Zhang, Lei; Li, Jinzhe; Yuan, Xiaoqing; Shi, Yikai; Jiang, Qinqin; He, Lijing

    2017-07-20

    Massage robot is considered as an effective physiological treatment to relieve fatigue, improve blood circulation, relax muscle tone, etc. The simple massage equipment quickly spread into market due to low cost, but they are not widely accepted due to restricted massage function. Complicated structure and high cost caused difficulties for developing multi-function massage equipment. This paper presents a novel massage robot which can achieve tapping, rolling, kneading and other massage operations, and proposes an improved reciprocating path planning algorithm to improve massage effect. The number of coil turns, the coil current and the distance between massage head and yoke were chosen to investigate the influence on massage force by finite element method. The control system model of the wheeled massage robot was established, including control subsystem of the motor, path algorithm control subsystem, parameter module of the massage robot and virtual reality interface module. The improved reciprocating path planning algorithm was proposed to improve regional coverage rate and massage effect. The influence caused by coil current, the number of coil turns and the distance between massage head and yoke were simulated in Maxwell. It indicated that coil current has more important influence compared to the other two factors. The path planning simulation of the massage robot was completed in Matlab, and the results show that the improved reciprocating path planning algorithm achieved higher coverage rate than the traditional algorithm. With the analysis of simulation results, it can be concluded that the number of coil turns and the distance between the moving iron core and the yoke could be determined prior to coil current, and the force can be controllable by optimizing structure parameters of massage head and adjusting coil current. Meanwhile, it demonstrates that the proposed algorithm could effectively improve path coverage rate during massage operations, therefore

  16. Hierarchical Colored Petri Nets for Modeling and Analysis of Transit Signal Priority Control Systems

    Directory of Open Access Journals (Sweden)

    Yisheng An

    2018-01-01

    Full Text Available In this paper, we consider the problem of developing a model for traffic signal control with transit priority using Hierarchical Colored Petri nets (HCPN. Petri nets (PN are useful for state analysis of discrete event systems due to their powerful modeling capability and mathematical formalism. This paper focuses on their use to formalize the transit signal priority (TSP control model. In a four-phase traffic signal control model, the transit detection and two kinds of transit priority strategies are integrated to obtain the HCPN-based TSP control models. One of the advantages to use these models is the clear presentation of traffic light behaviors in terms of conditions and events that cause the detection of a priority request by a transit vehicle. Another advantage of the resulting models is that the correctness and reliability of the proposed strategies are easily analyzed. After their full reachable states are generated, the boundness, liveness, and fairness of the proposed models are verified. Experimental results show that the proposed control model provides transit vehicles with better effectiveness at intersections. This work helps advance the state of the art in the design of signal control models related to the intersection of roadways.

  17. Activate distributed energy resources' services: Hierarchical voltage controller as an application

    DEFF Research Database (Denmark)

    Han, Xue; Kosek, Anna Magdalena; Gehrke, Oliver

    2014-01-01

    The flexibilities from controllable distributed energy resources (DERs) offer the opportunities to mitigate some of the operation problems in the power distribution grid. The provision of system services requires the aggregation and coordination of their flexibilities, in order to obtain the flex......The flexibilities from controllable distributed energy resources (DERs) offer the opportunities to mitigate some of the operation problems in the power distribution grid. The provision of system services requires the aggregation and coordination of their flexibilities, in order to obtain...... the flexible capacity of large scale. In this paper, a hierarchical controller is presented to activate the aggregation, and tries to obtain a global optimum of the grid operation. A distribution grid with large penetration of highly varying generation or load is under the risk that the voltage quality...... delivered to the end users is very poor. Hence, a coordinated voltage control function is investigated given such control hierarchy utilizing the flexibilities from the DER units to obtain an optimal voltage profile along the distribution feeder. The results are two folded: the controller enables...

  18. Hierarchical Controlled Remote State Preparation by Using a Four-Qubit Cluster State

    Science.gov (United States)

    Ma, Peng-Cheng; Chen, Gui-Bin; Li, Xiao-Wei; Zhan, You-Bang

    2018-06-01

    We propose a scheme for hierarchical controlled remote preparation of an arbitrary single-qubit state via a four-qubit cluster state as the quantum channel. In this scheme, a sender wishes to help three agents to remotely prepare a quantum state, respectively. The three agents are divided into two grades, that is, an agent is in the upper grade and other two agents are in the lower grade. In this process of remote state preparation, the agent of the upper grade only needs the assistance of any one of the other two agents for recovering the sender's original state, while an agent of the lower grade needs the collaboration of all the other two agents. In other words, the agents of two grades have different authorities to reconstruct sender's original state.

  19. Hierarchical Controlled Remote State Preparation by Using a Four-Qubit Cluster State

    Science.gov (United States)

    Ma, Peng-Cheng; Chen, Gui-Bin; Li, Xiao-Wei; Zhan, You-Bang

    2018-02-01

    We propose a scheme for hierarchical controlled remote preparation of an arbitrary single-qubit state via a four-qubit cluster state as the quantum channel. In this scheme, a sender wishes to help three agents to remotely prepare a quantum state, respectively. The three agents are divided into two grades, that is, an agent is in the upper grade and other two agents are in the lower grade. In this process of remote state preparation, the agent of the upper grade only needs the assistance of any one of the other two agents for recovering the sender's original state, while an agent of the lower grade needs the collaboration of all the other two agents. In other words, the agents of two grades have different authorities to reconstruct sender's original state.

  20. Application of a path sensitizing method on automated generation of test specifications for control software

    International Nuclear Information System (INIS)

    Morimoto, Yuuichi; Fukuda, Mitsuko

    1995-01-01

    An automated generation method for test specifications has been developed for sequential control software in plant control equipment. Sequential control software can be represented as sequential circuits. The control software implemented in a control equipment is designed from these circuit diagrams. In logic tests of VLSI's, path sensitizing methods are widely used to generate test specifications. But the method generates test specifications at a single time only, and can not be directly applied to sequential control software. The basic idea of the proposed method is as follows. Specifications of each logic operator in the diagrams are defined in the software design process. Therefore, test specifications of each operator in the control software can be determined from these specifications, and validity of software can be judged by inspecting all of the operators in the logic circuit diagrams. Candidates for sensitized paths, on which test data for each operator propagates, can be generated by the path sensitizing method. To confirm feasibility of the method, it was experimentally applied to control software in digital control equipment. The program could generate test specifications exactly, and feasibility of the method was confirmed. (orig.) (3 refs., 7 figs.)

  1. Enhanced Two-Stage Hierarchical Control for a Dual Mode WECS-Based Microgrid

    Directory of Open Access Journals (Sweden)

    Rasool M. Imran

    2018-05-01

    Full Text Available Along with the great benefits of utilizing renewable energy (e.g., wind energy in the power system, there are also some issues, such as increasing the uncertainty and reducing the system inertia. Communication-based centralized control has started to play a significant role in reacting to the aforementioned issues, especially for relatively small systems, such as microgrids. In this context, in this paper, an enhanced communication-based hierarchical control for a dual mode wind energy conversion system-based microgrid is modeled and investigated. The primary stage utilized the P-V/Q-f droop method, which is the preferred droop method to be used in microgrids when the line impedance is mainly resistive. The secondary stage relied on an enhanced methodology for compensating the deviations of voltage and frequency and improving the performance of the microgrid during small and large signal disturbances. Moreover, as this microgrid operates in a dual mode, the mode transition cases from grid-tied mode to autonomous mode and vice versa have been addressed. Thereafter, an improved control scheme for the unplanned outage transition and a modified control scheme for the pre-synchronization and reconnection transition were proposed. Finally, the proposed work was evaluated by the simulation results in MATLAB environment.

  2. Integrated flight path planning system and flight control system for unmanned helicopters.

    Science.gov (United States)

    Jan, Shau Shiun; Lin, Yu Hsiang

    2011-01-01

    This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM).

  3. Integrated Flight Path Planning System and Flight Control System for Unmanned Helicopters

    Science.gov (United States)

    Jan, Shau Shiun; Lin, Yu Hsiang

    2011-01-01

    This paper focuses on the design of an integrated navigation and guidance system for unmanned helicopters. The integrated navigation system comprises two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The FPPS finds the shortest flight path by the A-Star (A*) algorithm in an adaptive manner for different flight conditions, and the FPPS can add a forbidden zone to stop the unmanned helicopter from crossing over into dangerous areas. In this paper, the FPPS computation time is reduced by the multi-resolution scheme, and the flight path quality is improved by the path smoothing methods. Meanwhile, the FCS includes the fuzzy inference systems (FISs) based on the fuzzy logic. By using expert knowledge and experience to train the FIS, the controller can operate the unmanned helicopter without dynamic models. The integrated system of the FPPS and the FCS is aimed at providing navigation and guidance to the mission destination and it is implemented by coupling the flight simulation software, X-Plane, and the computing software, MATLAB. Simulations are performed and shown in real time three-dimensional animations. Finally, the integrated system is demonstrated to work successfully in controlling the unmanned helicopter to operate in various terrains of a digital elevation model (DEM). PMID:22164029

  4. Robust H∞ output-feedback control for path following of autonomous ground vehicles

    Science.gov (United States)

    Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

    2016-03-01

    This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

  5. Radial polar histogram: obstacle avoidance and path planning for robotic cognition and motion control

    Science.gov (United States)

    Wang, Po-Jen; Keyawa, Nicholas R.; Euler, Craig

    2012-01-01

    In order to achieve highly accurate motion control and path planning for a mobile robot, an obstacle avoidance algorithm that provided a desired instantaneous turning radius and velocity was generated. This type of obstacle avoidance algorithm, which has been implemented in California State University Northridge's Intelligent Ground Vehicle (IGV), is known as Radial Polar Histogram (RPH). The RPH algorithm utilizes raw data in the form of a polar histogram that is read from a Laser Range Finder (LRF) and a camera. A desired open block is determined from the raw data utilizing a navigational heading and an elliptical approximation. The left and right most radii are determined from the calculated edges of the open block and provide the range of possible radial paths the IGV can travel through. In addition, the calculated obstacle edge positions allow the IGV to recognize complex obstacle arrangements and to slow down accordingly. A radial path optimization function calculates the best radial path between the left and right most radii and is sent to motion control for speed determination. Overall, the RPH algorithm allows the IGV to autonomously travel at average speeds of 3mph while avoiding all obstacles, with a processing time of approximately 10ms.

  6. Energy Optimal Path Planning: Integrating Coastal Ocean Modelling with Optimal Control

    Science.gov (United States)

    Subramani, D. N.; Haley, P. J., Jr.; Lermusiaux, P. F. J.

    2016-02-01

    A stochastic optimization methodology is formulated for computing energy-optimal paths from among time-optimal paths of autonomous vehicles navigating in a dynamic flow field. To set up the energy optimization, the relative vehicle speed and headings are considered to be stochastic, and new stochastic Dynamically Orthogonal (DO) level-set equations that govern their stochastic time-optimal reachability fronts are derived. Their solution provides the distribution of time-optimal reachability fronts and corresponding distribution of time-optimal paths. An optimization is then performed on the vehicle's energy-time joint distribution to select the energy-optimal paths for each arrival time, among all stochastic time-optimal paths for that arrival time. The accuracy and efficiency of the DO level-set equations for solving the governing stochastic level-set reachability fronts are quantitatively assessed, including comparisons with independent semi-analytical solutions. Energy-optimal missions are studied in wind-driven barotropic quasi-geostrophic double-gyre circulations, and in realistic data-assimilative re-analyses of multiscale coastal ocean flows. The latter re-analyses are obtained from multi-resolution 2-way nested primitive-equation simulations of tidal-to-mesoscale dynamics in the Middle Atlantic Bight and Shelbreak Front region. The effects of tidal currents, strong wind events, coastal jets, and shelfbreak fronts on the energy-optimal paths are illustrated and quantified. Results showcase the opportunities for longer-duration missions that intelligently utilize the ocean environment to save energy, rigorously integrating ocean forecasting with optimal control of autonomous vehicles.

  7. Fabrication of Superhydrophobic Surface with Controlled Wetting Property by Hierarchical Particles.

    Science.gov (United States)

    Xu, Jianxiong; Liu, Weiwei; Du, Jingjing; Tang, Zengmin; Xu, Lijian; Li, Na

    2015-04-01

    Hierarchical particles were prepared by synthetically joining appropriately functionalized polystyrene spheres of poly[styrene-co-(3-(4-vinylphenyl)pentane-2,4-dione)] (PS-co-PVPD) nanoparticles and poly(styrene-co-chloromethylstyrene) (PS-co-PCMS) microparticles. The coupling reaction of nucleophilic substitution of pendent β-diketone groups with benzyl chloride was used to form the hierarchical particles. Since the polymeric nanoparticles and microparticles were synthesized by dispersion polymerization and emulsion polymerization, respectively, both the core microparticles and the surface nanoparticles can be different size and chemical composition. By means of changing the size of the PS-co-PVPD surface nanoparticles, a series of hierarchical particles with different scale ratio of the micro/nano surface structure were successfully prepared. Moreover, by employing the PS-co-PVPD microparticles and PS-co-PCMS nanoparticles as building blocks, hierarchical particles with surface nanoaprticles of different composition were made. These as-prepared hierarchical particles were subsequently assembled on glass substrates to form particulate films. Contact angle measurement shows that superhydrophobic surfaces can be obtained and the contact angle of water on the hierarchically structured surface can be adjusted by the scale ratio of the micro/nano surface structure and surface chemical component of hierarchical particles.

  8. Design of IP Camera Access Control Protocol by Utilizing Hierarchical Group Key

    Directory of Open Access Journals (Sweden)

    Jungho Kang

    2015-08-01

    Full Text Available Unlike CCTV, security video surveillance devices, which we have generally known about, IP cameras which are connected to a network either with or without wire, provide monitoring services through a built-in web-server. Due to the fact that IP cameras can use a network such as the Internet, multiple IP cameras can be installed at a long distance and each IP camera can utilize the function of a web server individually. Even though IP cameras have this kind of advantage, it has difficulties in access control management and weakness in user certification, too. Particularly, because the market of IP cameras did not begin to be realized a long while ago, systems which are systematized from the perspective of security have not been built up yet. Additionally, it contains severe weaknesses in terms of access authority to the IP camera web server, certification of users, and certification of IP cameras which are newly installed within a network, etc. This research grouped IP cameras hierarchically to manage them systematically, and provided access control and data confidentiality between groups by utilizing group keys. In addition, IP cameras and users are certified by using PKI-based certification, and weak points of security such as confidentiality and integrity, etc., are improved by encrypting passwords. Thus, this research presents specific protocols of the entire process and proved through experiments that this method can be actually applied.

  9. Hierarchically nanostructured hydroxyapatite: hydrothermal synthesis, morphology control, growth mechanism, and biological activity

    Directory of Open Access Journals (Sweden)

    Ma MG

    2012-04-01

    Full Text Available Ming-Guo MaInstitute of Biomass Chemistry and Technology, College of Materials Science and Technology, Beijing Forestry University, Beijing, People's Republic of ChinaAbstract: Hierarchically nanosized hydroxyapatite (HA with flower-like structure assembled from nanosheets consisting of nanorod building blocks was successfully synthesized by using CaCl2, NaH2PO4, and potassium sodium tartrate via a hydrothermal method at 200°C for 24 hours. The effects of heating time and heating temperature on the products were investigated. As a chelating ligand and template molecule, the potassium sodium tartrate plays a key role in the formation of hierarchically nanostructured HA. On the basis of experimental results, a possible mechanism based on soft-template and self-assembly was proposed for the formation and growth of the hierarchically nanostructured HA. Cytotoxicity experiments indicated that the hierarchically nanostructured HA had good biocompatibility. It was shown by in-vitro experiments that mesenchymal stem cells could attach to the hierarchically nanostructured HA after being cultured for 48 hours.Objective: The purpose of this study was to develop facile and effective methods for the synthesis of novel hydroxyapatite (HA with hierarchical nanostructures assembled from independent and discrete nanobuilding blocks.Methods: A simple hydrothermal approach was applied to synthesize HA by using CaCl2, NaH2PO4, and potassium sodium tartrate at 200°C for 24 hours. The cell cytotoxicity of the hierarchically nanostructured HA was tested by MTT (3-(4,5-dimethylthiazol-2-yl-2,5-diphenyltetrazolium bromide assay.Results: HA displayed the flower-like structure assembled from nanosheets consisting of nanorod building blocks. The potassium sodium tartrate was used as a chelating ligand, inducing the formation and self-assembly of HA nanorods. The heating time and heating temperature influenced the aggregation and morphology of HA. The cell viability did

  10. Continuous path control of a 5-DOF parallel-serial hybrid robot

    International Nuclear Information System (INIS)

    Uchiyama, Takuma; Terada, Hidetsugu; Mitsuya, Hironori

    2010-01-01

    Using the 5-degree of freedom parallel-serial hybrid robot, to realize the de-burring, new forward and inverse kinematic calculation methods based on the 'off-line teaching' method are proposed. This hybrid robot consists of a parallel stage section and a serial stage section. Considering this point, each section is calculated individually. And the continuous path control algorithm of this hybrid robot is proposed. To verify the usefulness, a prototype robot is tested which is controlled based on the proposed methods. This verification includes a positioning test and a pose test. The positioning test evaluates the continuous path of the tool center point. The pose test evaluates the pose on the tool center point. As the result, it is confirmed that this hybrid robot moves correctly using the proposed methods

  11. A new online secondary path modeling method for adaptive active structure vibration control

    International Nuclear Information System (INIS)

    Pu, Yuxue; Zhang, Fang; Jiang, Jinhui

    2014-01-01

    This paper proposes a new variable step size FXLMS algorithm with an auxiliary noise power scheduling strategy for online secondary path modeling. The step size for the secondary path modeling filter and the gain of auxiliary noise are varied in accordance with the parameters available directly. The proposed method has a low computational complexity. Computer simulations show that an active vibration control system with the proposed method gives much better vibration attenuation and modeling accuracy at a faster convergence rate than existing methods. National Instruments’ CompactRIO is used as an embedded processor to control simply supported beam vibration. Experimental results indicate that the vibration of the beam has been effectively attenuated. (papers)

  12. Hierarchical Load Tracking Control of a Grid-Connected Solid Oxide Fuel Cell for Maximum Electrical Efficiency Operation

    Directory of Open Access Journals (Sweden)

    Yonghui Li

    2015-03-01

    Full Text Available Based on the benchmark solid oxide fuel cell (SOFC dynamic model for power system studies and the analysis of the SOFC operating conditions, the nonlinear programming (NLP optimization method was used to determine the maximum electrical efficiency of the grid-connected SOFC subject to the constraints of fuel utilization factor, stack temperature and output active power. The optimal operating conditions of the grid-connected SOFC were obtained by solving the NLP problem considering the power consumed by the air compressor. With the optimal operating conditions of the SOFC for the maximum efficiency operation obtained at different active power output levels, a hierarchical load tracking control scheme for the grid-connected SOFC was proposed to realize the maximum electrical efficiency operation with the stack temperature bounded. The hierarchical control scheme consists of a fast active power control and a slower stack temperature control. The active power control was developed by using a decentralized control method. The efficiency of the proposed hierarchical control scheme was demonstrated by case studies using the benchmark SOFC dynamic model.

  13. Vehicle Parameter Identification and its Use in Control for Safe Path Following

    OpenAIRE

    HONG, SANGHYUN

    2014-01-01

    This thesis develops vehicle parameter identification algorithms, and applies identified parameters to a controller designed for safe path following.A tire-road friction coefficient is estimated using an in-tire accelerometer to measure acceleration signals directly from the tires. The proposed algorithm first determines a tire-road contact patch with a radial acceleration profile.The estimation algorithm is based on tire lateral deflections obtained from lateral acceleration measurements onl...

  14. Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States

    Science.gov (United States)

    2016-08-12

    tailoring approach paths to minimize a weighted objective firnctions based on airwake disturbances, tacking performance, and power consumption . Fuhre...2.4.3.2 Outer Loop DI controller The translational motion of helicopter in horizontal plane can be approximated by the following linear state...helicopter maneuverability  Trajectories are as short as possible to minimize approach time  Trajectories are friendly in saving power consumption and

  15. Creating Hierarchical Pores by Controlled Linker Thermolysis in Multivariate Metal-Organic Frameworks

    KAUST Repository

    Feng, Liang; Yuan, Shuai; Zhang, Liang-Liang; Tan, Kui; Li, Jia-Luo; Kirchon, Angelo; Liu, Ling-Mei; Zhang, Peng; Han, Yu; Chabal, Yves J.; Zhou, Hong-Cai

    2018-01-01

    strate-gy, linker thermolysis, to construct ultra-stable hierarchically porous metal−organic frameworks (HP-MOFs) with tunable pore size distribution. Linker instability, usually an undesirable trait of MOFs, was exploited to create mesopores

  16. Hierarchically nanostructured hydroxyapatite: hydrothermal synthesis, morphology control, growth mechanism, and biological activity

    Science.gov (United States)

    Ma, Ming-Guo

    2012-01-01

    Hierarchically nanosized hydroxyapatite (HA) with flower-like structure assembled from nanosheets consisting of nanorod building blocks was successfully synthesized by using CaCl2, NaH2PO4, and potassium sodium tartrate via a hydrothermal method at 200°C for 24 hours. The effects of heating time and heating temperature on the products were investigated. As a chelating ligand and template molecule, the potassium sodium tartrate plays a key role in the formation of hierarchically nanostructured HA. On the basis of experimental results, a possible mechanism based on soft-template and self-assembly was proposed for the formation and growth of the hierarchically nanostructured HA. Cytotoxicity experiments indicated that the hierarchically nanostructured HA had good biocompatibility. It was shown by in-vitro experiments that mesenchymal stem cells could attach to the hierarchically nanostructured HA after being cultured for 48 hours. Objective The purpose of this study was to develop facile and effective methods for the synthesis of novel hydroxyapatite (HA) with hierarchical nanostructures assembled from independent and discrete nanobuilding blocks. Methods A simple hydrothermal approach was applied to synthesize HA by using CaCl2, NaH2PO4, and potassium sodium tartrate at 200°C for 24 hours. The cell cytotoxicity of the hierarchically nanostructured HA was tested by MTT (3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyltetrazolium bromide) assay. Results HA displayed the flower-like structure assembled from nanosheets consisting of nanorod building blocks. The potassium sodium tartrate was used as a chelating ligand, inducing the formation and self-assembly of HA nanorods. The heating time and heating temperature influenced the aggregation and morphology of HA. The cell viability did not decrease with the increasing concentration of hierarchically nanostructured HA added. Conclusion A novel, simple and reliable hydrothermal route had been developed for the synthesis of

  17. Controlling macro- and mesostructures with hierarchical porosity through combined hard and soft templating.

    Science.gov (United States)

    Petkovich, Nicholas D; Stein, Andreas

    2013-05-07

    Rigid, porous objects and surfactants serve as powerful templates for the formation of mesoporous and macroporous materials. When both types of template are combined in a single synthesis, materials with intricate architectures and hierarchical porosity can be obtained. In this tutorial review, we explain how to conduct syntheses with both soft and hard templates; moreover, we describe methods to control the final structure present in the templated material. Much of the foundation for multiple templating lies in the study of materials made with only one type of template. To establish a foundation in this area, a description of hard and soft templating is given, delving into the templates available and the steps required for effective templating. This leads into an extended discussion about materials templated with both hard and soft templates. Through the use of recent examples in the literature, we aim to show the diversity of structures possible through multiple templating and the advantages these structures can provide for a wide range of applications. An emphasis is placed on how various factors-such as the type of template, type of precursor, heat-treatment temperature, confinement within a small space, and template-template interactions-impact morphology.

  18. Multiple bottlenecks in hierarchical control of action sequences: what does "response selection" select in skilled typewriting?

    Science.gov (United States)

    Yamaguchi, Motonori; Logan, Gordon D; Li, Vanessa

    2013-08-01

    Does response selection select words or letters in skilled typewriting? Typing performance involves hierarchically organized control processes: an outer loop that controls word level processing, and an inner loop that controls letter (or keystroke) level processing. The present study addressed whether response selection occurs in the outer loop or the inner loop by using the psychological refractory period (PRP) paradigm in which Task1 required typing single words and Task2 required vocal responses to tones. The number of letters (string length) in the words was manipulated to discriminate selection of words from selection of keystrokes. In Experiment 1, the PRP effect depended on string length of words in Task1, suggesting that response selection occurs in the inner loop. To assess contributions of the outer loop, the influence of string length was examined in a lexical-decision task that also involves word encoding and lexical access (Experiment 2), or to-be-typed words were preexposed so outer-loop processing could finish before typing started (Experiment 3). Response time for Task2 (RT2) did not depend on string length with lexical decision, and RT2 still depended on string length with typing preexposed strings. These results support the inner-loop locus of the PRP effect. In Experiment 4, typing was performed as Task2, and the effect of string length on typing RT interacted with stimulus onset asynchrony superadditively, implying that another bottleneck also exists in the outer loop. We conclude that there are at least two bottleneck processes in skilled typewriting. 2013 APA, all rights reserved

  19. Controlling low-rate signal path microdischarge for an ultra-low-background proportional counter

    International Nuclear Information System (INIS)

    Mace, E.K.; Aalseth, C.E.; Bonicalzi, R.M.; Day, A.R.; Hoppe, E.W.; Keillor, M.E.; Myers, A.W.; Overman, C.T.; Seifert, A.

    2013-01-01

    Pacific Northwest National Laboratory (PNNL) has developed an ultra-low-background proportional counter (ULBPC) made of high purity copper. These detectors are part of an ultra-low-background counting system (ULBCS) in the newly constructed shallow underground laboratory at PNNL (at a depth of ∼30 m water-equivalent). To control backgrounds, the current preamplifier electronics are located outside the ULBCS shielding. Thus the signal from the detector travels through ∼1 m of cable and is potentially susceptible to high voltage microdischarge and other sources of electronic noise. Based on initial successful tests, commercial cables and connectors were used for this critical signal path. Subsequent testing across different batches of commercial cables and connectors, however, showed unwanted (but still low) rates of microdischarge noise. To control this noise source, two approaches were pursued: first, to carefully validate cables, connectors, and other commercial components in this critical signal path, making modifications where necessary; second, to develop a custom low-noise, low-background preamplifier that can be integrated with the ULBPC and thus remove most commercial components from the critical signal path. This integrated preamplifier approach is based on the Amptek A250 low-noise charge-integrating preamplifier module. The initial microdischarge signals observed are presented and characterized according to the suspected source. Each of the approaches for mitigation is described, and the results from both are compared with each other and with the original performance seen with commercial cables and connectors. (author)

  20. Morphology-controlled hydrothermal synthesis of MnCO3 hierarchical superstructures with Schiff base as stabilizer

    International Nuclear Information System (INIS)

    Hu, He; Xu, Jie-yan; Yang, Hong; Liang, Jie; Yang, Shiping; Wu, Huixia

    2011-01-01

    Graphical abstract: MnCO3 microcrystals with hierarchical superstructures were synthesized by using the CO2 in atmosphere as carbonate ions source and Schiff base as shape guiding-agent in water/ethanol system under hydrothermal condition. Highlights: → The most interesting in this work is the use of the greenhouse gases CO 2 in atmosphere as carbonate ions source to precipitate with Mn 2+ for producing MnCO 3 crystals. → This work is the first report related to the small organic molecule Schiff base as shape guiding-agent to produce different MnCO 3 hierarchical superstructures. → We are controllable synthesis of the MnCO 3 hierarchical superstructures such as chrysanthemum, straw-bundle, dumbbell and sphere-like microcrystals. → The as-prepared MnCO 3 could be used precursor to fabricate the Mn 2 O 3 hierarchical superstructures after thermal decomposition at high temperature. -- Abstract: MnCO 3 with hierarchical superstructures such as chrysanthemum, straw-bundle, dumbbell and sphere-like were synthesized in water/ethanol system under environment-friendly hydrothermal condition. In the synthesis process, the CO 2 in atmosphere was used as the source of carbonate ions and Schiff base was used as shape guiding-agent. The different superstructures of MnCO 3 could be obtained by controlling the hydrothermal temperature, the molar ratio of manganous ions to the Schiff base, or the volume ratio of water to ethanol. A tentative growth mechanism for the generation of MnCO 3 superstructures was proposed based on the rod-dumbbell-sphere model. Furthermore, the MnCO 3 as precursor could be further successfully transferred to Mn 2 O 3 microstructure after heating in the atmosphere at 500 o C, and the morphology of the Mn 2 O 3 was directly determined by that of the MnCO 3 precursor.

  1. NASA flight controllers - Meeting cultural and leadership challenges on the critical path to mission success

    Science.gov (United States)

    Clement, James L., Jr.; Ritsher, Jennifer Boyd

    2006-01-01

    As part of its preparation for missions to the Moon and Mars, NASA has identified high priority critical path roadmap (CPR) questions, two of which focus on the performance of mission control personnel. NASA flight controllers have always worked in an incredibly demanding setting, but the International Space Station poses even more challenges than prior missions. We surveyed 14 senior ISS flight controllers and a contrasting sample of 12 more junior controllers about the management and cultural challenges they face and the most effective strategies for addressing them. There was substantial consensus among participants on some issues, such as the importance of building a personal relationship with Russian colleagues. Responses from junior and senior controllers differed in some areas, such as training. We frame the results in terms of two CPR questions. We aim to use our results to improve flight controller training.

  2. Controllable fabrication of large-scale hierarchical silver nanostructures for long-term stable and ultrasensitive SERS substrates

    Science.gov (United States)

    Wu, Jing; Fang, Jinghuai; Cheng, Mingfei; Gong, Xiao

    2016-09-01

    In this work, we aim to prepare effective and long-term stable hierarchical silver nanostructures serving as surface-enhanced Raman scattering (SERS) substrates simply via displacement reaction on Aluminum foils. In our experiments, Hexadecyltrimethylammonium bromide (CTAB) is used as cationic surfactant to control the velocity of displacement reaction as well as the hierarchical morphology of the resultant. We find that the volume ratio of CTAB to AgNO3 plays a dominant role in regulating the hierarchical structures besides the influence of displacement reaction time. These as-prepared hierarchical morphologies demonstrate excellent SERS sensitivity, structural stability and reproducibility with low values of relative standard deviation less than 20 %. The high SERS analytical enhancement factor of ~6.7 × 108 is achieved even at the concentration of Crystal Violet (CV) as low as 10-7 M, which is sufficient for single-molecule detection. The detection limit of CV is 10-9 M in this study. We believe that this simple and rapid approach integrating advantages of low-cost production and high reproducibility would be a promising way to facilitate routine SERS detection and will get wide applications in chemical synthesis.

  3. Microgrids: Hierarchical Control and an Overview of the Control and Reserve Management Strategies

    DEFF Research Database (Denmark)

    Vandoorn, T.L.; Vasquez, Juan Carlos; de Kooning, D.M.

    2013-01-01

    in the network, allowing the DG units to actively contribute in the frequency and voltage regulation. Microgrids can provide such coordination by aggregating DG, (controllable) loads and storage in small-scale networks, that can operate both in grid-connected and islanded mode. Here, the islanded operating...

  4. Controlled synthesis of three-dimensional hierarchical Bi2WO6 microspheres with optimum photocatalytic activity

    International Nuclear Information System (INIS)

    Wang, Hong; Song, Jimei; Zhang, Hui; Gao, Fei; Zhao, Shaojuan; Hu, Haiqin

    2012-01-01

    Highlights: ► The synthesized method is very simple. It can be widely used in the production. ► The morphology is novel and the property is fine. ► The formation of 3D hierarchical microsphere can be induced by changing the concentration of KNO 3 . -- Abstract: Three-dimensional (3D) hierarchical Bi 2 WO 6 microsphere and octahedral Bi 2 WO 6 have been synthesized by a facile hydrothermal method using KNO 3 solution and distilled water as solvent, respectively. The obtained products were characterized by X-ray diffraction, scanning electron microscopy, N 2 adsorption/desorption, and UV–vis diffuse reflectance spectroscopy in detail. The concentration of KNO 3 played a key role in the formation of 3D hierarchical Bi 2 WO 6 microspheres. A possible formation mechanism of Bi 2 WO 6 microsphere was proposed. The photocatalytic activity of the as-synthesized products was evaluated by monitoring the degradation of MB solution under sunlight irradiation. It was found that the photocatalytic activity of the 3D hierarchical Bi 2 WO 6 microsphere was superior to the octahedral Bi 2 WO 6 , which was attributed to the larger surface area and special hierarchical structure of Bi 2 WO 6 microsphere.

  5. A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

    Directory of Open Access Journals (Sweden)

    Muhammad Aizzat Zakaria

    2013-08-01

    Full Text Available Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem, namely tracking a reference trajectory in a closed loop form. A proposed future prediction point control algorithm is used to calculate the vehicle's lateral error in order to improve the performance of the trajectory tracking. A feedback sensor signal from the steering wheel angle and yaw rate sensor is used as feedback information for the controller. The controller consists of a relationship between the future point lateral error, the linear velocity, the heading error and the reference yaw rate. This paper also introduces a spike detection algorithm to track the spike error that occurs during GPS reading. The proposed idea is to take the advantage of the derivative of the steering rate. This paper aims to tackle the lateral error problem by applying the steering control law to the vehicle, and proposes a new path tracking control method by considering the future coordinate of the vehicle and the future estimated lateral error. The effectiveness of the proposed controller is demonstrated by a simulation and a GPS experiment with noisy data. The approach used in this paper is not limited to autonomous vehicles alone since the concept of autonomous vehicle tracking can be used in mobile robot platforms, as the kinematic model of these two platforms is similar.

  6. Hierarchical modeling of systems with similar components: A framework for adaptive monitoring and control

    International Nuclear Information System (INIS)

    Memarzadeh, Milad; Pozzi, Matteo; Kolter, J. Zico

    2016-01-01

    System management includes the selection of maintenance actions depending on the available observations: when a system is made up by components known to be similar, data collected on one is also relevant for the management of others. This is typically the case of wind farms, which are made up by similar turbines. Optimal management of wind farms is an important task due to high cost of turbines' operation and maintenance: in this context, we recently proposed a method for planning and learning at system-level, called PLUS, built upon the Partially Observable Markov Decision Process (POMDP) framework, which treats transition and emission probabilities as random variables, and is therefore suitable for including model uncertainty. PLUS models the components as independent or identical. In this paper, we extend that formulation, allowing for a weaker similarity among components. The proposed approach, called Multiple Uncertain POMDP (MU-POMDP), models the components as POMDPs, and assumes the corresponding parameters as dependent random variables. Through this framework, we can calibrate specific degradation and emission models for each component while, at the same time, process observations at system-level. We compare the performance of the proposed MU-POMDP with PLUS, and discuss its potential and computational complexity. - Highlights: • A computational framework is proposed for adaptive monitoring and control. • It adopts a scheme based on Markov Chain Monte Carlo for inference and learning. • Hierarchical Bayesian modeling is used to allow a system-level flow of information. • Results show potential of significant savings in management of wind farms.

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

    Science.gov (United States)

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

    2018-03-01

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

  8. Musculoskeletal model-based control interface mimics physiologic hand dynamics during path tracing task

    Science.gov (United States)

    Crouch, Dustin L.; (Helen Huang, He

    2017-06-01

    Objective. We investigated the feasibility of a novel, customizable, simplified EMG-driven musculoskeletal model for estimating coordinated hand and wrist motions during a real-time path tracing task. Approach. A two-degree-of-freedom computational musculoskeletal model was implemented for real-time EMG-driven control of a stick figure hand displayed on a computer screen. After 5-10 minutes of undirected practice, subjects were given three attempts to trace 10 straight paths, one at a time, with the fingertip of the virtual hand. Able-bodied subjects completed the task on two separate test days. Main results. Across subjects and test days, there was a significant linear relationship between log-transformed measures of accuracy and speed (Pearson’s r  =  0.25, p  bodied subjects in 8 of 10 trials. For able-bodied subjects, tracing accuracy was lower at the extremes of the model’s range of motion, though there was no apparent relationship between tracing accuracy and fingertip location for the amputee. Our result suggests that, unlike able-bodied subjects, the amputee’s motor control patterns were not accustomed to the multi-joint dynamics of the wrist and hand, possibly as a result of post-amputation cortical plasticity, disuse, or sensory deficits. Significance. To our knowledge, our study is one of very few that have demonstrated the real-time simultaneous control of multi-joint movements, especially wrist and finger movements, using an EMG-driven musculoskeletal model, which differs from the many data-driven algorithms that dominate the literature on EMG-driven prosthesis control. Real-time control was achieved with very little training and simple, quick (~15 s) calibration. Thus, our model is potentially a practical and effective control platform for multifunctional myoelectric prostheses that could restore more life-like hand function for individuals with upper limb amputation.

  9. Negative Sequence Droop Method based Hierarchical Control for Low Voltage Ride-Through in Grid-Interactive Microgrids

    DEFF Research Database (Denmark)

    Zhao, Xin; Firoozabadi, Mehdi Savaghebi; Quintero, Juan Carlos Vasquez

    2015-01-01

    . In this paper, a voltage support strategy based on negative sequence droop control, which regulate the positive/negative sequence active and reactive power flow by means of sending proper voltage reference to the inner control loop, is proposed for the grid connected MGs to ride through voltage sags under...... complex line impedance conditions. In this case, the MGs should inject a certain amount of positive and negative sequence power to the grid so that the voltage quality at load side can be maintained at a satisfied level. A two layer hierarchical control strategy is proposed in this paper. The primary...... control loop consists of voltage and current inner loops, conventional droop control and virtual impedance loop while the secondary control loop is based on positive/negative sequence droop control which can achieve power injection under voltage sags. Experimental results with asymmetrical voltage sags...

  10. Heating and thermal control of brazing technique to break contamination path for potential Mars sample return

    Science.gov (United States)

    Bao, Xiaoqi; Badescu, Mircea; Sherrit, Stewart; Bar-Cohen, Yoseph; Campos, Sergio

    2017-04-01

    The potential return of Mars sample material is of great interest to the planetary science community, as it would enable extensive analysis of samples with highly sensitive laboratory instruments. It is important to make sure such a mission concept would not bring any living microbes, which may possibly exist on Mars, back to Earth's environment. In order to ensure the isolation of Mars microbes from Earth's Atmosphere, a brazing sealing and sterilizing technique was proposed to break the Mars-to-Earth contamination path. Effectively, heating the brazing zone in high vacuum space and controlling the sample temperature for integrity are key challenges to the implementation of this technique. The break-thechain procedures for container configurations, which are being considered, were simulated by multi-physics finite element models. Different heating methods including induction and resistive/radiation were evaluated. The temperature profiles of Martian samples in a proposed container structure were predicted. The results show that the sealing and sterilizing process can be controlled such that the samples temperature is maintained below the level that may cause damage, and that the brazing technique is a feasible approach to breaking the contamination path.

  11. Frequency-Division Power Sharing and Hierarchical Control Design for DC Shipboard Microgrids with Hybrid Energy Storage Systems

    DEFF Research Database (Denmark)

    Jin, Zheming; Meng, Lexuan; Quintero, Juan Carlos Vasquez

    2017-01-01

    Due to the increasing need to reduce the cost and emission of ships, shipboard applications are calling advanced technologies to go onboard. Recently, cleaner power sources (i.e. gas turbines, fuel cell, solar and wind power), energy storage, advanced control and power/energy management......, the operation point of prime movers can be maintained at their optimal area, meanwhile, different energy storages will provide characteristic based response. On the basis of the proposed power sharing method, voltage restoration and power management-level control methods are also introduced to form hierarchical...

  12. Loss Performance Modeling for Hierarchical Heterogeneous Wireless Networks With Speed-Sensitive Call Admission Control

    DEFF Research Database (Denmark)

    Huang, Qian; Huang, Yue-Cai; Ko, King-Tim

    2011-01-01

    . This approach avoids unnecessary and frequent handoff between cells and reduces signaling overheads. An approximation model with guaranteed accuracy and low computational complexity is presented for the loss performance of multiservice traffic. The accuracy of numerical results is validated by comparing......A hierarchical overlay structure is an alternative solution that integrates existing and future heterogeneous wireless networks to provide subscribers with better mobile broadband services. Traffic loss performance in such integrated heterogeneous networks is necessary for an operator's network...

  13. Master–Slave Based Hierarchical Control for a Small Power DC-Distributed Microgrid System with a Storage Device

    Directory of Open Access Journals (Sweden)

    Seung-Woon Lee

    2016-10-01

    Full Text Available In this paper, we analyze one of the main drawbacks of droop control-based DC microgrid systems, and propose a novel control method to overcome this problem. Typically, DC microgrid systems use droop control techniques to enable communication independency and expandability. However, as these advantages are based on bus quality and regulation abandonment, droop-based schemes have limitations in terms of high bus impedance and bus regulation. This paper proposes a novel master–slave based hierarchical control technique for a DC distribution system, in which a DC bus signaling method is used to overcome the communication dependency and the expandability limitations of conventional master–slave control methods. The concept and design considerations of the proposed control method are presented, and a 1 kW simulation under a Powersim (PSIM environment and hardware prototype—built to verify the system—is described.

  14. Creating Hierarchical Pores by Controlled Linker Thermolysis in Multivariate Metal-Organic Frameworks.

    Science.gov (United States)

    Feng, Liang; Yuan, Shuai; Zhang, Liang-Liang; Tan, Kui; Li, Jia-Luo; Kirchon, Angelo; Liu, Ling-Mei; Zhang, Peng; Han, Yu; Chabal, Yves J; Zhou, Hong-Cai

    2018-02-14

    Sufficient pore size, appropriate stability, and hierarchical porosity are three prerequisites for open frameworks designed for drug delivery, enzyme immobilization, and catalysis involving large molecules. Herein, we report a powerful and general strategy, linker thermolysis, to construct ultrastable hierarchically porous metal-organic frameworks (HP-MOFs) with tunable pore size distribution. Linker instability, usually an undesirable trait of MOFs, was exploited to create mesopores by generating crystal defects throughout a microporous MOF crystal via thermolysis. The crystallinity and stability of HP-MOFs remain after thermolabile linkers are selectively removed from multivariate metal-organic frameworks (MTV-MOFs) through a decarboxylation process. A domain-based linker spatial distribution was found to be critical for creating hierarchical pores inside MTV-MOFs. Furthermore, linker thermolysis promotes the formation of ultrasmall metal oxide nanoparticles immobilized in an open framework that exhibits high catalytic activity for Lewis acid-catalyzed reactions. Most importantly, this work provides fresh insights into the connection between linker apportionment and vacancy distribution, which may shed light on probing the disordered linker apportionment in multivariate systems, a long-standing challenge in the study of MTV-MOFs.

  15. Creating Hierarchical Pores by Controlled Linker Thermolysis in Multivariate Metal-Organic Frameworks

    KAUST Repository

    Feng, Liang

    2018-01-18

    Sufficient pore size, appropriate stability and hierarchical porosity are three prerequisites for open frameworks designed for drug delivery, enzyme immobilization and catalysis involving large molecules. Herein, we report a powerful and general strate-gy, linker thermolysis, to construct ultra-stable hierarchically porous metal−organic frameworks (HP-MOFs) with tunable pore size distribution. Linker instability, usually an undesirable trait of MOFs, was exploited to create mesopores by generating crystal defects throughout a microporous MOF crystal via thermolysis. The crystallinity and stability of HP-MOFs remain after thermolabile linkers are selectively removed from multivariate metal-organic frameworks (MTV-MOFs) through a decarboxyla-tion process. A domain-based linker spatial distribution was found to be critical for creating hierarchical pores inside MTV-MOFs. Furthermore, linker thermolysis promotes the formation of ultra-small metal oxide (MO) nanoparticles immobilized in an open framework that exhibits high catalytic activity for Lewis acid catalyzed reactions. Most importantly, this work pro-vides fresh insights into the connection between linker apportionment and vacancy distribution, which may shed light on prob-ing the disordered linker apportionment in multivariate systems, a long-standing challenge in the study of MTV-MOFs.

  16. A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

    Science.gov (United States)

    Li, Liang; Jia, Gang; Chen, Jie; Zhu, Hongjun; Cao, Dongpu; Song, Jian

    2015-08-01

    Direct yaw moment control (DYC), which differentially brakes the wheels to produce a yaw moment for the vehicle stability in a steering process, is an important part of electric stability control system. In this field, most control methods utilise the active brake pressure with a feedback controller to adjust the braked wheel. However, the method might lead to a control delay or overshoot because of the lack of a quantitative project relationship between target values from the upper stability controller to the lower pressure controller. Meanwhile, the stability controller usually ignores the implementing ability of the tyre forces, which might be restrained by the combined-slip dynamics of the tyre. Therefore, a novel control algorithm of DYC based on the hierarchical control strategy is brought forward in this paper. As for the upper controller, a correctional linear quadratic regulator, which not only contains feedback control but also contains feed forward control, is introduced to deduce the object of the stability yaw moment in order to guarantee the yaw rate and side-slip angle stability. As for the medium and lower controller, the quantitative relationship between the vehicle stability object and the target tyre forces of controlled wheels is proposed to achieve smooth control performance based on a combined-slip tyre model. The simulations with the hardware-in-the-loop platform validate that the proposed algorithm can improve the stability of the vehicle effectively.

  17. Hierarchical energy management system for stand-alone hybrid system based on generation costs and cascade control

    International Nuclear Information System (INIS)

    Torreglosa, J.P.; García, P.; Fernández, L.M.; Jurado, F.

    2014-01-01

    Highlights: • We present an energy management system for a stand-alone WT/PV/hydrogen/battery hybrid system. • Hierarchical control composed by master and slave control strategies. • Control assures reliable electricity support for stand-alone applications subject to technical and economic criteria. - Abstract: This paper presents an energy management system (EMS) for stand-alone hybrid systems composed by photovoltaic (PV) solar panels and a wind turbine (WT) as primary energy sources and two energy storage systems, which are a hydrogen system and a battery. The hydrogen system is composed of fuel cell (FC), electrolyzer and hydrogen storage tank. The EMS is a hierarchical control composed by a master control strategy and a slave control strategy. On the one hand, the master control generates the reference powers to meet several premises (such as to satisfy the load power demand, and to maintain the hydrogen tank level and the state of charge (SOC) of the battery between their target margins), taking also into account economic aspects to discriminate between using the battery or hydrogen system. On the other hand, the slave control modifies the reference powers generated by the master control according to the energy sources dynamic limitations, and maintains the DC bus voltage at its reference value. The models, implemented in MATLAB-Simulink environment, have been developed from commercially available components. To check the viability of the proposed EMS, two kinds of simulations were carried out: (1) A long-term simulation of 25 years (expected lifetime of the system) with a sample time of one hour to validate the master control of the EMS; and (2) A short-term simulation with sudden net power variations to validate the slave control of the EMS

  18. Regulating the path from legacy recognition, through recovery to release from regulatory control.

    Science.gov (United States)

    Sneve, Malgorzata Karpow; Smith, Graham

    2015-04-01

    Past development of processes and technologies using radioactive material led to construction of many facilities worldwide. Some of these facilities were built and operated before the regulatory infrastructure was in place to ensure adequate control of radioactive material during operation and decommissioning. In other cases, controls were in place but did not meet modern standards, leading to what is now considered to have been inadequate control. Accidents and other events have occurred resulting in loss of control of radioactive material and unplanned releases to the environment. The legacy from these circumstances is that many countries have areas or facilities at which abnormal radiation conditions exist at levels that give rise to concerns about environmental and human health of potential interest to regulatory authorities. Regulation of these legacy situations is complex. This paper examines the regulatory challenges associated with such legacy management and brings forward suggestions for finding the path from: legacy recognition; implementation, as necessary, of urgent mitigation measures; development of a longer-term management strategy, through to release from regulatory control. © The Author 2014. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

  19. Controlled self-assembly of PbS nanoparticles into macrostar-like hierarchical structures

    International Nuclear Information System (INIS)

    Li, Guowei; Li, Changsheng; Tang, Hua; Cao, Kesheng; Chen, Juan

    2011-01-01

    Graphical abstract: The aggregation and rotation of nanoparticles to adopt parallel orientations in three dimensions was indirectly illustrated by TEM and HRTEM images. Highlights: → Macrostar-like PbS hierarchical structures was successfully synthesized by a simple hydrothermal method and mesostars were assembled from the PbS nanocube building blocks with edge lengths of about 100 nm. → Ostwald-ripening-assisted oriented attachment is believed to play a key role in the growth behavior of novel 3D structures. → Optical properties indicating few defects on the surface of the PbS structure and exhibit large blue-shifts compared to bulk PbS. -- Abstract: The synthesis of macrostar-like PbS hierarchical structures by a simple hydrothermal method at 180 o C for 24 h is proven successful with the assistance of a new surfactant called tetrabutylammonium bromide (TBAB). The as-obtained product is characterized by means of X-ray powder diffraction, field emission scanning electron microscopy, energy dispersive spectrometry, high resolution transmission electron microscopy, and selected area electron diffraction. The presence of TBAB and NaF plays an important role in the formation of PbS macrostructures. Ostwald-ripening-assisted oriented attachment is believed to play a key role in the growth behavior of novel 3D structures. As such, a possible self-assembly mechanism is proposed to explain the formation of the said structures. The present study aims to introduce new insights into understanding the formation process of such unique hierarchical superstructures.

  20. Automation of control and analysis of execution of official duties and instructions in the hierarchical organization

    Directory of Open Access Journals (Sweden)

    Demchenko A.I.

    2017-01-01

    Full Text Available The article considers the problem of monitoring over execution of official duties of employees. This problem is characteristic of the enterprises having a hierarchical management structure. The functions and the modes of monitoring are defined, the types of analysis of the staff activities are provided. The description of the program complex allowing distributing functions and instructions for between the employees is given. The developed computer program allows tracking the performance, creating reports. The computer program has a demarcation of access rights and provides the can be operated in both local, and a large-scale network.

  1. Possibility of using radioactivity control measurements for determining contamination paths in nutritional vectors

    International Nuclear Information System (INIS)

    Garnier, A.

    1966-01-01

    The object of the report is to study the possibility of using results of radioactivity controls for determining the paths followed by contamination in nutritional vectors; these are necessary for calculating protection norms. Radioactive contamination of a nutritional vector is expressed in terms of parameters which suggest that a certain number of criteria may be used for choosing the results which are to be exploited. An actual example of a 'vertical' study based on results of measurements made purely for control purposes shows the difficulties which may be encountered. A list of the results obtained by the control networks set up in the Community Countries, either for the atmosphere, for milk, or for other foodstuffs, shows that these networks are not at the present organised in such a way as to make such a study possible. It appears desirable that a large part of the work carried out by the control Services be oriented in such a way as to yield the complementary information required for experimental studies of radioactive contamination transfers. (author) [fr

  2. Research on a Hierarchical Dynamic Automatic Voltage Control System Based on the Discrete Event-Driven Method

    Directory of Open Access Journals (Sweden)

    Yong Min

    2013-06-01

    Full Text Available In this paper, concepts and methods of hybrid control systems are adopted to establish a hierarchical dynamic automatic voltage control (HD-AVC system, realizing the dynamic voltage stability of power grids. An HD-AVC system model consisting of three layers is built based on the hybrid control method and discrete event-driven mechanism. In the Top Layer, discrete events are designed to drive the corresponding control block so as to avoid solving complex multiple objective functions, the power system’s characteristic matrix is formed and the minimum amplitude eigenvalue (MAE is calculated through linearized differential-algebraic equations. MAE is applied to judge the system’s voltage stability and security and construct discrete events. The Middle Layer is responsible for management and operation, which is also driven by discrete events. Control values of the control buses are calculated based on the characteristics of power systems and the sensitivity method. Then control values generate control strategies through the interface block. In the Bottom Layer, various control devices receive and implement the control commands from the Middle Layer. In this way, a closed-loop power system voltage control is achieved. Computer simulations verify the validity and accuracy of the HD-AVC system, and verify that the proposed HD-AVC system is more effective than normal voltage control methods.

  3. The VMC Survey. XXIX. Turbulence-controlled Hierarchical Star Formation in the Small Magellanic Cloud

    Science.gov (United States)

    Sun, Ning-Chen; de Grijs, Richard; Cioni, Maria-Rosa L.; Rubele, Stefano; Subramanian, Smitha; van Loon, Jacco Th.; Bekki, Kenji; Bell, Cameron P. M.; Ivanov, Valentin D.; Marconi, Marcella; Muraveva, Tatiana; Oliveira, Joana M.; Ripepi, Vincenzo

    2018-05-01

    In this paper we report a clustering analysis of upper main-sequence stars in the Small Magellanic Cloud, using data from the VMC survey (the VISTA near-infrared YJK s survey of the Magellanic system). Young stellar structures are identified as surface overdensities on a range of significance levels. They are found to be organized in a hierarchical pattern, such that larger structures at lower significance levels contain smaller ones at higher significance levels. They have very irregular morphologies, with a perimeter–area dimension of 1.44 ± 0.02 for their projected boundaries. They have a power-law mass–size relation, power-law size/mass distributions, and a log-normal surface density distribution. We derive a projected fractal dimension of 1.48 ± 0.03 from the mass–size relation, or of 1.4 ± 0.1 from the size distribution, reflecting significant lumpiness of the young stellar structures. These properties are remarkably similar to those of a turbulent interstellar medium, supporting a scenario of hierarchical star formation regulated by supersonic turbulence.

  4. Locus of Control and Career Interest of Sophomore Accountancy Students: Basis for Employment Path

    Directory of Open Access Journals (Sweden)

    Jovielyn Mañibo

    2014-02-01

    Full Text Available This academic undertaking sought to determine the relationship between the locus of control and career interest of the respondents towards their future employment. The objectives of the study were to determine the respondents’ locus of control and career interest; to find if there is a significant relationship between the respondents’ locus of control and career interest and to develop an action plan that will gauge the students’ employment success as to their chosen field. In measuring and finding the relationship between the variables of the study, the researchers employed the quantitative method in the analysis of data using the questionnaires for locus of control (LOC and Career Cluster Interest Survey (CCIS as dominant tools. The participants chosen from this study were 74sophomore Accountancy students for Second Semester, School Year 2012 – 2013. Based from the results, most of the respondents (74 sophomore accountancy students have an external locus of control with career interest on education and training, human services, and finance. The computed rvalues indicates slight positive correlation, however, careers on government services, manufacturing , public administration, health science, human services showed significant correlation to internal (positive and external (negative locus of control. .Likewise, the Counseling and Testing Center of the university should conduct cognitive training targeting reasoning and speed of processing that can improve sense of personal control over one’s life and facilitate career orientation during the student- applicants’ admission as regards to their National Career Assessment Examination (NCAE results. With the findings of the study, a program design was created to gauge students employment path.

  5. Investigation of controlled flight into terrain : descriptions of flight paths for selected controlled flight into terrain (CFIT) aircraft accidents, 1985-1997

    Science.gov (United States)

    1999-03-01

    This report documents an investigation of the flight paths of 13 selected controlled flight into terrain (CFIT) aircraft accidents that occurred between 1985 and 1997. The Operations Assessment Division (DTS-43) and the Aviation Safety Division (DTS-...

  6. Loading Path and Control Mode Effects During Thermomechanical Cycling of Polycrystalline Shape Memory NiTi

    Science.gov (United States)

    Nicholson, D. E.; Benafan, O.; Padula, S. A.; Clausen, B.; Vaidyanathan, R.

    2018-01-01

    Loading path dependencies and control mode effects in polycrystalline shape memory NiTi were investigated using in situ neutron and synchrotron X-ray diffraction performed during mechanical cycling and thermal cycling at constant strain. Strain-controlled, isothermal, reverse loading (to ± 4%) and stress-controlled, isothermal, cyclic loading (to ± 400 MPa for up to ten cycles) at room temperature demonstrated that the preferred martensite variants selected correlated directly with the macroscopic uniaxial strain and did not correlate with the compressive or tensile state of stress. During cyclic loading (up to ten cycles), no significant cycle-to-cycle evolution of the variant microstructure corresponding to a given strain was observed, despite changes in the slope of the stress-strain response with each cycle. Additionally, thermal cycling (to above and below the phase transformation) under constant strain (up to 2% tensile strain) showed that the martensite variant microstructure correlated directly with strain and did not evolve following thermal cycling, despite relaxation of stress in both martensite and austenite phases. Results are presented in the context of variant reorientation and detwinning processes in martensitic NiTi, the fundamental thermoelastic nature of such processes and the ability of the variant microstructure to accommodate irreversible deformation processes.

  7. Path Planning of Mobile Elastic Robotic Arms by Indirect Approach of Optimal Control

    Directory of Open Access Journals (Sweden)

    Moharam Habibnejad Korayem

    2011-03-01

    Full Text Available Finding optimal trajectory is critical in several applications of robot manipulators. This paper is applied the open-loop optimal control approach for generating the optimal trajectory of the flexible mobile manipulators in point-to-point motion. This method is based on the Pontryagin-s minimum principle that by providing a two-point boundary value problem is solved the problem. This problem is known to be complex in particular when combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of flexible nature of links are taken into account. The study emphasizes on modeling of the complete optimal control problem by remaining all nonlinear state and costate variables as well as control constraints. In this method, designer can compromise between different objectives by considering the proper penalty matrices and it yields to choose the proper trajectory among the various paths. The effectiveness and capability of the proposed approach are demonstrated through simulation studies. Finally, to verify the proposed method, the simulation results obtained from the model are compared with the results of those available in the literature.

  8. A fracture-controlled path-following technique for phase-field modeling of brittle fracture

    NARCIS (Netherlands)

    Singh, N.; Verhoosel, C.V.; De Borst, R.; Van Brummelen, E.H.

    2016-01-01

    In the phase-field description of brittle fracture, the fracture-surface area can be expressed as a functional of the phase field (or damage field). In this work we study the applicability of this explicit expression as a (non-linear) path-following constraint to robustly track the equilibrium path

  9. Micromechanics of hierarchical materials

    DEFF Research Database (Denmark)

    Mishnaevsky, Leon, Jr.

    2012-01-01

    A short overview of micromechanical models of hierarchical materials (hybrid composites, biomaterials, fractal materials, etc.) is given. Several examples of the modeling of strength and damage in hierarchical materials are summarized, among them, 3D FE model of hybrid composites...... with nanoengineered matrix, fiber bundle model of UD composites with hierarchically clustered fibers and 3D multilevel model of wood considered as a gradient, cellular material with layered composite cell walls. The main areas of research in micromechanics of hierarchical materials are identified, among them......, the investigations of the effects of load redistribution between reinforcing elements at different scale levels, of the possibilities to control different material properties and to ensure synergy of strengthening effects at different scale levels and using the nanoreinforcement effects. The main future directions...

  10. Smart microgrid hierarchical frequency control ancillary service provision based on virtual inertia concept: An integrated demand response and droop controlled distributed generation framework

    International Nuclear Information System (INIS)

    Rezaei, Navid; Kalantar, Mohsen

    2015-01-01

    Highlights: • Detailed formulation of the microgrid static and dynamic securities based on droop control and virtual inertia concepts. • Constructing a novel objective function using frequency excursion and rate of change of frequency profiles. • Ensuring the microgrid security subject to the microgrid economic and environmental policies. • Coordinated management of demand response and droop controlled distributed generation resources. • Precise scheduling of day-ahead hierarchical frequency control ancillary services using a scenario based stochastic programming. - Abstract: Low inertia stack, high penetration levels of renewable energy source and great ratio of power deviations in a small power delivery system put microgrid frequency at risk of instability. On the basis of the close coupling between the microgrid frequency and system security requirements, procurement of adequate ancillary services from cost-effective and environmental friendly resources is a great challenge requests an efficient energy management system. Motivated by this need, this paper presents a novel energy management system that is aimed to coordinately manage the demand response and distributed generation resources. The proposed approach is carried out by constructing a hierarchical frequency control structure in which the frequency dependent control functions of the microgrid components are modeled comprehensively. On the basis of the derived modeling, both the static and dynamic frequency securities of an islanded microgrid are provided in primary and secondary control levels. Besides, to cope with the low inertia stack of islanded microgrids, novel virtual inertia concept is devised based on the precise modeling of droop controlled distributed generation resources. The proposed approach is applied to typical test microgrid. Energy and hierarchical reserve resource are scheduled precisely using a scenario-based stochastic programming methodology. Moreover, analyzing the

  11. Self-controlled learning benefits: exploring contributions of self-efficacy and intrinsic motivation via path analysis.

    Science.gov (United States)

    Ste-Marie, Diane M; Carter, Michael J; Law, Barbi; Vertes, Kelly; Smith, Victoria

    2016-09-01

    Research has shown learning advantages for self-controlled practice contexts relative to yoked (i.e., experimenter-imposed) contexts; yet, explanations for this phenomenon remain relatively untested. We examined, via path analysis, whether self-efficacy and intrinsic motivation are important constructs for explaining self-controlled learning benefits. The path model was created using theory-based and empirically supported relationships to examine causal links between these psychological constructs and physical performance. We hypothesised that self-efficacy and intrinsic motivation would have greater predictive power for learning under self-controlled compared to yoked conditions. Participants learned double-mini trampoline progressions, and measures of physical performance, self-efficacy and intrinsic motivation were collected over two practice days and a delayed retention day. The self-controlled group (M = 2.04, SD = .98) completed significantly more skill progressions in retention than their yoked counterparts (M = 1.3, SD = .65). The path model displayed adequate fit, and similar significant path coefficients were found for both groups wherein each variable was predominantly predicted by its preceding time point (e.g., self-efficacy time 1 predicts self-efficacy time 2). Interestingly, the model was not moderated by group; thus, failing to support the hypothesis that self-efficacy and intrinsic motivation have greater predictive power for learning under self-controlled relative to yoked conditions.

  12. Hierarchic control of the production of energy by means of plants of distributed solar collectors; Control jerarquico de la produccion de energia mediante plantas de colectores solares distribuidos

    Energy Technology Data Exchange (ETDEWEB)

    Martinez Cirre, C. R.

    2008-07-01

    This work presents several different approaches to hierarchical control algorithms designed for a parabolic-trough solar collector field to demonstrate the possibility of maximizing hypothetical profit possible from this type of plant by improving and increasing plant automation. This study was developed in the current world power supply scenario, posing the possibility of using renewable energies (among which is solar thermal power), which the author is interested in contributing to advancing through research on improved plant operation control. The design was made for the ACUREX distributed solar collector field at the Plataforma Solar de Almeria. The control structures implemented to improve production in the solar collector field are based on a simple two-layered hierarchical control. One regulation layer (Layer 1) in which two proposals have been implemented: a control scheme developed using the feedback linearization technique and another proposal consisting on parallel deed forward control with an I-PD (Integral-Proportional Derivative) control. three proposals were implemented in the top layer (Layer 2) for generating the setpoint, the first one based on a physical model, the second one based on a fuzzy model, and the last uses the physical model and an optimization function for finding the optimum setpoint. (Author)

  13. Hierarchical nitrogen doped bismuth niobate architectures: Controllable synthesis and excellent photocatalytic activity

    International Nuclear Information System (INIS)

    Hou, Jungang; Cao, Rui; Wang, Zheng; Jiao, Shuqiang; Zhu, Hongmin

    2012-01-01

    Graphical abstract: Efficient visible-light-driven photocatalysts of peony-like nitrogen doped Bi 3 NbO 7 hierarchical architectures and silver-layered Bi 3 NbO 7−x Nx heterostructures were successfully synthesized in this discovery. Highlights: ► N-Bi 3 NbO 7 architectures were synthesized via two-step hydrothermal process. ► Electronic structure calculations indicated that N replaced O in samples. ► Growth mechanism is proposed for transformation of nanoparticles to microflowers. ► Excellent activities of N-Bi 3 NbO 7 architectures were obtained for degradation. ► Enhanced photocatalytic performance was observed for Ag/N-Bi 3 NbO 7 architectures. - Abstract: Nitrogen doped bismuth niobate (N-Bi 3 NbO 7 ) hierarchical architectures were synthesized via a facile two-step hydrothermal process. XRD patterns revealed that the defect fluorite-type crystal structure of Bi 3 NbO 7 remained intact upon nitrogen doping. Electron microscopy showed the N-Bi 3 NbO 7 architecture has a unique peony-like spherical superstructure composed of numerous nanosheets. UV–vis spectra indicated that nitrogen doping in the compound results in a red-shift of the absorption edge from 450 nm to 470 nm. XPS indicated that [Bi/Nb]-N bonds were formed by inducing nitrogen to replace a small amount of oxygen in Bi 3 NbO 7−x N x , which is explained by electronic structure calculations including energy band and density of states. Based on observations of architectures formation, a possible growth mechanism was proposed to explain the transformation of polyhedral-like nanoparticles to peony-like microflowers via an Ostwald riping mechanism followed by self-assembly. The N-Bi 3 NbO 7 architectures due to the large specific surface area and nitrogen doping exhibited higher photocatalytic activities in the decomposition of organic pollutant under visible-light irradiation than Bi 3 NbO 7 nanoparticles. Furthermore, an enhanced photocatalytic performance was also observed for Ag

  14. Status of the National Ignition Facility Integrated Computer Control System (ICCS) on the Path to Ignition

    International Nuclear Information System (INIS)

    Lagin, L J; Bettenhauasen, R C; Bowers, G A; Carey, R W; Edwards, O D; Estes, C M; Demaret, R D; Ferguson, S W; Fisher, J M; Ho, J C; Ludwigsen, A P; Mathisen, D G; Marshall, C D; Matone, J M; McGuigan, D L; Sanchez, R J; Shelton, R T; Stout, E A; Tekle, E; Townsend, S L; Van Arsdall, P J; Wilson, E F

    2007-01-01

    diagnostics, in preparation for project completion in 2009. Additional capabilities to support fusion ignition shots in a National Ignition Campaign (NIC) beginning in 2010 will include a cryogenic target system, target diagnostics, and integrated experimental shot data analysis with tools for data visualization and archiving. This talk discusses the current status of the control system implementation and discusses the plan to complete the control system on the path to ignition

  15. Status of the National Ignition Facility Integrated Computer Control System (ICCS) on the path to ignition

    International Nuclear Information System (INIS)

    Lagin, L.J.; Bettenhausen, R.C.; Bowers, G.A.; Carey, R.W.; Edwards, O.D.; Estes, C.M.; Demaret, R.D.; Ferguson, S.W.; Fisher, J.M.; Ho, J.C.; Ludwigsen, A.P.; Mathisen, D.G.; Marshall, C.D.; Matone, J.T.; McGuigan, D.L.; Sanchez, R.J.; Stout, E.A.; Tekle, E.A.; Townsend, S.L.; Van Arsdall, P.J.

    2008-01-01

    , target positioners and diagnostics. Additional capabilities to support fusion ignition shots in a National Ignition Campaign (NIC) beginning in 2010 will include a cryogenic target system, target diagnostics, and integrated experimental shot data analysis with tools for data visualization and archiving. This talk discusses the current status of the control system implementation and discusses the plan to complete the control system on the path to ignition

  16. Field-controlled randomness of colloidal paths on a magnetic bubble lattice

    International Nuclear Information System (INIS)

    Jungnickel, C; Fischer, Th M; Khattari, Z; Johansen, T H

    2011-01-01

    Paramagnetic colloidal particles move in the potential energy landscape of a magnetically modulated bubble lattice of a magnetic garnet film. The modulation causes the energy minima to alternate between positions above the centres of the bubbles and interstitial positions. The particles deterministically follow the time-dependent positions of the energy minima until the minima become unstable in one or several directions and allow the particles to hop to a new minimum. We control the time delay between instabilities of the minima in alternative directions by the angle of the external magnetic field with the crystallographic directions of the bubble lattice. When the time delay is large, the particles deterministically hop to the next minimum along the direction that becomes unstable first. When the time delay is short, diffusion of the particle in the marginal potential randomizes the choice of the hopping directions or the choice of the transport network. Gradual changes of the external field direction from 0 0 to 30 0 lead to a continuous crossover from a deterministic to a fully stochastic path of the colloids.

  17. Flight path control strategies and preliminary deltaV requirements for the 2007 Mars Phoenix (PHX) mission

    Science.gov (United States)

    Raofi, Behzad

    2005-01-01

    This paper describes the methods used to estimate the statistical deltaV requirements for the propulsive maneuvers that will deliver the spacecraft to its target landing site while satisfying planetary protection requirements. the paper presents flight path control analysis results for three different trajectories, open, middle, and close of launch period for the mission.

  18. Application of Fuzzy Algorithm in Optimizing Hierarchical Sliding Mode Control for Pendubot System

    Directory of Open Access Journals (Sweden)

    Xuan Dung Huynh

    2017-12-01

    Full Text Available Pendubot is a classical under-actuated SIMO model for control algorithm testing in laboratory of universities. In this paper, authors design a fuzzy-sliding control for this system. The controller is designed from a new idea of application of fuzzy algorithm for optioning control parameters. The response of system on TOP position under fuzzysliding control algorithm is proved to be better than under sliding controller through Matlab/Simulink simulation.

  19. Adaptive Hierarchical Control for the Muscle Strength Training of Stroke Survivors in Robot-Aided Upper-Limb Rehabilitation

    Directory of Open Access Journals (Sweden)

    Guozheng Xu

    2012-10-01

    Full Text Available Muscle strength training for stroke patients is of vital importance for helping survivors to progressively restore muscle strength and improve the performance of their activities in daily living (ADL. An adaptive hierarchical therapy control framework which integrates the patient's real biomechanical state estimation with task-performance quantitative evaluation is proposed. Firstly, a high-level progressive resistive supervisory controller is designed to determine the resistive force base for each training session based on the patient's online task-performance evaluation. Then, a low-level adaptive resistive force triggered controller is presented to further regulate the interactive resistive force corresponding to the patient's real-time biomechanical state – characterized by the patient's bio-damping and bio-stiffness in the course of one training session, so that the patient is challenged in a moderate but engaging and motivating way. Finally, a therapeutic robot system using a Barrett WAM™ compliant manipulator is set up. We recruited eighteen inpatient and outpatient stroke participants who were randomly allocated in experimental (robot-aided and control (conventional physical therapy groups and enrolled for sixteen weeks of progressive resistance training. The preliminary results show that the proposed therapy control strategies can enhance the recovery of strength and motor control ability.

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

    Directory of Open Access Journals (Sweden)

    Yue Ma

    2011-12-01

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

  1. Demonstration of Single-Mode Multicore Fiber Transport Network with Crosstalk-Aware In-Service Optical Path Control

    DEFF Research Database (Denmark)

    Tanaka, Takafumi; Pulverer, Klaus; Häbel, Ulrich

    2017-01-01

    transport network testbed and demonstrate an XT-aware traffic engineering scenario. With the help of a software-defined network (SDN) controller, the modulation format and optical path route are adaptively changed based on the monitored XT values by using programmable devices such as a real-time transponder......-capacity transmission, because inter-core crosstalk (XT) could be the main limiting factor for MCF transmission. In a real MCF network, the inter-core XT in a particular core is likely to change continuously as the optical paths in the adjacent cores are dynamically assigned to match the dynamic nature of the data...

  2. Hierarchical tree-structured control network for the Antares laser facility

    Energy Technology Data Exchange (ETDEWEB)

    McGirt, F.

    1979-01-01

    The design and implementation of a distributed, computer-based control system for the Antares 100-kJ gas laser fusion facility is presented. Control system requirements and their operational interrelationships that consider both integrated system control and individual subsystem control are described. Several configurations of minicomputers are established to provide direct control of sets of microcomputers and to provide points of operator-laser interaction. Over 100 microcomputers are located very close to the laser device control points or sources of data and perform the real-time functions of the control system, such as data and control signal multiplexing, stepping motor control, and vacuum and gas system control. These microcomputers are designed to be supported as an integral part of the control network and to be software compatible with the larger minicomputers.

  3. Hierarchical tree-structured control network for the Antares laser facility

    International Nuclear Information System (INIS)

    McGirt, F.

    1979-01-01

    The design and implementation of a distributed, computer-based control system for the Antares 100-kJ gas laser fusion facility is presented. Control system requirements and their operational interrelationships that consider both integrated system control and individual subsystem control are described. Several configurations of minicomputers are established to provide direct control of sets of microcomputers and to provide points of operator-laser interaction. Over 100 microcomputers are located very close to the laser device control points or sources of data and perform the real-time functions of the control system, such as data and control signal multiplexing, stepping motor control, and vacuum and gas system control. These microcomputers are designed to be supported as an integral part of the control network and to be software compatible with the larger minicomputers

  4. Morphology and crystallinity-controlled synthesis of manganese cobalt oxide/manganese dioxides hierarchical nanostructures for high-performance supercapacitors

    Science.gov (United States)

    Li, Fei; Li, Gang; Chen, Hao; Jia, Jia Qi; Dong, Fan; Hu, Yao Bo; Shang, Zheng Guo; Zhang, Yu Xin

    2015-11-01

    We demonstrate a novel preparative strategy for the well-controlled MnCo2O4.5@MnO2 hierarchical nanostructures. Both δ-MnO2 nanosheets and α-MnO2 nanorods can uniformly decorate the surface of MnCo2O4.5 nanowires to form core-shell heterostructures. Detailed electrochemical characterization reveals that MnCo2O4.5@δ-MnO2 pattern exhibits not only high specific capacitance of 357.5 F g-1 at a scan rate of 0.5 A g-1, but also good cycle stability (97% capacitance retention after 1000 cycles at a scan rate of 5 A g-1), which make it have a promising application as a supercapacitor electrode material.

  5. Hierarchically controlled remote preparation of an arbitrary single-qubit state by using a four-qubit |χ > entangled state

    Science.gov (United States)

    Ma, Peng-Cheng; Chen, Gui-Bin; Li, Xiao-Wei; Zhan, You-Bang

    2018-05-01

    In this paper, we present a scheme for Hierarchically controlled remote preparation of an arbitrary single-qubit state via a four-qubit |χ > state as the quantum channel. In this scheme, a sender wishes to help three agents to remotely prepare a quantum state, respectively. The three agents are divided into two grades, that is, an agent is in the upper grade and other two agents are in the lower grade. It is shown that the agent of the upper grade only needs the assistance of any one of the other two agents for recovering the sender's original state, while an agent of the lower grade needs the collaboration of all the other two agents. In other words, the agents of two grades have different authorities to recover sender's original state.

  6. On Energy-Efficient Hierarchical Cross-Layer Design: Joint Power Control and Routing for Ad Hoc Networks

    Directory of Open Access Journals (Sweden)

    Poor HVincent

    2007-01-01

    Full Text Available A hierarchical cross-layer design approach is proposed to increase energy efficiency in ad hoc networks through joint adaptation of nodes' transmitting powers and route selection. The design maintains the advantages of the classic OSI model, while accounting for the cross-coupling between layers, through information sharing. The proposed joint power control and routing algorithm is shown to increase significantly the overall energy efficiency of the network, at the expense of a moderate increase in complexity. Performance enhancement of the joint design using multiuser detection is also investigated, and it is shown that the use of multiuser detection can increase the capacity of the ad hoc network significantly for a given level of energy consumption.

  7. On Energy-Efficient Hierarchical Cross-Layer Design: Joint Power Control and Routing for Ad Hoc Networks

    Directory of Open Access Journals (Sweden)

    Cristina Comaniciu

    2007-03-01

    Full Text Available A hierarchical cross-layer design approach is proposed to increase energy efficiency in ad hoc networks through joint adaptation of nodes' transmitting powers and route selection. The design maintains the advantages of the classic OSI model, while accounting for the cross-coupling between layers, through information sharing. The proposed joint power control and routing algorithm is shown to increase significantly the overall energy efficiency of the network, at the expense of a moderate increase in complexity. Performance enhancement of the joint design using multiuser detection is also investigated, and it is shown that the use of multiuser detection can increase the capacity of the ad hoc network significantly for a given level of energy consumption.

  8. Speed and path control for conflict-free flight in high air traffic demand in terminal airspace

    Science.gov (United States)

    Rezaei, Ali

    To accommodate the growing air traffic demand, flights will need to be planned and navigated with a much higher level of precision than today's aircraft flight path. The Next Generation Air Transportation System (NextGen) stands to benefit significantly in safety and efficiency from such movement of aircraft along precisely defined paths. Air Traffic Operations (ATO) relying on such precision--the Precision Air Traffic Operations or PATO--are the foundation of high throughput capacity envisioned for the future airports. In PATO, the preferred method is to manage the air traffic by assigning a speed profile to each aircraft in a given fleet in a given airspace (in practice known as (speed control). In this research, an algorithm has been developed, set in the context of a Hybrid Control System (HCS) model, that determines whether a speed control solution exists for a given fleet of aircraft in a given airspace and if so, computes this solution as a collective speed profile that assures separation if executed without deviation. Uncertainties such as weather are not considered but the algorithm can be modified to include uncertainties. The algorithm first computes all feasible sequences (i.e., all sequences that allow the given fleet of aircraft to reach destinations without violating the FAA's separation requirement) by looking at all pairs of aircraft. Then, the most likely sequence is determined and the speed control solution is constructed by a backward trajectory generation, starting with the aircraft last out and proceeds to the first out. This computation can be done for different sequences in parallel which helps to reduce the computation time. If such a solution does not exist, then the algorithm calculates a minimal path modification (known as path control) that will allow separation-compliance speed control. We will also prove that the algorithm will modify the path without creating a new separation violation. The new path will be generated by adding new

  9. A hierarchical model predictive voltage control for NPC/H-bridge converters with a reduced computational burden

    DEFF Research Database (Denmark)

    Gong, Zheng; Dai, Peng; Wu, Xiaojie

    2017-01-01

    In recent years, voltage source multilevel converters are very popular in medium/high-voltage industrial applications, among which the NPC/H-Bridge converter is a popular solution to the medium/high-voltage drive systems. The conventional finite control set model predictive control (FCS-MPC) stra......In recent years, voltage source multilevel converters are very popular in medium/high-voltage industrial applications, among which the NPC/H-Bridge converter is a popular solution to the medium/high-voltage drive systems. The conventional finite control set model predictive control (FCS......-MPC) strategy is not practical for multilevel converters due to their substantial calculation requirements, especially under high number of voltage levels. To solve this problem, a hierarchical model predictive voltage control (HMPVC) strategy with referring to the implementation of g-h coordinate space vector...... and experiments with a down-scaled NPC/H-Bridge converter prototype under various conditions, which validate the proposed HMPVC strategy....

  10. Non-Markovianity in the optimal control of an open quantum system described by hierarchical equations of motion

    Science.gov (United States)

    Mangaud, E.; Puthumpally-Joseph, R.; Sugny, D.; Meier, C.; Atabek, O.; Desouter-Lecomte, M.

    2018-04-01

    Optimal control theory is implemented with fully converged hierarchical equations of motion (HEOM) describing the time evolution of an open system density matrix strongly coupled to the bath in a spin-boson model. The populations of the two-level sub-system are taken as control objectives; namely, their revivals or exchange when switching off the field. We, in parallel, analyze how the optimal electric field consequently modifies the information back flow from the environment through different non-Markovian witnesses. Although the control field has a dipole interaction with the central sub-system only, its indirect influence on the bath collective mode dynamics is probed through HEOM auxiliary matrices, revealing a strong correlation between control and dissipation during a non-Markovian process. A heterojunction is taken as an illustrative example for modeling in a realistic way the two-level sub-system parameters and its spectral density function leading to a non-perturbative strong coupling regime with the bath. Although, due to strong system-bath couplings, control performances remain rather modest, the most important result is a noticeable increase of the non-Markovian bath response induced by the optimally driven processes.

  11. Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation

    Science.gov (United States)

    Alberding, Matthäus B.; Tjønnås, Johannes; Johansen, Tor A.

    2014-12-01

    This work presents an approach to rollover prevention that takes advantage of the modular structure and optimisation properties of the control allocation paradigm. It eliminates the need for a stabilising roll controller by introducing rollover prevention as a constraint on the control allocation problem. The major advantage of this approach is the control authority margin that remains with a high-level controller even during interventions for rollover prevention. In this work, the high-level control is assigned to a yaw stabilising controller. It could be replaced by any other controller. The constraint for rollover prevention could be replaced by or extended to different control objectives. This work uses differential braking for actuation. The use of additional or different actuators is possible. The developed control algorithm is computationally efficient and suitable for low-cost automotive electronic control units. The predictive design of the rollover prevention constraint does not require any sensor equipment in addition to the yaw controller. The method is validated using an industrial multi-body vehicle simulation environment.

  12. A hierarchically structured identification- and classification method for vibration control of reactor components

    International Nuclear Information System (INIS)

    Saedtler, E.

    1981-01-01

    The method for controlling the vibrating behaviour of primary circuit components or for a general systems control is a combination of methods of the statistic systems theory, optimum filter theory, statistic decision theory and of the pattern recognition method. It is appropriate for automatic control of complex systems and stochastic events. (DG) [de

  13. Path Dependency

    OpenAIRE

    Mark Setterfield

    2015-01-01

    Path dependency is defined, and three different specific concepts of path dependency – cumulative causation, lock in, and hysteresis – are analyzed. The relationships between path dependency and equilibrium, and path dependency and fundamental uncertainty are also discussed. Finally, a typology of dynamical systems is developed to clarify these relationships.

  14. Hierarchical, decentralized control system for large-scale smart-structures

    International Nuclear Information System (INIS)

    Algermissen, Stephan; Fröhlich, Tim; Monner, Hans Peter

    2014-01-01

    Active control of sound and vibration has gained much attention in all kinds of industries in the past decade. Future prospects for maximizing airline passenger comfort are especially promising. The objectives of recent research projects in this area are the reduction of noise transmission through thin walled structures such as fuselages, linings or interior elements. Besides different external noise sources, such as the turbulent boundary layer, rotor or jet noise, the actuator and sensor placement as well as different control concepts are addressed. Mostly, the work is focused on a single panel or section of the fuselage, neglecting the fact that for effective noise reduction the entire fuselage has to be taken into account. Nevertheless, extending the scope of an active system from a single panel to the entire fuselage increases the effort for control hardware dramatically. This paper presents a control concept for large structures using distributed control nodes. Each node has the capability to execute a vibration or noise controller for a specific part or section of the fuselage. For maintenance, controller tuning or performance measurement, all nodes are connected to a host computer via Universal Serial Bus (USB). This topology allows a partitioning and distributing of tasks. The nodes execute the low-level control functions. High-level tasks like maintenance, system identification and control synthesis are operated by the host using streamed data from the nodes. By choosing low-price nodes, a very cost effective way of implementing an active system for large structures is realized. Besides the system identification and controller synthesis on the host computer, a detailed view on the hardware and software concept for the nodes is given. Finally, the results of an experimental test of a system running a robust vibration controller at an active panel demonstrator are shown. (paper)

  15. Size-controllable synthesis of hierarchical copper carbodiimide microcrystals and their pronounced photoelectric response under visible light

    Energy Technology Data Exchange (ETDEWEB)

    Liu, Qihui [School of Materials Science and Engineering, Shanghai Institute of Technology, Shanghai 201418 (China); Liu, Yufeng, E-mail: yfliu@mail.sitp.ac.cn [School of Materials Science and Engineering, Shanghai Institute of Technology, Shanghai 201418 (China); Dai, Guozhang [Hunan Key Laboratory for Super-microstructure and Ultrafast Process, School of Physics and Electronics, Central South University, Changsha, Hunan 410083 (China); Tian, Li [College of Electrical and Information Engineering, Hunan Institute of Engineering, Xiangtan 411101 (China); Xu, Jiayue; Zhao, Guoying; Zhang, Na; Fang, Yongzheng [School of Materials Science and Engineering, Shanghai Institute of Technology, Shanghai 201418 (China)

    2015-12-01

    Graphical abstract: - Highlights: • A controllably aqueous method was presented to synthesize two types of CuNCN microcrystals (MCs) at room temperature. • The size and nanostructure can be tuned via controlling the ratio of [NH{sub 3}]/[Cu{sup +}]. • Moreover, prounounced photoelectric response of the as-prepared CuNCN was observed for the first time under the irradiation of visible light at room temperature. • The aqueous synthetic route can provide an inspiration to acquire the other metal carbodiimides nano/microcrystals without the aid of reducing agents. - Abstract: Similar to cupric oxides and sulfides, the nitrogen-containing analogue copper carbodiimide (CuNCN) is considered as a potentially promising photoelectric material. However, there is lack of fundamental investigations on controllable synthesis and photoelectric properties of CuNCN nano/microcrystals. Herein, a facile method was developed to synthesize high-quality CuNCN semiconductor microcrystals with different sizes and hierarchical nanostructures at room temperature. This reaction was carried out in aqueous solutions, avoiding the involvement of non-aqueous solutions and high temperature solid phase reaction during the synthesis of CuNCN microcrystals. Photoelectric response of as-prepared CuNCN microcrystals was first observed under the irradiation of visible light at room temperature. The aqueous synthetic route can also provide an inspiration to acquire other metal carbodiimides nano/microcrystals.

  16. Kinetically Controlled Synthesis of Pt-Based One-Dimensional Hierarchically Porous Nanostructures with Large Mesopores as Highly Efficient ORR Catalysts.

    Science.gov (United States)

    Fu, Shaofang; Zhu, Chengzhou; Song, Junhua; Engelhard, Mark H; Xia, Haibing; Du, Dan; Lin, Yuehe

    2016-12-28

    Rational design and construction of Pt-based porous nanostructures with large mesopores have triggered significant considerations because of their high surface area and more efficient mass transport. Hydrochloric acid-induced kinetically controlled reduction of metal precursors in the presence of soft template F-127 and hard template tellurium nanowires has been successfully demonstrated to construct one-dimensional hierarchical porous PtCu alloy nanostructures with large mesopores. Moreover, the electrochemical experiments demonstrated that the PtCu hierarchically porous nanostructures synthesized under optimized conditions exhibit enhanced electrocatalytic performance for oxygen reduction reaction in acid media.

  17. Distributed and hierarchical control techniques for large-scale power plant systems

    International Nuclear Information System (INIS)

    Raju, G.V.S.; Kisner, R.A.

    1985-08-01

    In large-scale systems, integrated and coordinated control functions are required to maximize plant availability, to allow maneuverability through various power levels, and to meet externally imposed regulatory limitations. Nuclear power plants are large-scale systems. Prime subsystems are those that contribute directly to the behavior of the plant's ultimate output. The prime subsystems in a nuclear power plant include reactor, primary and intermediate heat transport, steam generator, turbine generator, and feedwater system. This paper describes and discusses the continuous-variable control system developed to supervise prime plant subsystems for optimal control and coordination

  18. Economic COP Optimization of a Heat Pump with Hierarchical Model Predictive Control

    DEFF Research Database (Denmark)

    Tahersima, Fatemeh; Stoustrup, Jakob; Rasmussen, Henrik

    2012-01-01

    A low-temperature heating system is studied in this paper. It consists of hydronic under-floor heating pipes and an air/ground source heat pump. The heat pump in such a setup is conventionally controlled only by feed-forwarding the ambient temperature. Having shown >10% cut-down on electricity bi....... The proposed control strategy is a leap forward towards balanced load control in Smart Grids where individual heat pumps in detached houses contribute to preserve load balance through intelligent electricity pricing policies....

  19. Enforcing access control in virtual organizations using hierarchical attribute-based encryption

    NARCIS (Netherlands)

    Asim, M.; Ignatenko, T.; Petkovic, M.; Trivellato, D.; Zannone, N.

    2012-01-01

    Virtual organizations are dynamic, interorganizational collaborations that involve systems and services belonging to different security domains. Several solutions have been proposed to guarantee the enforcement of the access control policies protecting the information exchanged in a distributed

  20. Enforcing access control in virtual organizations using hierarchical attribute-based encryption

    NARCIS (Netherlands)

    Asim, M.; Ignatenko, T.; Petkovic, M.; Trivellato, D.; Zannone, N.

    2012-01-01

    Virtual organizations are dynamic, inter-organizational collaborations that involve systems and services belonging to different security domains. Several solutions have been proposed to guarantee the enforcement of the access control policies protecting the information exchanged in a distributed

  1. PATHS in Croatia: A school-based randomised-controlled trial of a social and emotional learning curriculum.

    Science.gov (United States)

    Novak, Miranda; Mihić, Josipa; Bašić, Josipa; Nix, Robert L

    2017-04-01

    This study represents the first rigorous evaluation of a social-emotional learning curriculum, PATHS (Promoting Alternative Thinking Strategies; Kusché & Greenberg, 1994), in elementary schools in Croatia. This study randomly assigned 29 schools to receive the universal preventive intervention or continue with usual practices. Within those schools, this study included 57 classrooms and 568 children. Teachers rated nine child behaviours in the middle of first grade (pre-intervention) and near the end of second grade (post-intervention). Hierarchical linear models, nesting children within classrooms, revealed few changes in behaviour across the sample as a whole or among higher risk children. However, there were changes on eight of the nine behaviours for lower risk children. The findings are considered in the context of the classroom culture and teachers' preparation and readiness to implement a social-emotional learning curriculum in Croatia. This study highlights the need to supplement universal preventive interventions with selective preventive interventions that can provide more intensive and targeted skill practice for higher risk children. This study also highlights the nuanced effects of a universal preventive intervention in helping different children in different ways. © 2016 International Union of Psychological Science.

  2. Serial grey-box model of a stratified thermal tank for hierarchical control of a solar plant

    Energy Technology Data Exchange (ETDEWEB)

    Arahal, Manuel R. [Universidad de Sevilla, Dpto. de Ingenieria de Sistemas y Automatica, Camino de los Descubrimientos s/n, 41092 Sevilla (Spain); Cirre, Cristina M. [Convenio Universidad de Almeria-Plataforma Solar de Almeria, Ctra. Senes s/n, 04200 Tabernas, Almeria (Spain); Berenguel, Manuel [Universidad de Almeria, Dpto. Lenguajes y Computacion, Ctra. Sacramento s/n, 04120, Almeria (Spain)

    2008-05-15

    The ACUREX collector field together with a thermal storage tank and a power conversion system forms the Small Solar Power Systems plant of the Plataforma Solar de Almeria, a facility that has been used for research for the last 25 years. A simulator of the collector field produced by the last author has been available to and used as a test-bed for control strategies. Up to now, however, there is not a model for the whole plant. Such model is needed for hierarchical control schemes also proposed by the authors. In this paper a model of the thermal storage tank is derived using the Simultaneous Perturbation Stochastic Approximation technique to adjust the parameters of a serial grey-box model structure. The benefits of the proposed approach are discussed in the context of the intended use, requiring a model capable of simulating the behavior of the storage tank with low computational load and low error over medium to large horizons. The model is tested against real data in a variety of situations showing its performance in terms of simulation error in the temperature profile and in the usable energy stored in the tank. The results obtained demonstrate the viability of the proposed approach. (author)

  3. Hierarchical hybrid control of manipulators: Artificial intelligence in large scale integrated circuits

    Science.gov (United States)

    Greene, P. H.

    1972-01-01

    Both in practical engineering and in control of muscular systems, low level subsystems automatically provide crude approximations to the proper response. Through low level tuning of these approximations, the proper response variant can emerge from standardized high level commands. Such systems are expressly suited to emerging large scale integrated circuit technology. A computer, using symbolic descriptions of subsystem responses, can select and shape responses of low level digital or analog microcircuits. A mathematical theory that reveals significant informational units in this style of control and software for realizing such information structures are formulated.

  4. Optimizing data access for wind farm control over hierarchical communication networks

    DEFF Research Database (Denmark)

    Madsen, Jacob Theilgaard; Findrik, Mislav; Madsen, Tatiana Kozlova

    2016-01-01

    delays and also by the choice of the time instances at which sensor information is accessed. In order to optimize the latter, we introduce an information quality metric and a mathematical model based on Markov chains, which are compared performance-wise to a heuristic approach for finding this parameter......In this paper we investigate a centralized wind farm controller which runs periodically. The controller attempts to reduce the damage a wind turbine sustains during operation by estimating fatigue based on the wind turbine state. The investigation focuses on the impact of information access...

  5. Strategy Implementation through Hierarchical Couplings in a Management Control Package : An Explorative Case Study

    NARCIS (Netherlands)

    van der Kolk, Berend; Schokker, Tom

    2016-01-01

    We examine how couplings of management control (MC) elements help to implement an organization’s strategy. Despite prior research stating that couplings between MC elements form fruitful soil for further research, empirical studies in this area are still scarce. We draw on coupling theory to explore

  6. Modeling and sensitivity analysis of consensus algorithm based distributed hierarchical control for dc microgrids

    DEFF Research Database (Denmark)

    Meng, Lexuan; Dragicevic, Tomislav; Vasquez, Juan Carlos

    2015-01-01

    of dynamic study. The aim of this paper is to model the complete DC microgrid system in z-domain and perform sensitivity analysis for the complete system. A generalized modeling method is proposed and the system dynamics under different control parameters, communication topologies and communication speed...

  7. Hierarchical tailoring of strut architecture to control permeability of additive manufactured titanium implants.

    Science.gov (United States)

    Zhang, Z; Jones, D; Yue, S; Lee, P D; Jones, J R; Sutcliffe, C J; Jones, E

    2013-10-01

    Porous titanium implants are a common choice for bone augmentation. Implants for spinal fusion and repair of non-union fractures must encourage blood flow after implantation so that there is sufficient cell migration, nutrient and growth factor transport to stimulate bone ingrowth. Additive manufacturing techniques allow a large number of pore network designs. This study investigates how the design factors offered by selective laser melting technique can be used to alter the implant architecture on multiple length scales to control and even tailor the flow. Permeability is a convenient parameter that characterises flow, correlating to structure openness (interconnectivity and pore window size), tortuosity and hence flow shear rates. Using experimentally validated computational simulations, we demonstrate how additive manufacturing can be used to tailor implant properties by controlling surface roughness at a microstructual level (microns), and by altering the strut ordering and density at a mesoscopic level (millimetre). Copyright © 2013 The Authors. Published by Elsevier B.V. All rights reserved.

  8. Modeling and Sensitivity Study of Consensus Algorithm-Based Distributed Hierarchical Control for DC Microgrids

    DEFF Research Database (Denmark)

    Meng, Lexuan; Dragicevic, Tomislav; Roldan Perez, Javier

    2016-01-01

    Distributed control methods based on consensus algorithms have become popular in recent years for microgrid (MG) systems. These kinds of algorithms can be applied to share information in order to coordinate multiple distributed generators within a MG. However, stability analysis becomes a challen......Distributed control methods based on consensus algorithms have become popular in recent years for microgrid (MG) systems. These kinds of algorithms can be applied to share information in order to coordinate multiple distributed generators within a MG. However, stability analysis becomes...... in the communication network, continuous-time methods can be inaccurate for this kind of dynamic study. Therefore, this paper aims at modeling a complete DC MG using a discrete-time approach in order to perform a sensitivity analysis taking into account the effects of the consensus algorithm. To this end......, a generalized modeling method is proposed and the influence of key control parameters, the communication topology and the communication speed are studied in detail. The theoretical results obtained with the proposed model are verified by comparing them with the results obtained with a detailed switching...

  9. Electrospray synthesis and properties of hierarchically structured PLGA TIPS microspheres for use as controlled release technologies.

    Science.gov (United States)

    Malik, Salman A; Ng, Wing H; Bowen, James; Tang, Justin; Gomez, Alessandro; Kenyon, Anthony J; Day, Richard M

    2016-04-01

    Microsphere-based controlled release technologies have been utilized for the long-term delivery of proteins, peptides and antibiotics, although their synthesis poses substantial challenges owing to formulation complexities, lack of scalability, and cost. To address these shortcomings, we used the electrospray process as a reproducible, synthesis technique to manufacture highly porous (>94%) microspheres while maintaining control over particle structure and size. Here we report a successful formulation recipe used to generate spherical poly(lactic-co-glycolic) acid (PLGA) microspheres using the electrospray (ES) coupled with a novel thermally induced phase separation (TIPS) process with a tailored Liquid Nitrogen (LN2) collection scheme. We show how size, shape and porosity of resulting microspheres can be controlled by judiciously varying electrospray processing parameters and we demonstrate examples in which the particle size (and porosity) affect release kinetics. The effect of electrospray treatment on the particles and their physicochemical properties are characterized by scanning electron microscopy, confocal Raman microscopy, thermogravimetric analysis and mercury intrusion porosimetry. The microspheres manufactured here have successfully demonstrated long-term delivery (i.e. 1week) of an active agent, enabling sustained release of a dye with minimal physical degradation and have verified the potential of scalable electrospray technologies for an innovative TIPS-based microsphere production protocol. Copyright © 2016 The Authors. Published by Elsevier Inc. All rights reserved.

  10. Admission Control for Multiservices Traffic in Hierarchical Mobile IPv6 Networks by Using Fuzzy Inference System

    Directory of Open Access Journals (Sweden)

    Jung-Shyr Wu

    2012-01-01

    Full Text Available CAC (Call Admission Control plays a significant role in providing QoS (Quality of Service in mobile wireless networks. In addition to much research that focuses on modified Mobile IP to get better efficient handover performance, CAC should be introduced to Mobile IP-based network to guarantee the QoS for users. In this paper, we propose a CAC scheme which incorporates multiple traffic types and adjusts the admission threshold dynamically using fuzzy control logic to achieve better usage of resources. The method can provide QoS in Mobile IPv6 networks with few modifications on MAP (Mobility Anchor Point functionality and slight change in BU (Binding Update message formats. According to the simulation results, the proposed scheme presents good performance of voice and video traffic at the expenses of poor performance on data traffic. It is evident that these CAC schemes can reduce the probability of the handoff dropping and the cell overload and limit the probability of the new call blocking.

  11. Controlled lecithin release from a hierarchical architecture on blood-contacting surface to reduce hemolysis of stored red blood cells.

    Science.gov (United States)

    Shi, Qiang; Fan, Qunfu; Ye, Wei; Hou, Jianwen; Wong, Shing-Chung; Xu, Xiaodong; Yin, Jinghua

    2014-06-25

    Hemolysis of red blood cells (RBCs) caused by implant devices in vivo and nonpolyvinyl chloride containers for RBC preservation in vitro has recently gained much attention. To develop blood-contacting biomaterials with long-term antihemolysis capability, we present a facile method to construct a hydrophilic, 3D hierarchical architecture on the surface of styrene-b-(ethylene-co-butylene)-b-styrene elastomer (SEBS) with poly(ethylene oxide) (PEO)/lecithin nano/microfibers. The strategy is based on electrospinning of PEO/lecithin fibers onto the surface of poly [poly(ethylene glycol) methyl ether methacrylate] [P(PEGMEMA)]-modified SEBS, which renders SEBS suitable for RBC storage in vitro. We demonstrate that the constructed 3D architecture is composed of hydrophilic micro- and nanofibers, which transforms to hydrogel networks immediately in blood; the controlled release of lecithin is achieved by gradual dissolution of PEO/lecithin hydrogels, and the interaction of lecithin with RBCs maintains the membrane flexibility and normal RBC shape. Thus, the blood-contacting surface reduces both mechanical and oxidative damage to RBC membranes, resulting in low hemolysis of preserved RBCs. This work not only paves new way to fabricate high hemocompatible biomaterials for RBC storage in vitro, but provides basic principles to design and develop antihemolysis biomaterials for implantation in vivo.

  12. A novel integrated approach for path following and directional stability control of road vehicles after a tire blow-out

    Science.gov (United States)

    Wang, Fei; Chen, Hong; Guo, Konghui; Cao, Dongpu

    2017-09-01

    The path following and directional stability are two crucial problems when a road vehicle experiences a tire blow-out or sudden tire failure. Considering the requirement of rapid road vehicle motion control during a tire blow-out, this article proposes a novel linearized decoupling control procedure with three design steps for a class of second order multi-input-multi-output non-affine system. The evaluating indicators for controller performance are presented and a performance related control parameter distribution map is obtained based on the stochastic algorithm which is an innovation for non-blind parameter adjustment in engineering implementation. The analysis on the robustness of the proposed integrated controller is also performed. The simulation studies for a range of driving conditions are conducted, to demonstrate the effectiveness of the proposed controller.

  13. Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

    Science.gov (United States)

    Abdallah, Muhammad E. (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor)

    2013-01-01

    A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

  14. Controllable surfaces of path interference in the multiphoton ionization of atoms by a weak trichromatic field

    International Nuclear Information System (INIS)

    Mercouris, Theodoros; Nicolaides, Cleanthes A

    2005-01-01

    Multiphoton detachment rates for the H - 1 S ground state irradiated by a weak trichromatic ac field consisting of the fundamental frequency ω 0.272 eV and its second, third or fourth higher harmonics were computed from first principles. The weak intensities are in the range of 10 7 -10 8 W cm -2 . The calculations incorporated systematically electronic structure and electron correlation effects. They were done by implementing a time-independent, nonperturbative many-electron, many-photon theory (MEMPT) which obtains cycle-averaged complex eigenvalues, whose real part gives the field-induced energy shift, Δ, and the imaginary part is the multiphoton ionization rate, Γ. Through analysis, plausible arguments and computation, we show that when the intensities are weak the dependence of Γ on phase differences is simple. Specifically, Γs are depicted in the form of plane surfaces, with minor ripples due to higher order ionization paths, in terms of trigonometric functions of the phase differences. This dependence is likely to be applicable to other atomic systems as well, and to provide a definition of the weak field regime in the trichromatic case. When the field intensities are such that higher order ionization paths become important, these dependences break down and we reach the strong field regime

  15. Limitations in artificial spin ice path selectivity: the challenges beyond topological control

    International Nuclear Information System (INIS)

    Walton, S K; Zeissler, K; Burn, D M; Cohen, L F; Branford, W R; Ladak, S; Read, D E; Tyliszczak, T

    2015-01-01

    Magnetic charge is carried through nanowire networks by domain walls, and the micromagnetic structure of a domain wall provides an opportunity to manipulate its movement. We have shown previously that magnetic monopole defects exist in artificial spin ice (ASI) and result from two bar switching at a vertex. To create and manipulate monopole defects and indeed magnetic charge in general, path selectivity of the domain wall at a vertex is required. We have recently shown that in connected ASI structures, transverse wall chirality (or topology) determines wall path direction, but a mechanism known as Walker breakdown, where a wall mutates into a wall of opposite chirality partially destroys selectivity. Recently it has been claimed that in isolated Y-shaped junctions that support vortex walls, selectivity is entirely determined by chirality (or topology), the suggestion being that vortex wall chirality is robust in the Walker breakdown process. Here we demonstrate that in Y-shaped junctions, magnetic switching in the important topologically protected regime exists only for a narrow window of field and bar geometry, and that it will be challenging to access this regime in field-driven ASI. This work has implications for the wider field of magnetic charge manipulation for high density memory storage. (paper)

  16. Fractional path planning and path tracking

    International Nuclear Information System (INIS)

    Melchior, P.; Jallouli-Khlif, R.; Metoui, B.

    2011-01-01

    This paper presents the main results of the application of fractional approach in path planning and path tracking. A new robust path planning design for mobile robot was studied in dynamic environment. The normalized attractive force applied to the robot is based on a fictitious fractional attractive potential. This method allows to obtain robust path planning despite robot mass variation. The danger level of each obstacles is characterized by the fractional order of the repulsive potential of the obstacles. Under these conditions, the robot dynamic behavior was studied by analyzing its X - Y path planning with dynamic target or dynamic obstacles. The case of simultaneously mobile obstacles and target is also considered. The influence of the robot mass variation is studied and the robustness analysis of the obtained path shows the robustness improvement due to the non integer order properties. Pre shaping approach is used to reduce system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by N.C. Singer and W.P.Seering, is used for flexible structure control, particularly in the aerospace field. In a previous work, this method was extended for explicit fractional derivative systems and applied to second generation CRONE control, the robustness was also studied. CRONE (the French acronym of C ommande Robuste d'Ordre Non Entier ) control system design is a frequency-domain based methodology using complex fractional integration.

  17. Control of reactor coolant flow path during reactor decay heat removal

    Science.gov (United States)

    Hunsbedt, Anstein N.

    1988-01-01

    An improved reactor vessel auxiliary cooling system for a sodium cooled nuclear reactor is disclosed. The sodium cooled nuclear reactor is of the type having a reactor vessel liner separating the reactor hot pool on the upstream side of an intermediate heat exchanger and the reactor cold pool on the downstream side of the intermediate heat exchanger. The improvement includes a flow path across the reactor vessel liner flow gap which dissipates core heat across the reactor vessel and containment vessel responsive to a casualty including the loss of normal heat removal paths and associated shutdown of the main coolant liquid sodium pumps. In normal operation, the reactor vessel cold pool is inlet to the suction side of coolant liquid sodium pumps, these pumps being of the electromagnetic variety. The pumps discharge through the core into the reactor hot pool and then through an intermediate heat exchanger where the heat generated in the reactor core is discharged. Upon outlet from the heat exchanger, the sodium is returned to the reactor cold pool. The improvement includes placing a jet pump across the reactor vessel liner flow gap, pumping a small flow of liquid sodium from the lower pressure cold pool into the hot pool. The jet pump has a small high pressure driving stream diverted from the high pressure side of the reactor pumps. During normal operation, the jet pumps supplement the normal reactor pressure differential from the lower pressure cold pool to the hot pool. Upon the occurrence of a casualty involving loss of coolant pump pressure, and immediate cooling circuit is established by the back flow of sodium through the jet pumps from the reactor vessel hot pool to the reactor vessel cold pool. The cooling circuit includes flow into the reactor vessel liner flow gap immediate the reactor vessel wall and containment vessel where optimum and immediate discharge of residual reactor heat occurs.

  18. Path Expressions

    Science.gov (United States)

    1975-06-01

    Traditionally, synchronization of concurrent processes is coded in line by operations on semaphores or similar objects. Path expressions move the...discussion about a variety of synchronization primitives . An analysis of their relative power is found in [3]. Path expressions do not introduce yet...another synchronization primitive . A path expression relates to such primitives as a for- or while-statement of an ALGOL-like language relates to a JUMP

  19. Improvement of open-type magnetically shielded room composed of magnetic square cylinders by controlling flux path

    International Nuclear Information System (INIS)

    Hirosato, S.; Yamazaki, K.; Tsuruta, T.; Haraguchi, Y.; Kosaka, M.; Gao, Y.; Muramatsu, K.; Kobayashi, K.

    2011-01-01

    We have developed an open-type magnetically shielded room composed of magnetic square cylinders that has been used for an actual MRI in a hospital. To improve shielding performance, we propose here a method to control the path of the magnetic flux in the wall composed of the magnetic square cylinders by changing the magnetic permeability in each direction of the square cylinders spatially. First, we discuss a method to control the magnetic permeability in each direction of the square cylinders independently by inserting slits without changing the outside dimensions of the square cylinders, by using 3-D magnetic field analysis. Then, the effectiveness of the design of controlling the flux pass was shown by magnetic field analysis and experiments. (author)

  20. Hierarchically Structured Electrospun Fibers

    Directory of Open Access Journals (Sweden)

    Nicole E. Zander

    2013-01-01

    Full Text Available Traditional electrospun nanofibers have a myriad of applications ranging from scaffolds for tissue engineering to components of biosensors and energy harvesting devices. The generally smooth one-dimensional structure of the fibers has stood as a limitation to several interesting novel applications. Control of fiber diameter, porosity and collector geometry will be briefly discussed, as will more traditional methods for controlling fiber morphology and fiber mat architecture. The remainder of the review will focus on new techniques to prepare hierarchically structured fibers. Fibers with hierarchical primary structures—including helical, buckled, and beads-on-a-string fibers, as well as fibers with secondary structures, such as nanopores, nanopillars, nanorods, and internally structured fibers and their applications—will be discussed. These new materials with helical/buckled morphology are expected to possess unique optical and mechanical properties with possible applications for negative refractive index materials, highly stretchable/high-tensile-strength materials, and components in microelectromechanical devices. Core-shell type fibers enable a much wider variety of materials to be electrospun and are expected to be widely applied in the sensing, drug delivery/controlled release fields, and in the encapsulation of live cells for biological applications. Materials with a hierarchical secondary structure are expected to provide new superhydrophobic and self-cleaning materials.

  1. Controllable growth of polyaniline nanowire arrays on hierarchical macro/mesoporous graphene foams for high-performance flexible supercapacitors

    International Nuclear Information System (INIS)

    Yu, Pingping; Zhao, Xin; Li, Yingzhi; Zhang, Qinghua

    2017-01-01

    Highlights: • Hierarchical porous graphene foam prepared by templating and embossing method.. • Vertically PANI nanowires aligned on interconnected porous graphene sheets. • The fRGO-F/PANI device exhibited 939 F g"−"1 at 1 A g"−"1. • ED and PD of fRGO-F/PANI device was 20.9 Wh kg"−"1 and 103.2 kW kg"−"1. - Abstract: Free-standing hierarchical macro/mesoporous flexible graphene foam have been constructed by rational intergration ofwell dispersed graphene oxide sheets and amino-modified polystyrene (PS) spheres through a facile “templating and embossing” technique. The three dimensional (3D) macro/mesoporous flexible graphene foam not only inherits the uniform porous structures of graphene foam, but also contains hierarchical macro/mesopores on the struts by sacrificing PS spheres and the activation of KOH, which could providing rapid pathways for ionic and electronic transport to high specific capacitance. Vertically polyaniline (PANI) nanowire arrays are then uniformly deposited onto the hierarchical macro/mesoporous graphene foam(fRGO-F/PANI) by a simple in situ polymerization, which show a high specific capacitance of 939 F g"−"1. Thanks to the synergistic function of 3D bicontinuous hierarchical porous structure of graphene foam and effective immobilization of PANI nanowires on the struts, the assembled symmetric supercapctior with fRGO-F/PANI as electrodes exhibits a maximum energy density and power density of 20.9 Wh kg"−"1 and 103.2 kW kg"−"1, respectively. Moreover, it also displays an excellent cyclic stability with a 88.7% retention after 5000 cycles.

  2. Controllable growth of polyaniline nanowire arrays on hierarchical macro/mesoporous graphene foams for high-performance flexible supercapacitors

    Energy Technology Data Exchange (ETDEWEB)

    Yu, Pingping [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Department of Materials Science, Fudan University, Shanghai 200433 (China); Zhao, Xin, E-mail: xzhao@dhu.edu.cn [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Li, Yingzhi [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Zhang, Qinghua, E-mail: qhzhang@dhu.edu.cn [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China)

    2017-01-30

    Highlights: • Hierarchical porous graphene foam prepared by templating and embossing method.. • Vertically PANI nanowires aligned on interconnected porous graphene sheets. • The fRGO-F/PANI device exhibited 939 F g{sup −1} at 1 A g{sup −1}. • ED and PD of fRGO-F/PANI device was 20.9 Wh kg{sup −1} and 103.2 kW kg{sup −1}. - Abstract: Free-standing hierarchical macro/mesoporous flexible graphene foam have been constructed by rational intergration ofwell dispersed graphene oxide sheets and amino-modified polystyrene (PS) spheres through a facile “templating and embossing” technique. The three dimensional (3D) macro/mesoporous flexible graphene foam not only inherits the uniform porous structures of graphene foam, but also contains hierarchical macro/mesopores on the struts by sacrificing PS spheres and the activation of KOH, which could providing rapid pathways for ionic and electronic transport to high specific capacitance. Vertically polyaniline (PANI) nanowire arrays are then uniformly deposited onto the hierarchical macro/mesoporous graphene foam(fRGO-F/PANI) by a simple in situ polymerization, which show a high specific capacitance of 939 F g{sup −1}. Thanks to the synergistic function of 3D bicontinuous hierarchical porous structure of graphene foam and effective immobilization of PANI nanowires on the struts, the assembled symmetric supercapctior with fRGO-F/PANI as electrodes exhibits a maximum energy density and power density of 20.9 Wh kg{sup −1} and 103.2 kW kg{sup −1}, respectively. Moreover, it also displays an excellent cyclic stability with a 88.7% retention after 5000 cycles.

  3. Evaluation of selected mechanical properties of NiTi rotary glide path files manufactured from controlled memory wires.

    Science.gov (United States)

    Nishijo, Miki; Ebihara, Arata; Tokita, Daisuke; Doi, Hisashi; Hanawa, Takao; Okiji, Takashi

    2018-03-28

    This study aimed to investigate mechanical properties related to flexibility and fracture resistance of controlled memory wiremanufactured nickel-titanium rotary glide path files [HyFlex EDM Glide Path File (EDM) and HyFlex GPF (GPF)]. Scout RaCe (RaCe) served as control. Bending loads, torsional/cyclic fatigue resistance, and screw-in forces were measured. EDM showed a significantly larger torque at fracture, a longer time to cyclic fracture in reciprocation and a larger screw-in force compared with GPF and RaCe. GPF showed significantly lower bending loads and higher angular deflection values than EDM and RaCe, and a significantly longer time to cyclic fracture than RaCe. The time to cyclic fracture was significantly longer in reciprocation compared with continuous rotation in EDM and GPF. It can be concluded that EDM and/or GPF showed higher flexibility and cyclic/torsional fatigue resistance compared with RaCe; and that reciprocation conferred better cyclic fatigue resistance to EDM and GPF.

  4. Epitaxial growth of hetero-Ln-MOF hierarchical single crystals for domain- and orientation-controlled multicolor luminescence 3D coding capability

    Energy Technology Data Exchange (ETDEWEB)

    Pan, Mei; Zhu, Yi-Xuan; Wu, Kai; Chen, Ling; Hou, Ya-Jun; Yin, Shao-Yun; Wang, Hai-Ping; Fan, Ya-Nan [MOE Laboratory of Bioinorganic and Synthetic Chemistry, Lehn Institute of Functional Materials, School of Chemistry, Sun Yat-Sen University, Guangzhou (China); Su, Cheng-Yong [MOE Laboratory of Bioinorganic and Synthetic Chemistry, Lehn Institute of Functional Materials, School of Chemistry, Sun Yat-Sen University, Guangzhou (China); State Key Laboratory of Applied Organic Chemistry, Lanzhou University, Lanzhou (China)

    2017-11-13

    Core-shell or striped heteroatomic lanthanide metal-organic framework hierarchical single crystals were obtained by liquid-phase anisotropic epitaxial growth, maintaining identical periodic organization while simultaneously exhibiting spatially segregated structure. Different types of domain and orientation-controlled multicolor photophysical models are presented, which show either visually distinguishable or visible/near infrared (NIR) emissive colors. This provides a new bottom-up strategy toward the design of hierarchical molecular systems, offering high-throughput and multiplexed luminescence color tunability and readability. The unique capability of combining spectroscopic coding with 3D (three-dimensional) microscale spatial coding is established, providing potential applications in anti-counterfeiting, color barcoding, and other types of integrated and miniaturized optoelectronic materials and devices. (copyright 2017 Wiley-VCH Verlag GmbH and Co. KGaA, Weinheim)

  5. Epitaxial Growth of Hetero-Ln-MOF Hierarchical Single Crystals for Domain- and Orientation-Controlled Multicolor Luminescence 3D Coding Capability.

    Science.gov (United States)

    Pan, Mei; Zhu, Yi-Xuan; Wu, Kai; Chen, Ling; Hou, Ya-Jun; Yin, Shao-Yun; Wang, Hai-Ping; Fan, Ya-Nan; Su, Cheng-Yong

    2017-11-13

    Core-shell or striped heteroatomic lanthanide metal-organic framework hierarchical single crystals were obtained by liquid-phase anisotropic epitaxial growth, maintaining identical periodic organization while simultaneously exhibiting spatially segregated structure. Different types of domain and orientation-controlled multicolor photophysical models are presented, which show either visually distinguishable or visible/near infrared (NIR) emissive colors. This provides a new bottom-up strategy toward the design of hierarchical molecular systems, offering high-throughput and multiplexed luminescence color tunability and readability. The unique capability of combining spectroscopic coding with 3D (three-dimensional) microscale spatial coding is established, providing potential applications in anti-counterfeiting, color barcoding, and other types of integrated and miniaturized optoelectronic materials and devices. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  6. Epitaxial growth of hetero-Ln-MOF hierarchical single crystals for domain- and orientation-controlled multicolor luminescence 3D coding capability

    International Nuclear Information System (INIS)

    Pan, Mei; Zhu, Yi-Xuan; Wu, Kai; Chen, Ling; Hou, Ya-Jun; Yin, Shao-Yun; Wang, Hai-Ping; Fan, Ya-Nan; Su, Cheng-Yong

    2017-01-01

    Core-shell or striped heteroatomic lanthanide metal-organic framework hierarchical single crystals were obtained by liquid-phase anisotropic epitaxial growth, maintaining identical periodic organization while simultaneously exhibiting spatially segregated structure. Different types of domain and orientation-controlled multicolor photophysical models are presented, which show either visually distinguishable or visible/near infrared (NIR) emissive colors. This provides a new bottom-up strategy toward the design of hierarchical molecular systems, offering high-throughput and multiplexed luminescence color tunability and readability. The unique capability of combining spectroscopic coding with 3D (three-dimensional) microscale spatial coding is established, providing potential applications in anti-counterfeiting, color barcoding, and other types of integrated and miniaturized optoelectronic materials and devices. (copyright 2017 Wiley-VCH Verlag GmbH and Co. KGaA, Weinheim)

  7. Sliding Mode Control of Diesel Engine Air-path System With Dual-loop EGR and VGT Based on the Reduced-order Model

    Directory of Open Access Journals (Sweden)

    Kim Sooyoung

    2016-01-01

    Full Text Available This paper presents the design of a model-based controller for the diesel engine air-path system. The controller is implemented based on a reduced order model consisting of only pressure and power dynamics with practical concerns. To deal with the model uncertainties effectively, a sliding mode controller, which is robust to model uncertainties, is proposed for the air-path system. The control performance of the proposed control scheme is verified through simulation with the valid plant model of a 6,000cc heavy duty diesel engine.

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

    Science.gov (United States)

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

    2016-01-01

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

  9. Research on automatic correction of electronic beam path for distributed control

    International Nuclear Information System (INIS)

    Guo Xin; Su Haijun; Li Deming; Wang Shengli; Guo Honglei

    2014-01-01

    Background: Dynamitron, an electron irradiation accelerator of high-voltage, is used as a radiation source for industrial and agricultural production. The control system is an important component of dynamitron. Purpose: The aim is to improve the control system to meet the performance requirements of dynamitron for the stability. Methods: A distributed control system for the 1.5-MeV dynamitron is proposed to gain better performance. On this basis, an electron beam trajectory automatic correction method based on Cerebellar Model Articulation Controller and Proportional-Integral Derivative (CMAC-PID) controller is designed to improve the function of electron beam extraction system. Results: The distributed control system can meet the control requirements of the accelerator. The stability of the CMAC PID controller is better than that of conventional PID controller for the electron beam trajectory automatic correction system, and hence the CMAC-PID controller can provide better protection of dynamitron when electron beam deflection occurs. Conclusion: The distributed control system and the electron beam trajectory automatic correction method system can effectively improve the performance and reduce the failure probability of the accelerator, thereby enhancing the efficiency of the accelerator. (authors)

  10. Problem of two-level hierarchical minimax program control the final state of regional social and economic system in the presence of risks

    International Nuclear Information System (INIS)

    Shorikov, A. F.

    2015-01-01

    This article discusses a discrete-time dynamical system consisting of a set a controllable objects (region and forming it municipalities). The dynamics each of these is described by the corresponding vector nonlinear discrete-time recurrent vector equations and its control system consist from two levels: basic (control level I) that is dominating and subordinate level (control level II). Both levels have different criterions of functioning and united a priori by determined informational and control connections defined in advance. In this paper we study the problem of optimization of guaranteed result for program control by the final state of regional social and economic system in the presence of risks. For this problem we proposed in this work an economical and mathematical model of two-level hierarchical minimax program control the final state of regional social and economic system in the presence of risks and the general scheme for its solving

  11. Problem of two-level hierarchical minimax program control the final state of regional social and economic system in the presence of risks

    Energy Technology Data Exchange (ETDEWEB)

    Shorikov, A. F., E-mail: afshorikov@mail.ru [Ural Federal University, 19 S. Mira, Ekaterinburg, 620002, Russia Institute of Mathematics and Mechanics, Ural Branch of Russian Academy of Sciences, 16 S. Kovalevskaya, Ekaterinburg, 620990 (Russian Federation)

    2015-11-30

    This article discusses a discrete-time dynamical system consisting of a set a controllable objects (region and forming it municipalities). The dynamics each of these is described by the corresponding vector nonlinear discrete-time recurrent vector equations and its control system consist from two levels: basic (control level I) that is dominating and subordinate level (control level II). Both levels have different criterions of functioning and united a priori by determined informational and control connections defined in advance. In this paper we study the problem of optimization of guaranteed result for program control by the final state of regional social and economic system in the presence of risks. For this problem we proposed in this work an economical and mathematical model of two-level hierarchical minimax program control the final state of regional social and economic system in the presence of risks and the general scheme for its solving.

  12. Locus of Control and Career Interest of Sophomore Accountancy Students: Basis for Employment Path

    OpenAIRE

    Jovielyn Mañibo; Elna Lopez

    2014-01-01

    This academic undertaking sought to determine the relationship between the locus of control and career interest of the respondents towards their future employment. The objectives of the study were to determine the respondents’ locus of control and career interest; to find if there is a significant relationship between the respondents’ locus of control and career interest and to develop an action plan that will gauge the students’ employment success as to their chosen field. In ...

  13. Optimal control of a Cope rearrangement by coupling the reaction path to a dissipative bath or a second active mode

    International Nuclear Information System (INIS)

    Chenel, A.; Meier, C.; Dive, G.; Desouter-Lecomte, M.

    2015-01-01

    We compare the strategy found by the optimal control theory in a complex molecular system according to the active subspace coupled to the field. The model is the isomerization during a Cope rearrangement of Thiele’s ester that is the most stable dimer obtained by the dimerization of methyl-cyclopentadienenylcarboxylate. The crudest partitioning consists in retaining in the active space only the reaction coordinate, coupled to a dissipative bath of harmonic oscillators which are not coupled to the field. The control then fights against dissipation by accelerating the passage across the transition region which is very wide and flat in a Cope reaction. This mechanism has been observed in our previous simulations [Chenel et al., J. Phys. Chem. A 116, 11273 (2012)]. We compare here, the response of the control field when the reaction path is coupled to a second active mode. Constraints on the integrated intensity and on the maximum amplitude of the fields are imposed limiting the control landscape. Then, optimum field from one-dimensional simulation cannot provide a very high yield. Better guess fields based on the two-dimensional model allow the control to exploit different mechanisms providing a high control yield. By coupling the reaction surface to a bath, we confirm the link between the robustness of the field against dissipation and the time spent in the delocalized states above the transition barrier

  14. The role of LIFG-based executive control in recovery from garden-paths during sentence comprehension

    Directory of Open Access Journals (Sweden)

    Loan C. Vuong

    2014-04-01

    Control: While the man/ coached,/ the woman/ attended/ the party by herself. The three patients, and a group of eight healthy controls, were tested on two self-paced sentence processing tasks, using sentence regions as above, involving meaning interpretation (Experiment 1 and grammaticality judgments (Experiment 2. Results In contrast to healthy controls and the non-LIFG patient, one of the LIFG patients showed a deficit in meaning interpretation that was worse with biased verbs, across garden-path as well as syntactically unambiguous sentences (mean verb bias effect = 32.5%, which was 7 standard deviations above the control mean of -3%, SD = 4.6. She showed spared performance on grammaticality judgments. The other LIFG patient presented with a more severe executive control deficit, and showed spared performance only for grammaticality judgments in the easiest condition, namely the condition involving syntactically unambiguous sentences with neutral verbs (but not in the remaining conditions, including the corresponding condition with biased verbs. Conclusion The results add to prior studies in arguing for a role of executive control across diverse sentence processing situations, including overcoming verb bias preferences.

  15. Analyzing the non-smooth dynamics induced by a split-path nonlinear integral controller

    NARCIS (Netherlands)

    Hunnekens, B.G.B.; van Loon, S.J.L.M.; van de Wouw, N.; Heemels, W.P.M.H.; Nijmeijer, H.; Ecker, Horst; Steindl, Alois; Jakubek, Stefan

    2014-01-01

    In this paper, we introduce a novel non-smooth integral controller, which aims at achieving a better transient response in terms of overshoot of a feedback controlled dynamical system. The resulting closed-loop system can be represented as a non-smooth system with different continuous dynamics being

  16. Under actuated air path control of diesel engines for low emissions and high efficiency

    NARCIS (Netherlands)

    Criens, C.; Willems, F.P.T.; Steinbuch, M.

    2013-01-01

    This paper presents a new method for feedback control using the Exhaust Gas Recirculation (EGR) valve and Variable Geometry Turbine (VGT) of a diesel engine. The controller effectively counteracts disturbances in NOx and PM emissions while maintaining the fuel efficiency. It is shown that by using a

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

    International Nuclear Information System (INIS)

    Micaelli, A.

    1992-01-01

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

  18. The LHC experiment control system: on the path to full automation

    International Nuclear Information System (INIS)

    Gaspar, C.; Alessio, F.; Cardoso, L.; Frank, M.; Garnier, J.C.; Herwijnen, E.V.; Jacobsson, R.; Jost, B.; Neufeld, N.; Schwemmer, R.; Callot, O.; Franek, B.

    2012-01-01

    LHCb is a large experiment at the LHC accelerator. The experiment control system is in charge of the configuration, control and monitoring of the different sub-detectors and of all areas of the online system. The building blocks of the control system are based on the PVSS SCADA System complemented by a control Framework developed in common for the 4 LHC experiments. This framework includes an 'expert system' like tool called SMI++ which is used for the system automation. The experiment's operations are now almost completely automated, driven by a top-level object called Big-Brother, which pilots all the experiment's standard procedures and the most common error-recovery procedures. The architecture, tools and mechanisms used for the implementation as well as some operational examples will be described. (authors)

  19. The Motion Path Study of Measuring Robot Based on Variable Universe Fuzzy Control

    Directory of Open Access Journals (Sweden)

    Ma Guoqing

    2017-01-01

    Full Text Available For the problem of measuring robot requires a higher positioning, firstly learning about the error overview of the system, analysised the influence of attitude, speed and other factors on systematic errors. Then collected and analyzed the systematic error curve in the track to complete the planning process. The last adding fuzzy control in both cases, by comparing with the original system, can found that the method based on fuzzy control system can significantly reduce the error during the motion.

  20. Combined Effect of Random Transmit Power Control and Inter-Path Interference Cancellation on DS-CDMA Packet Mobile Communications

    Science.gov (United States)

    Kudoh, Eisuke; Ito, Haruki; Wang, Zhisen; Adachi, Fumiyuki

    In mobile communication systems, high speed packet data services are demanded. In the high speed data transmission, throughput degrades severely due to severe inter-path interference (IPI). Recently, we proposed a random transmit power control (TPC) to increase the uplink throughput of DS-CDMA packet mobile communications. In this paper, we apply IPI cancellation in addition to the random TPC. We derive the numerical expression of the received signal-to-interference plus noise power ratio (SINR) and introduce IPI cancellation factor. We also derive the numerical expression of system throughput when IPI is cancelled ideally to compare with the Monte Carlo numerically evaluated system throughput. Then we evaluate, by Monte-Carlo numerical computation method, the combined effect of random TPC and IPI cancellation on the uplink throughput of DS-CDMA packet mobile communications.

  1. The effects of bilingualism on conflict monitoring, cognitive control, and garden-path recovery.

    Science.gov (United States)

    Teubner-Rhodes, Susan E; Mishler, Alan; Corbett, Ryan; Andreu, Llorenç; Sanz-Torrent, Monica; Trueswell, John C; Novick, Jared M

    2016-05-01

    Bilinguals demonstrate benefits on non-linguistic tasks requiring cognitive control-the regulation of mental activity to resolve information-conflict during processing. This "bilingual advantage" has been attributed to the consistent management of two languages, yet it remains unknown if these benefits extend to sentence processing. In monolinguals, cognitive control helps detect and revise misinterpretations of sentence meaning. Here, we test if the bilingual advantage extends to parsing and interpretation by comparing bilinguals' and monolinguals' syntactic ambiguity resolution before and after practicing N-back, a non-syntactic cognitive-control task. Bilinguals outperformed monolinguals on a high-conflict but not a no-conflict version of N-back and on sentence comprehension, indicating that the advantage extends to language interpretation. Gains on N-back conflict trials also predicted comprehension improvements for ambiguous sentences, suggesting that the bilingual advantage emerges across tasks tapping shared cognitive-control procedures. Because the overall task benefits were observed for conflict and non-conflict trials, bilinguals' advantage may reflect increased cognitive flexibility. Copyright © 2016 Elsevier B.V. All rights reserved.

  2. Optimal Path Planning and Control of Quadrotor Unmanned Aerial Vehicle for Area Coverage

    Science.gov (United States)

    Fan, Jiankun

    An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot on board. Its flight is controlled either autonomously by computers onboard the vehicle, or remotely by a pilot on the ground, or by another vehicle. In recent years, UAVs have been used more commonly than prior years. The example includes areo-camera where a high speed camera was attached to a UAV which can be used as an airborne camera to obtain aerial video. It also could be used for detecting events on ground for tasks such as surveillance and monitoring which is a common task during wars. Similarly UAVs can be used for relaying communication signal during scenarios when regular communication infrastructure is destroyed. The objective of this thesis is motivated from such civilian operations such as search and rescue or wildfire detection and monitoring. One scenario is that of search and rescue where UAV's objective is to geo-locate a person in a given area. The task is carried out with the help of a camera whose live feed is provided to search and rescue personnel. For this objective, the UAV needs to carry out scanning of the entire area in the shortest time. The aim of this thesis to develop algorithms to enable a UAV to scan an area in optimal time, a problem referred to as "Coverage Control" in literature. The thesis focuses on a special kind of UAVs called "quadrotor" that is propelled with the help of four rotors. The overall objective of this thesis is achieved via solving two problems. The first problem is to develop a dynamic control model of quadrtor. In this thesis, a proportional-integral-derivative controller (PID) based feedback control system is developed and implemented on MATLAB's Simulink. The PID controller helps track any given trajectory. The second problem is to design a trajectory that will fulfill the mission. The planed trajectory should make sure the quadrotor will scan the whole area without missing any part to make sure that the quadrotor will find the lost

  3. Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States

    Science.gov (United States)

    2017-04-15

    Performing Organization: The Pennsylvania State University Department of Aerospace Engineering 231C Hammond Building University Park , PA 16802 Attn...Research Assistant Penn State University Co-PI: Chengjian He (408) 523-5100 he@flightlab.com Dooyong Lee Advanced Rotorcraft Technologies...Linear Systems Optimal and Robust Control,” CRC press , 2007 6. Transitions/Impact Submitted AHS Forum Paper and presented paper at AHS UAV

  4. Intelligent alternator control system - a path to efficient dynamics; Intelligente Generatorregelung - Ein Weg zur effizienten Dynamik

    Energy Technology Data Exchange (ETDEWEB)

    Liebl, J.; Frickenstein, E.; Wier, M.; Hafkemeyer, M.; El-Dwaik, F.; Hockgeier, E. [BMW AG, Muenchen (Germany)

    2006-11-15

    In automotive engineering, it would seem - at first glance at least - difficult to simultaneously achieve both efficiency and dynamics in the sense of improved driving performance and fuel economy. The BMW Group has set itself the following goal: to drive innovation in automotive and powertrain engineering for the benefit of its customers. An example is the specific control of the alternator in such a way as to improve driving dynamics and fuel economy. (orig.)

  5. HIGH EFFICIENCY STRUCTURAL FLOWTHROUGH ROTOR WITH ACTIVE FLAP CONTROL: VOLUME ZERO: OVERVIEW AND COMMERCIAL PATH

    Energy Technology Data Exchange (ETDEWEB)

    Zuteck, Michael D. [Zimitar, Inc.; Jackson, Kevin L. [Zimitar, Inc.; Santos, Richard A. [Zimitar, Inc.

    2015-05-16

    The Zimitar one-piece rotor primary structure is integrated, so balanced thrust and gravity loads flow through the hub region without transferring out of its composite material. Large inner rotor geometry is used since there is no need to neck down to a blade root region and pitch bearing. Rotor control is provided by a highly redundant, five flap system on each blade, sized so that easily handled standard electric linear actuators are sufficient.

  6. Bacterial Community Succession During in situ Uranium Bioremediation: Spatial Similarities Along Controlled Flow Paths

    International Nuclear Information System (INIS)

    Hwang, Chiachi; Wu, Weimin; Gentry, Terry J.; Carley, Jack; Corbin, Gail A.; Carroll, Sue L.; Watson, David B.; Jardine, Phil M.; Zhou, Jizhong; Criddle, Craig S.; Fields, Matthew W.

    2009-01-01

    Bacterial community succession was investigated in a field-scale subsurface reactor formed by a series of wells that received weekly ethanol additions to re-circulating groundwater. Ethanol additions stimulated denitrification, metal reduction, sulfate reduction, and U(VI) reduction to sparingly soluble U(IV). Clone libraries of SSU rRNA gene sequences from groundwater samples enabled tracking of spatial and temporal changes over a 1.5 y period. Analyses showed that the communities changed in a manner consistent with geochemical variations that occurred along temporal and spatial scales. Canonical correspondence analysis revealed that the levels of nitrate, uranium, sulfide, sulfate, and ethanol strongly correlated with particular bacterial populations. As sulfate and U(VI) levels declined, sequences representative of sulfate-reducers and metal-reducers were detected at high levels. Ultimately, sequences associated with sulfate-reducing populations predominated, and sulfate levels declined as U(VI) remained at low levels. When engineering controls were compared to the population variation via canonical ordination, changes could be related to dissolved oxygen control and ethanol addition. The data also indicated that the indigenous populations responded differently to stimulation for bio-reduction; however, the two bio-stimulated communities became more similar after different transitions in an idiosyncratic manner. The strong associations between particular environmental variables and certain populations provide insight into the establishment of practical and successful remediation strategies in radionuclide-contaminated environments with respect to engineering controls and microbial ecology.

  7. Bacterial Community Succession During in situ Uranium Bioremediation: Spatial Similarities Along Controlled Flow Paths

    Energy Technology Data Exchange (ETDEWEB)

    Hwang, Chiachi; Wu, Weimin; Gentry, Terry J.; Carley, Jack; Corbin, Gail A.; Carroll, Sue L.; Watson, David B.; Jardine, Phil M.; Zhou, Jizhong; Criddle, Craig S.; Fields, Matthew W.

    2009-05-22

    Bacterial community succession was investigated in a field-scale subsurface reactor formed by a series of wells that received weekly ethanol additions to re-circulating groundwater. Ethanol additions stimulated denitrification, metal reduction, sulfate reduction, and U(VI) reduction to sparingly soluble U(IV). Clone libraries of SSU rRNA gene sequences from groundwater samples enabled tracking of spatial and temporal changes over a 1.5 y period. Analyses showed that the communities changed in a manner consistent with geochemical variations that occurred along temporal and spatial scales. Canonical correspondence analysis revealed that the levels of nitrate, uranium, sulfide, sulfate, and ethanol strongly correlated with particular bacterial populations. As sulfate and U(VI) levels declined, sequences representative of sulfate-reducers and metal-reducers were detected at high levels. Ultimately, sequences associated with sulfate-reducing populations predominated, and sulfate levels declined as U(VI) remained at low levels. When engineering controls were compared to the population variation via canonical ordination, changes could be related to dissolved oxygen control and ethanol addition. The data also indicated that the indigenous populations responded differently to stimulation for bio-reduction; however, the two bio-stimulated communities became more similar after different transitions in an idiosyncratic manner. The strong associations between particular environmental variables and certain populations provide insight into the establishment of practical and successful remediation strategies in radionuclide-contaminated environments with respect to engineering controls and microbial ecology.

  8. Intrinsic movement variability at work. How long is the path from motor control to design engineering?

    Science.gov (United States)

    Gaudez, C; Gilles, M A; Savin, J

    2016-03-01

    For several years, increasing numbers of studies have highlighted the existence of movement variability. Before that, it was neglected in movement analysis and it is still almost completely ignored in workstation design. This article reviews motor control theories and factors influencing movement execution, and indicates how intrinsic movement variability is part of task completion. These background clarifications should help ergonomists and workstation designers to gain a better understanding of these concepts, which can then be used to improve design tools. We also question which techniques--kinematics, kinetics or muscular activity--and descriptors are most appropriate for describing intrinsic movement variability and for integration into design tools. By this way, simulations generated by designers for workstation design should be closer to the real movements performed by workers. This review emphasises the complexity of identifying, describing and processing intrinsic movement variability in occupational activities. Copyright © 2015 Elsevier Ltd and The Ergonomics Society. All rights reserved.

  9. Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

    Science.gov (United States)

    Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

    2005-08-01

    An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

  10. Path Dependence

    DEFF Research Database (Denmark)

    Madsen, Mogens Ove

    Begrebet Path Dependence blev oprindelig udviklet inden for New Institutionel Economics af bl.a. David, Arthur og North. Begrebet har spredt sig vidt i samfundsvidenskaberne og undergået en udvikling. Dette paper propagerer for at der er sket så en så omfattende udvikling af begrebet, at man nu kan...... tale om 1. og 2. generation af Path Dependence begrebet. Den nyeste udvikling af begrebet har relevans for metodologi-diskusionerne i relation til Keynes...

  11. Clearing a Path Towards Effective Alien Invasive Control: the Legal Conundrum

    Directory of Open Access Journals (Sweden)

    AR Patterson

    2006-05-01

    Full Text Available Alien invasive plants pose significant ecological, social and economic challenges for South Africa. These species threaten South Africa’s rich biodiversity, deplete our scarce water resources, reduce the agricultural potential of land, cause soil erosion and intensify flooding and fires. According to recent estimations, over eight percent of land in South Africa has been invaded by these species and at current rates of expansion their impact could double in the next fifteen years. In an attempt to curb the impending crises, the South African government has promulgated eleven national and various provincial laws which contain mechanisms for regulating the different threats posed by alien invasive plants. Certain of these laws are framework in nature while the majority are sectoral and aimed at regulating these species for one of the following four main purposes: biodiversity conservation; water conservation; agricultural management; and fire risk management. The responsibility for administering these laws spans four national departments, nine provincial environmental authorities, provincial conservation authorities, numerous local and statutory authorities. This fragmented regime, coupled with the adoption of a command and control approach to regulation, has proven inept in effectively regulating the spread of alien invasive plants in South Africa. This reality led the previous Minister of Environmental Affairs and Tourism, Mr Valli Moosa, to call for the development of a “coherent legislative framework … streamlined along the lines of the principles endorsed by the Convention on Biological Diversity”. This article critically analyses the government’s attempts to develop such a “coherent legislative framework” to regulate alien invasive plants in light of recent legislative reform. It is divided into two parts. Part one critically considers South Africa’s current laws of relevance to alien invasive plants with specific emphasis on

  12. Bidirectional quantum teleportation of unknown photons using path-polarization intra-particle hybrid entanglement and controlled-unitary gates via cross-Kerr nonlinearity

    Science.gov (United States)

    Heo, Jino; Hong, Chang-Ho; Lim, Jong-In; Yang, Hyung-Jin

    2015-05-01

    We propose an arbitrary controlled-unitary (CU) gate and a bidirectional quantum teleportation (BQTP) scheme. The proposed CU gate utilizes photonic qubits (photons) with cross-Kerr nonlinearities (XKNLs), X-homodyne detectors, and linear optical elements, and consists of the consecutive operation of a controlled-path (C-path) gate and a gathering-path (G-path) gate. It is almost deterministic and feasible with current technology when a strong coherent state and weak XKNLs are employed. Based on the CU gate, we present a BQTP scheme that simultaneously teleports two unknown photons between distant users by transmitting only one photon in a path-polarization intra-particle hybrid entangled state. Consequently, it is possible to experimentally implement BQTP with a certain success probability using the proposed CU gate. Project supported by the Ministry of Science, ICT&Future Planning, Korea, under the C-ITRC (Convergence Information Technology Research Center) Support program (NIPA-2013-H0301-13-3007) supervised by the National IT Industry Promotion Agency.

  13. Path Planning for Unmanned Underwater Vehicle in 3D Space with Obstacles Using Spline-Imperialist Competitive Algorithm and Optimal Interval Type-2 Fuzzy Logic Controller

    Directory of Open Access Journals (Sweden)

    Ehsan Zakeri

    Full Text Available Abstract In this research, generation of a short and smooth path in three-dimensional space with obstacles for guiding an Unmanned Underwater Vehicle (UUV without collision is investigated. This is done by utilizing spline technique, in which the spline control points positions are determined by Imperialist Competitive Algorithm (ICA in three-dimensional space such that the shortest possible path from the starting point to the target point without colliding with obstacles is achieved. Furthermore, for guiding the UUV in the generated path, an Interval Type-2 Fuzzy Logic Controller (IT2FLC, the coefficients of which are optimized by considering an objective function that includes quadratic terms of the input forces and state error of the system, is used. Selecting such objective function reduces the control error and also the force applied to the UUV, which consequently leads to reduction of energy consumption. Therefore, by using a special method, desired signals of UUV state are obtained from generated three-dimensional optimal path such that tracking these signals by the controller leads to the tracking of this path by UUV. In this paper, the dynamical model of the UUV, entitled as "mUUV-WJ-1" , is derived and its hydrodynamic coefficients are calculated by CFD in order to be used in the simulations. For simulation by the method presented in this study, three environments with different obstacles are intended in order to check the performance of the IT2FLC controller in generating optimal paths for guiding the UUV. In this article, in addition to ICA, Particle Swarm Optimization (PSO and Artificial Bee Colony (ABC are also used for generation of the paths and the results are compared with each other. The results show the appropriate performance of ICA rather than ABC and PSO. Moreover, to evaluate the performance of the IT2FLC, optimal Type-1 Fuzzy Logic Controller (T1FLC and Proportional Integrator Differentiator (PID controller are designed

  14. Path Creation

    DEFF Research Database (Denmark)

    Karnøe, Peter; Garud, Raghu

    2012-01-01

    This paper employs path creation as a lens to follow the emergence of the Danish wind turbine cluster. Supplier competencies, regulations, user preferences and a market for wind power did not pre-exist; all had to emerge in a tranformative manner involving multiple actors and artefacts. Competenc......This paper employs path creation as a lens to follow the emergence of the Danish wind turbine cluster. Supplier competencies, regulations, user preferences and a market for wind power did not pre-exist; all had to emerge in a tranformative manner involving multiple actors and artefacts....... Competencies emerged through processes and mechanisms such as co-creation that implicated multiple learning processes. The process was not an orderly linear one as emergent contingencies influenced the learning processes. An implication is that public policy to catalyse clusters cannot be based...

  15. Ultrasonic Phased Array Assessment of the Interference Fit and Leak Path of the North Anna Unit 2 Control Rod Drive Mechanism Nozzle 63 with Destructive Validation

    Energy Technology Data Exchange (ETDEWEB)

    Crawford, Susan L.; Cinson, Anthony D.; MacFarlan, Paul J.; Hanson, Brady D.; Mathews, Royce

    2012-08-01

    The objective of this investigation was to evaluate the efficacy of ultrasonic testing (UT) for primary water leak path assessments of reactor pressure vessel (RPV) upper head penetrations. Operating reactors have experienced leakage when stress corrosion cracking of nickel-based alloy penetrations allowed primary water into the annulus of the interference fit between the penetration and the low-alloy steel RPV head. In this investigation, UT leak path data were acquired for an Alloy 600 control rod drive mechanism nozzle penetration, referred to as Nozzle 63, which was removed from the North Anna Unit 2 reactor when the RPV head was replaced in 2002. In-service inspection prior to the head replacement indicated that Nozzle 63 had a probable leakage path through the interference fit region. Nozzle 63 was examined using a phased-array UT probe with a 5.0-MHz, eight-element annular array. Immersion data were acquired from the nozzle inner diameter surface. The UT data were interpreted by comparing to responses measured on a mockup penetration with known features. Following acquisition of the UT data, Nozzle 63 was destructively examined to determine if the features identified in the UT examination, including leakage paths and crystalline boric acid deposits, could be visually confirmed. Additional measurements of boric acid deposit thickness and low-alloy steel wastage were made to assess how these factors affect the UT response. The implications of these findings for interpreting UT leak path data are described.

  16. PRODUCT LIFECYCLE OPTIMISATION OF CAR CLIMATE CONTROLS USING ANALYTICAL HIERARCHICAL PROCESS (AHP ANALYSIS AND A MULTI-OBJECTIVE GROUPING GENETIC ALGORITHM (MOGGA

    Directory of Open Access Journals (Sweden)

    MICHAEL J. LEE

    2016-01-01

    Full Text Available A product’s lifecycle performance (e.g. assembly, outsourcing, maintenance and recycling can often be improved through modularity. However, modularisation under different and often conflicting lifecycle objectives is a complex problem that will ultimately require trade-offs. This paper presents a novel multi-objective modularity optimisation framework; the application of which is illustrated through the modularisation of a car climate control system. Central to the framework is a specially designed multi-objective grouping genetic algorithm (MOGGA that is able to generate a whole range of alternative product modularisations. Scenario analysis, using the principles of the analytical hierarchical process (AHP, is then carried out to explore the solution set and choose a suitable modular architecture that optimises the product lifecycle according to the company’s strategic vision.

  17. Aircraft automatic-flight-control system with inversion of the model in the feed-forward path using a Newton-Raphson technique for the inversion

    Science.gov (United States)

    Smith, G. A.; Meyer, G.; Nordstrom, M.

    1986-01-01

    A new automatic flight control system concept suitable for aircraft with highly nonlinear aerodynamic and propulsion characteristics and which must operate over a wide flight envelope was investigated. This exact model follower inverts a complete nonlinear model of the aircraft as part of the feed-forward path. The inversion is accomplished by a Newton-Raphson trim of the model at each digital computer cycle time of 0.05 seconds. The combination of the inverse model and the actual aircraft in the feed-forward path alloys the translational and rotational regulators in the feedback path to be easily designed by linear methods. An explanation of the model inversion procedure is presented. An extensive set of simulation data for essentially the full flight envelope for a vertical attitude takeoff and landing aircraft (VATOL) is presented. These data demonstrate the successful, smooth, and precise control that can be achieved with this concept. The trajectory includes conventional flight from 200 to 900 ft/sec with path accelerations and decelerations, altitude changes of over 6000 ft and 2g and 3g turns. Vertical attitude maneuvering as a tail sitter along all axes is demonstrated. A transition trajectory from 200 ft/sec in conventional flight to stationary hover in the vertical attitude includes satisfactory operation through lift-cure slope reversal as attitude goes from horizontal to vertical at constant altitude. A vertical attitude takeoff from stationary hover to conventional flight is also demonstrated.

  18. Controllable hydrothermal synthesis of Ni/H-BEA with a hierarchical core-shell structure and highly enhanced biomass hydrodeoxygenation performance.

    Science.gov (United States)

    Ma, Bing; Cui, Huimei; Wang, Darui; Wu, Peng; Zhao, Chen

    2017-05-11

    Ni based catalysts are wildly used in catalytic industrial processes due to their low costs and high activities. The design of highly hierarchical core-shell structured Ni/HBEA is achieved using a sustainable, simple, and easy-tunable hydrothermal synthesis approach using combined NH 4 Cl and NH 3 ·H 2 O as a co-precipitation agent at 120 °C. Starting from a single-crystalline hierarchical H + -exchanged beta polymorph zeolite (HBEA), the adjustment of the precipitate conditions shows that mixed NH 4 Cl and NH 3 ·H 2 O precipitates with proper concentrations are vital in the hydrothermal synthesis for preserving a good crystalline morphology of HBEA and generating abundant highly-dispersed Ni nanoparticles (loading: 41 wt%, 5.9 ± 0.7 nm) encapsulated onto/into the support. NH 4 Cl solution without an alkali is unable to generate abundant Ni nanoparticles from Ni salts under the hydrothermal conditions, whereas NH 3 ·H 2 O seriously damages the pore structure. After studying the in situ changes in infrared, X-ray diffractometry, temperature-programmed reduction, and scanning electron microscopy measurements, as well as variations in the filtrate pH, Si/Al ratios, and solid sample Ni loading, a two-step dissolution-recrystallization process is proposed. The process consists of Si dissolution and no change in elemental Al, and after the dissolved Si(iv) concentrations have promoted Ni phyllosilicate nanosheet solubility, further growth of multilayered Ni phyllosilicate nanosheets commences. The precursor Ni phyllosilicate is changeable between Ni 3 Si 2 O 5 (OH) 4 and Ni 3 Si 4 O 10 (OH) 2 , because of competition in kinetically-favored and thermodynamically-controlled species caused by different basic agents. The superior catalytic performance is demonstrated in the metal/acid catalyzed biomass derived bulky stearic acid hydrodeoxygenation with 90% octadecane selectivity and a promising rate of 54 g g -1 h -1 , which highly excels the reported rates catalyzed by

  19. Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles

    Science.gov (United States)

    Cowlagi, Raghvendra V.

    Autonomous mobile robots---both aerial and terrestrial vehicles---have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical decomposition suffers a serious drawback: the geometric path planner has no information of the kinematical and dynamical constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates the geometric planner altogether by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption

  20. Phase- and shape-controlled hydrothermal synthesis of CdS nanoparticles, and oriented attachment growth of its hierarchical architectures

    Science.gov (United States)

    Cao, Yali; Hu, Pengfei; Jia, Dianzeng

    2013-01-01

    Hydrothermal strategies were successfully used to control the phases and morphologies of CdS nanocrystals. In the absence of an external direction-controlling process, the hexagonal and cubic phase well-defined leaf- and flower-like CdS nanocrystals were controlled obtained via adjusting the reaction duration or the concentration of surfactant. Oriented attachment growth modes were suggested for the formation of CdS superstructures, which was clarified through the tracing of temporal evolution of CdS nanoparticles. The CdS superstructures were structured by primary building nanoparticles, and held excellent visible emission with a peak in the green regions. This strategy is very helpful for studying the phase and morphology controlled fabrication of sulfides nanocrystals.

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

    International Nuclear Information System (INIS)

    Fang Xiaoming; Peng Lihua; Shang Xiaoying; Zhang Zhengguo

    2011-01-01

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

  2. Dome load control and crane land path evaluation for Tank 241-SY-101 during hydrogen mitigation pump removal and installation

    Energy Technology Data Exchange (ETDEWEB)

    Weis, M.P.; Lawler, D.M.

    1994-08-01

    This report revisits and consolidates two analyses previously performed for the installation of the Hydrogen Mitigation Pump (HMT) pump. The first report determines, as a function of the crane-imposed dome load, the point to which the crane can encroach into the exclusion zone without exceeding the 50-ton limit. The second performs a load evaluation for the crane and the components in the load path (crane lift accessories and pump). In doing so, it determines the weakest component in the load path and the effect of this component on the allowable encroachment distance. Furthermore, the second report sets operational limits on the allowable load decrease (unload) during installation in the event the pump sticks in the riser. The analysis presented here expands on the latter subject by setting an operational limit on the amount of allowable load increase (overload) during pump removal in the event the pump sticks in the riser.

  3. Optimal control of greenhouse gas emissions and system cost for integrated municipal solid waste management with considering a hierarchical structure.

    Science.gov (United States)

    Li, Jing; He, Li; Fan, Xing; Chen, Yizhong; Lu, Hongwei

    2017-08-01

    This study presents a synergic optimization of control for greenhouse gas (GHG) emissions and system cost in integrated municipal solid waste (MSW) management on a basis of bi-level programming. The bi-level programming is formulated by integrating minimizations of GHG emissions at the leader level and system cost at the follower level into a general MSW framework. Different from traditional single- or multi-objective approaches, the proposed bi-level programming is capable of not only addressing the tradeoffs but also dealing with the leader-follower relationship between different decision makers, who have dissimilar perspectives interests. GHG emission control is placed at the leader level could emphasize the significant environmental concern in MSW management. A bi-level decision-making process based on satisfactory degree is then suitable for solving highly nonlinear problems with computationally effectiveness. The capabilities and effectiveness of the proposed bi-level programming are illustrated by an application of a MSW management problem in Canada. Results show that the obtained optimal management strategy can bring considerable revenues, approximately from 76 to 97 million dollars. Considering control of GHG emissions, it would give priority to the development of the recycling facility throughout the whole period, especially in latter periods. In terms of capacity, the existing landfill is enough in the future 30 years without development of new landfills, while expansion to the composting and recycling facilities should be paid more attention.

  4. The IG-DMR and the MEG3-DMR at human chromosome 14q32.2: hierarchical interaction and distinct functional properties as imprinting control centers.

    Directory of Open Access Journals (Sweden)

    Masayo Kagami

    2010-06-01

    Full Text Available Human chromosome 14q32.2 harbors the germline-derived primary DLK1-MEG3 intergenic differentially methylated region (IG-DMR and the postfertilization-derived secondary MEG3-DMR, together with multiple imprinted genes. Although previous studies in cases with microdeletions and epimutations affecting both DMRs and paternal/maternal uniparental disomy 14-like phenotypes argue for a critical regulatory function of the two DMRs for the 14q32.2 imprinted region, the precise role of the individual DMR remains to be clarified. We studied an infant with upd(14pat body and placental phenotypes and a heterozygous microdeletion involving the IG-DMR alone (patient 1 and a neonate with upd(14pat body, but no placental phenotype and a heterozygous microdeletion involving the MEG3-DMR alone (patient 2. The results generated from the analysis of these two patients imply that the IG-DMR and the MEG3-DMR function as imprinting control centers in the placenta and the body, respectively, with a hierarchical interaction for the methylation pattern in the body governed by the IG-DMR. To our knowledge, this is the first study demonstrating an essential long-range imprinting regulatory function for the secondary DMR.

  5. A Comprehensive Survey on Hierarchical-Based Routing Protocols for Mobile Wireless Sensor Networks: Review, Taxonomy, and Future Directions

    Directory of Open Access Journals (Sweden)

    Nabil Sabor

    2017-01-01

    Full Text Available Introducing mobility to Wireless Sensor Networks (WSNs puts new challenges particularly in designing of routing protocols. Mobility can be applied to the sensor nodes and/or the sink node in the network. Many routing protocols have been developed to support the mobility of WSNs. These protocols are divided depending on the routing structure into hierarchical-based, flat-based, and location-based routing protocols. However, the hierarchical-based routing protocols outperform the other routing types in saving energy, scalability, and extending lifetime of Mobile WSNs (MWSNs. Selecting an appropriate hierarchical routing protocol for specific applications is an important and difficult task. Therefore, this paper focuses on reviewing some of the recently hierarchical-based routing protocols that are developed in the last five years for MWSNs. This survey divides the hierarchical-based routing protocols into two broad groups, namely, classical-based and optimized-based routing protocols. Also, we present a detailed classification of the reviewed protocols according to the routing approach, control manner, mobile element, mobility pattern, network architecture, clustering attributes, protocol operation, path establishment, communication paradigm, energy model, protocol objectives, and applications. Moreover, a comparison between the reviewed protocols is investigated in this survey depending on delay, network size, energy-efficiency, and scalability while mentioning the advantages and drawbacks of each protocol. Finally, we summarize and conclude the paper with future directions.

  6. Catalysis with hierarchical zeolites

    DEFF Research Database (Denmark)

    Holm, Martin Spangsberg; Taarning, Esben; Egeblad, Kresten

    2011-01-01

    Hierarchical (or mesoporous) zeolites have attracted significant attention during the first decade of the 21st century, and so far this interest continues to increase. There have already been several reviews giving detailed accounts of the developments emphasizing different aspects of this research...... topic. Until now, the main reason for developing hierarchical zeolites has been to achieve heterogeneous catalysts with improved performance but this particular facet has not yet been reviewed in detail. Thus, the present paper summaries and categorizes the catalytic studies utilizing hierarchical...... zeolites that have been reported hitherto. Prototypical examples from some of the different categories of catalytic reactions that have been studied using hierarchical zeolite catalysts are highlighted. This clearly illustrates the different ways that improved performance can be achieved with this family...

  7. Hierarchical Network Design

    DEFF Research Database (Denmark)

    Thomadsen, Tommy

    2005-01-01

    Communication networks are immensely important today, since both companies and individuals use numerous services that rely on them. This thesis considers the design of hierarchical (communication) networks. Hierarchical networks consist of layers of networks and are well-suited for coping...... with changing and increasing demands. Two-layer networks consist of one backbone network, which interconnects cluster networks. The clusters consist of nodes and links, which connect the nodes. One node in each cluster is a hub node, and the backbone interconnects the hub nodes of each cluster and thus...... the clusters. The design of hierarchical networks involves clustering of nodes, hub selection, and network design, i.e. selection of links and routing of ows. Hierarchical networks have been in use for decades, but integrated design of these networks has only been considered for very special types of networks...

  8. Programming with Hierarchical Maps

    DEFF Research Database (Denmark)

    Ørbæk, Peter

    This report desribes the hierarchical maps used as a central data structure in the Corundum framework. We describe its most prominent features, ague for its usefulness and briefly describe some of the software prototypes implemented using the technology....

  9. Introduction into Hierarchical Matrices

    KAUST Repository

    Litvinenko, Alexander

    2013-12-05

    Hierarchical matrices allow us to reduce computational storage and cost from cubic to almost linear. This technique can be applied for solving PDEs, integral equations, matrix equations and approximation of large covariance and precision matrices.

  10. Introduction into Hierarchical Matrices

    KAUST Repository

    Litvinenko, Alexander

    2013-01-01

    Hierarchical matrices allow us to reduce computational storage and cost from cubic to almost linear. This technique can be applied for solving PDEs, integral equations, matrix equations and approximation of large covariance and precision matrices.

  11. Hierarchical matrices algorithms and analysis

    CERN Document Server

    Hackbusch, Wolfgang

    2015-01-01

    This self-contained monograph presents matrix algorithms and their analysis. The new technique enables not only the solution of linear systems but also the approximation of matrix functions, e.g., the matrix exponential. Other applications include the solution of matrix equations, e.g., the Lyapunov or Riccati equation. The required mathematical background can be found in the appendix. The numerical treatment of fully populated large-scale matrices is usually rather costly. However, the technique of hierarchical matrices makes it possible to store matrices and to perform matrix operations approximately with almost linear cost and a controllable degree of approximation error. For important classes of matrices, the computational cost increases only logarithmically with the approximation error. The operations provided include the matrix inversion and LU decomposition. Since large-scale linear algebra problems are standard in scientific computing, the subject of hierarchical matrices is of interest to scientists ...

  12. Use of controlled dynamic impacts on hierarchically structured seismically hazardous faults for seismically safe relaxation of shear stresses

    Science.gov (United States)

    Ruzhich, Valery V.; Psakhie, Sergey G.; Levina, Elena A.; Shilko, Evgeny V.; Grigoriev, Alexandr S.

    2017-12-01

    In the paper we briefly outline the experience in forecasting catastrophic earthquakes and the general problems in ensuring seismic safety. The purpose of our long-term research is the development and improvement of the methods of man-caused impacts on large-scale fault segments to safely reduce the negative effect of seismodynamic failure. Various laboratory and large-scale field experiments were carried out in the segments of tectonic faults in Baikal rift zone and in main cracks in block-structured ice cove of Lake Baikal using the developed measuring systems and special software for identification and treatment of deformation response of faulty segments to man-caused impacts. The results of the study let us to ground the necessity of development of servo-controlled technologies, which are able to provide changing the shear resistance and deformation regime of fault zone segments by applying vibrational and pulse triggering impacts. We suppose that the use of triggering impacts in highly stressed segments of active faults will promote transferring the geodynamic state of these segments from a metastable to a more stable and safe state.

  13. Lambdastation: a forwarding and admission control service to interface production network facilities with advanced research network paths

    Energy Technology Data Exchange (ETDEWEB)

    DeMar, Philip; Petravick, Don; /Fermilab

    2004-12-01

    Over the past several years, there has been a great deal of research effort and funding put into the deployment of optical-based, advanced technology wide-area networks. Fermilab and CalTech have initiated a project to enable our production network facilities to exploit these advanced research network facilities. Our objective is to forward designated data transfers across these advanced wide area networks on a per-flow basis, making use our capacious production-use storage systems connected to the local campus network. To accomplish this, we intend to develop a dynamically provisioned forwarding service that would provide alternate path forwarding onto available wide area advanced research networks. The service would dynamically reconfigure forwarding of specific flows within our local production-use network facilities, as well as provide an interface to enable applications to utilize the service. We call this service LambdaStation. If one envisions wide area optical network paths as high bandwidth data railways, then LambdaStation would functionally be the railroad terminal that regulates which flows at the local site get directed onto the high bandwidth data railways. LambdaStation is a DOE-funded SciDac research project in its very early stage of development.

  14. Boost Pressure Control Strategy to Account for Transient Behavior and Pumping Losses in a Two-Stage Turbocharged Air Path Concept

    Directory of Open Access Journals (Sweden)

    Thivaharan Albin

    2016-07-01

    Full Text Available Increasingly complex air path concepts are investigated to achieve a substantial reduction in fuel consumption while improving the vehicle dynamics. One promising technology is the two-stage turbocharging for gasoline engines, where a high pressure and a low pressure turbocharger are placed in series. For exploiting the high potential, a control concept has to be developed that allows for coordinated management of the two turbocharger stages. In this paper, the control strategy is investigated. Therefore, the effect of the actuated values on transient response and pumping losses is analyzed. Based on these findings, an optimization-based control algorithm is developed that allows taking both requirements into account. The developed new controller allows achieving a fast transient response, while at the same time reducing pumping losses in stationary operation.

  15. Hierarchically scaffolded CoP/CoP2 nanoparticles: controllable synthesis and their application as a well-matched bifunctional electrocatalyst for overall water splitting.

    Science.gov (United States)

    Li, Wan; Zhang, Shilin; Fan, Qining; Zhang, Fazhi; Xu, Sailong

    2017-05-04

    Transition metal phosphide (TMP) nanostructures have stimulated increasing interest for use in water splitting owing to their abundant natural sources and high activity for the hydrogen evolution reaction (HER) and oxygen evolution reaction (OER). Typically, the preparation of hierarchical TMPs involves the utilization of expensive or dangerous phosphorus sources, and, in particular, the understanding of topotactic transformations of the precursors to crystalline phases-which could be utilized to enhance electrocatalytic performance-remains very limited. We, herein, report a controllable preparation of CoP/CoP 2 nanoparticles well dispersed in flower-like Al 2 O 3 scaffolds (f-CoP/CoP 2 /Al 2 O 3 ) as a bifunctional electrocatalyst for the HER and OER via the phosphorization of a flower-like CoAl layered double hydroxide precursor. Characterization by in situ X-ray diffraction (XRD) monitored the topotactic transformation underlying the controllable formation of CoP/CoP 2 via tuning the phosphorization time. Electrocatalytic tests showed that an f-CoP/CoP 2 /Al 2 O 3 electrode exhibited a lower onset potential and higher electrocatalytic activity for the HER and OER in the same alkaline electrolyte than electrodes of flower-like and powdered CoP/Al 2 O 3 . The enhanced electrochemical performance was experimentally supported by measuring the electrochemically active surface area. The f-CoP/CoP 2 /Al 2 O 3 composite further generated a current density of 10 mA cm -2 at 1.65 V when used as a bifunctional catalyst for overall water splitting. Our results demonstrate that the preparation route based on the LDH precursor may provide an alternative for investigating diverse TMPs as bifunctional electrocatalysts for water splitting.

  16. Hierarchical Nanoceramics for Industrial Process Sensors

    Energy Technology Data Exchange (ETDEWEB)

    Ruud, James, A.; Brosnan, Kristen, H.; Striker, Todd; Ramaswamy, Vidya; Aceto, Steven, C.; Gao, Yan; Willson, Patrick, D.; Manoharan, Mohan; Armstrong, Eric, N., Wachsman, Eric, D.; Kao, Chi-Chang

    2011-07-15

    This project developed a robust, tunable, hierarchical nanoceramics materials platform for industrial process sensors in harsh-environments. Control of material structure at multiple length scales from nano to macro increased the sensing response of the materials to combustion gases. These materials operated at relatively high temperatures, enabling detection close to the source of combustion. It is anticipated that these materials can form the basis for a new class of sensors enabling widespread use of efficient combustion processes with closed loop feedback control in the energy-intensive industries. The first phase of the project focused on materials selection and process development, leading to hierarchical nanoceramics that were evaluated for sensing performance. The second phase focused on optimizing the materials processes and microstructures, followed by validation of performance of a prototype sensor in a laboratory combustion environment. The objectives of this project were achieved by: (1) synthesizing and optimizing hierarchical nanostructures; (2) synthesizing and optimizing sensing nanomaterials; (3) integrating sensing functionality into hierarchical nanostructures; (4) demonstrating material performance in a sensing element; and (5) validating material performance in a simulated service environment. The project developed hierarchical nanoceramic electrodes for mixed potential zirconia gas sensors with increased surface area and demonstrated tailored electrocatalytic activity operable at high temperatures enabling detection of products of combustion such as NOx close to the source of combustion. Methods were developed for synthesis of hierarchical nanostructures with high, stable surface area, integrated catalytic functionality within the structures for gas sensing, and demonstrated materials performance in harsh lab and combustion gas environments.

  17. Path Creation, Path Dependence and Breaking Away from the Path

    OpenAIRE

    Wang, Jens; Hedman, Jonas; Tuunainen, Virpi Kristiina

    2016-01-01

    The explanation of how and why firms succeed or fail is a recurrent research challenge. This is particularly important in the context of technological innovations. We focus on the role of historical events and decisions in explaining such success and failure. Using a case study of Nokia, we develop and extend a multi-layer path dependence framework. We identify four layers of path dependence: technical, strategic and leadership, organizational, and external collaboration. We show how path dep...

  18. Statistical Significance for Hierarchical Clustering

    Science.gov (United States)

    Kimes, Patrick K.; Liu, Yufeng; Hayes, D. Neil; Marron, J. S.

    2017-01-01

    Summary Cluster analysis has proved to be an invaluable tool for the exploratory and unsupervised analysis of high dimensional datasets. Among methods for clustering, hierarchical approaches have enjoyed substantial popularity in genomics and other fields for their ability to simultaneously uncover multiple layers of clustering structure. A critical and challenging question in cluster analysis is whether the identified clusters represent important underlying structure or are artifacts of natural sampling variation. Few approaches have been proposed for addressing this problem in the context of hierarchical clustering, for which the problem is further complicated by the natural tree structure of the partition, and the multiplicity of tests required to parse the layers of nested clusters. In this paper, we propose a Monte Carlo based approach for testing statistical significance in hierarchical clustering which addresses these issues. The approach is implemented as a sequential testing procedure guaranteeing control of the family-wise error rate. Theoretical justification is provided for our approach, and its power to detect true clustering structure is illustrated through several simulation studies and applications to two cancer gene expression datasets. PMID:28099990

  19. Noise enhances information transfer in hierarchical networks.

    Science.gov (United States)

    Czaplicka, Agnieszka; Holyst, Janusz A; Sloot, Peter M A

    2013-01-01

    We study the influence of noise on information transmission in the form of packages shipped between nodes of hierarchical networks. Numerical simulations are performed for artificial tree networks, scale-free Ravasz-Barabási networks as well for a real network formed by email addresses of former Enron employees. Two types of noise are considered. One is related to packet dynamics and is responsible for a random part of packets paths. The second one originates from random changes in initial network topology. We find that the information transfer can be enhanced by the noise. The system possesses optimal performance when both kinds of noise are tuned to specific values, this corresponds to the Stochastic Resonance phenomenon. There is a non-trivial synergy present for both noisy components. We found also that hierarchical networks built of nodes of various degrees are more efficient in information transfer than trees with a fixed branching factor.

  20. Distributed hierarchical radiation monitoring system

    International Nuclear Information System (INIS)

    Barak, D.

    1985-01-01

    A solution to the problem of monitoring the radiation levels in and around a nuclear facility is presented in this paper. This is a private case of a large scale general purpose data acqisition system with high reliability, availability and short maintenance time. The physical layout of the detectors in the plant, and the strict control demands dictated a distributed and hierarchical system. The system is comprised of three levels, each level contains modules. Level one contains the Control modules which collects data from groups of detectors and executes emergency local control tasks. In level two are the Group controllers which concentrate data from the Control modules, and enable local display and communication. The system computer is in level three, enabling the plant operator to receive information from the detectors and execute control tasks. The described system was built and is operating successfully for about two years. (author)

  1. Optimal Paths in Gliding Flight

    Science.gov (United States)

    Wolek, Artur

    Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

  2. Assessment of direct analgesic effect of duloxetine for chronic low back pain: post hoc path analysis of double-blind, placebo-controlled studies

    Directory of Open Access Journals (Sweden)

    Enomoto H

    2017-06-01

    patients were randomized to subgroups based on baseline pain scores, baseline depressive symptoms scores, and gender.Conclusion: Duloxetine significantly improved pain in patients with CLBP. Path analyses results suggest that duloxetine produced analgesia mainly through mechanisms directly impacting pain modulation rather than lifting depressive symptoms. This effect was consistent across all subgroups tested. Keywords: duloxetine, direct analgesic effect, chronic low back pain, post hoc path analysis, double-blind, placebo-controlled studies

  3. Parallel hierarchical radiosity rendering

    Energy Technology Data Exchange (ETDEWEB)

    Carter, Michael [Iowa State Univ., Ames, IA (United States)

    1993-07-01

    In this dissertation, the step-by-step development of a scalable parallel hierarchical radiosity renderer is documented. First, a new look is taken at the traditional radiosity equation, and a new form is presented in which the matrix of linear system coefficients is transformed into a symmetric matrix, thereby simplifying the problem and enabling a new solution technique to be applied. Next, the state-of-the-art hierarchical radiosity methods are examined for their suitability to parallel implementation, and scalability. Significant enhancements are also discovered which both improve their theoretical foundations and improve the images they generate. The resultant hierarchical radiosity algorithm is then examined for sources of parallelism, and for an architectural mapping. Several architectural mappings are discussed. A few key algorithmic changes are suggested during the process of making the algorithm parallel. Next, the performance, efficiency, and scalability of the algorithm are analyzed. The dissertation closes with a discussion of several ideas which have the potential to further enhance the hierarchical radiosity method, or provide an entirely new forum for the application of hierarchical methods.

  4. Kinetically Controlled Synthesis of Pt-Based One-Dimensional Hierarchically Porous Nanostructures with Large Mesopores as Highly Efficient ORR Catalysts

    Energy Technology Data Exchange (ETDEWEB)

    Fu, Shaofang; Zhu, Chengzhou; Song, Junhua; Engelhard, Mark H.; Xia, Haibing; Du, Dan; Lin, Yuehe

    2016-12-28

    Rational design and construction of Pt-based porous nanostructures with large mesopores have triggered significant considerations because of their high surface area and more efficient mass transport. Hydrochloric acid-induced kinetic reduction of metal precursors in the presence of soft template F-127 and hard template tellurium nanowires has been successfully demonstrated to construct one-dimensional hierarchical porous PtCu alloy nanostructures with large mesopores. Moreover, the electrochemical experiments demonstrated that the resultant PtCu hierarchically porous nanostructures with optimized composition exhibit enhanced electrocatalytic performance for oxygen reduction reaction.

  5. Analysis hierarchical model for discrete event systems

    Science.gov (United States)

    Ciortea, E. M.

    2015-11-01

    The This paper presents the hierarchical model based on discrete event network for robotic systems. Based on the hierarchical approach, Petri network is analysed as a network of the highest conceptual level and the lowest level of local control. For modelling and control of complex robotic systems using extended Petri nets. Such a system is structured, controlled and analysed in this paper by using Visual Object Net ++ package that is relatively simple and easy to use, and the results are shown as representations easy to interpret. The hierarchical structure of the robotic system is implemented on computers analysed using specialized programs. Implementation of hierarchical model discrete event systems, as a real-time operating system on a computer network connected via a serial bus is possible, where each computer is dedicated to local and Petri model of a subsystem global robotic system. Since Petri models are simplified to apply general computers, analysis, modelling, complex manufacturing systems control can be achieved using Petri nets. Discrete event systems is a pragmatic tool for modelling industrial systems. For system modelling using Petri nets because we have our system where discrete event. To highlight the auxiliary time Petri model using transport stream divided into hierarchical levels and sections are analysed successively. Proposed robotic system simulation using timed Petri, offers the opportunity to view the robotic time. Application of goods or robotic and transmission times obtained by measuring spot is obtained graphics showing the average time for transport activity, using the parameters sets of finished products. individually.

  6. Neutrosophic Hierarchical Clustering Algoritms

    Directory of Open Access Journals (Sweden)

    Rıdvan Şahin

    2014-03-01

    Full Text Available Interval neutrosophic set (INS is a generalization of interval valued intuitionistic fuzzy set (IVIFS, whose the membership and non-membership values of elements consist of fuzzy range, while single valued neutrosophic set (SVNS is regarded as extension of intuitionistic fuzzy set (IFS. In this paper, we extend the hierarchical clustering techniques proposed for IFSs and IVIFSs to SVNSs and INSs respectively. Based on the traditional hierarchical clustering procedure, the single valued neutrosophic aggregation operator, and the basic distance measures between SVNSs, we define a single valued neutrosophic hierarchical clustering algorithm for clustering SVNSs. Then we extend the algorithm to classify an interval neutrosophic data. Finally, we present some numerical examples in order to show the effectiveness and availability of the developed clustering algorithms.

  7. The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)

  8. Robust Pseudo-Hierarchical Support Vector Clustering

    DEFF Research Database (Denmark)

    Hansen, Michael Sass; Sjöstrand, Karl; Olafsdóttir, Hildur

    2007-01-01

    Support vector clustering (SVC) has proven an efficient algorithm for clustering of noisy and high-dimensional data sets, with applications within many fields of research. An inherent problem, however, has been setting the parameters of the SVC algorithm. Using the recent emergence of a method...... for calculating the entire regularization path of the support vector domain description, we propose a fast method for robust pseudo-hierarchical support vector clustering (HSVC). The method is demonstrated to work well on generated data, as well as for detecting ischemic segments from multidimensional myocardial...

  9. Cooperative path planning of unmanned aerial vehicles

    CERN Document Server

    Tsourdos, Antonios; Shanmugavel, Madhavan

    2010-01-01

    An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in...

  10. Feynman's path integrals and Bohm's particle paths

    International Nuclear Information System (INIS)

    Tumulka, Roderich

    2005-01-01

    Both Bohmian mechanics, a version of quantum mechanics with trajectories, and Feynman's path integral formalism have something to do with particle paths in space and time. The question thus arises how the two ideas relate to each other. In short, the answer is, path integrals provide a re-formulation of Schroedinger's equation, which is half of the defining equations of Bohmian mechanics. I try to give a clear and concise description of the various aspects of the situation. (letters and comments)

  11. Path coupling and aggregate path coupling

    CERN Document Server

    Kovchegov, Yevgeniy

    2018-01-01

    This book describes and characterizes an extension to the classical path coupling method applied to statistical mechanical models, referred to as aggregate path coupling. In conjunction with large deviations estimates, the aggregate path coupling method is used to prove rapid mixing of Glauber dynamics for a large class of statistical mechanical models, including models that exhibit discontinuous phase transitions which have traditionally been more difficult to analyze rigorously. The book shows how the parameter regions for rapid mixing for several classes of statistical mechanical models are derived using the aggregate path coupling method.

  12. Hierarchical wave functions revisited

    International Nuclear Information System (INIS)

    Li Dingping.

    1997-11-01

    We study the hierarchical wave functions on a sphere and on a torus. We simplify some wave functions on a sphere or a torus using the analytic properties of wave functions. The open question, the construction of the wave function for quasi electron excitation on a torus, is also solved in this paper. (author)

  13. Hierarchical Porous Structures

    Energy Technology Data Exchange (ETDEWEB)

    Grote, Christopher John [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2016-06-07

    Materials Design is often at the forefront of technological innovation. While there has always been a push to generate increasingly low density materials, such as aero or hydrogels, more recently the idea of bicontinuous structures has gone more into play. This review will cover some of the methods and applications for generating both porous, and hierarchically porous structures.

  14. The Hierarchical Perspective

    Directory of Open Access Journals (Sweden)

    Daniel Sofron

    2015-05-01

    Full Text Available This paper is focused on the hierarchical perspective, one of the methods for representing space that was used before the discovery of the Renaissance linear perspective. The hierarchical perspective has a more or less pronounced scientific character and its study offers us a clear image of the way the representatives of the cultures that developed it used to perceive the sensitive reality. This type of perspective is an original method of representing three-dimensional space on a flat surface, which characterises the art of Ancient Egypt and much of the art of the Middle Ages, being identified in the Eastern European Byzantine art, as well as in the Western European Pre-Romanesque and Romanesque art. At the same time, the hierarchical perspective is also present in naive painting and infantile drawing. Reminiscences of this method can be recognised also in the works of some precursors of the Italian Renaissance. The hierarchical perspective can be viewed as a subjective ranking criterion, according to which the elements are visually represented by taking into account their relevance within the image while perception is ignored. This paper aims to show how the main objective of the artists of those times was not to faithfully represent the objective reality, but rather to emphasize the essence of the world and its perennial aspects. This may represent a possible explanation for the refusal of perspective in the Egyptian, Romanesque and Byzantine painting, characterised by a marked two-dimensionality.

  15. Hierarchically nested river landform sequences

    Science.gov (United States)

    Pasternack, G. B.; Weber, M. D.; Brown, R. A.; Baig, D.

    2017-12-01

    River corridors exhibit landforms nested within landforms repeatedly down spatial scales. In this study we developed, tested, and implemented a new way to create river classifications by mapping domains of fluvial processes with respect to the hierarchical organization of topographic complexity that drives fluvial dynamism. We tested this approach on flow convergence routing, a morphodynamic mechanism with different states depending on the structure of nondimensional topographic variability. Five nondimensional landform types with unique functionality (nozzle, wide bar, normal channel, constricted pool, and oversized) represent this process at any flow. When this typology is nested at base flow, bankfull, and floodprone scales it creates a system with up to 125 functional types. This shows how a single mechanism produces complex dynamism via nesting. Given the classification, we answered nine specific scientific questions to investigate the abundance, sequencing, and hierarchical nesting of these new landform types using a 35-km gravel/cobble river segment of the Yuba River in California. The nested structure of flow convergence routing landforms found in this study revealed that bankfull landforms are nested within specific floodprone valley landform types, and these types control bankfull morphodynamics during moderate to large floods. As a result, this study calls into question the prevailing theory that the bankfull channel of a gravel/cobble river is controlled by in-channel, bankfull, and/or small flood flows. Such flows are too small to initiate widespread sediment transport in a gravel/cobble river with topographic complexity.

  16. Control of quantum paths of high-order harmonics and attosecond pulse generation in the presence of a static electric field

    International Nuclear Information System (INIS)

    Hong Weiyi; Lu Peixiang; Cao Wei; Lan Pengfei; Wang Xinlin

    2007-01-01

    The time-frequency properties of high-order harmonic generation in the presence of a static electric field are investigated. It is found that the quantum paths contributing to the harmonics can be controlled by adding a static electric field. The highest photon energies of harmonics emitted in the adjacent half-cycles of the laser field are modulated by the static electric field, and then an attosecond pulse train with one burst per optical cycle can be extracted. For the ratio between the laser and the static field of 0.39, the harmonic spectrum is extended to I p + 9.1U p , and the harmonics above I p + 0.7U p are emitted almost in phase. The phase-locked harmonics covered by a broad bandwidth are produced, and then a regular attosecond pulse train with a pulse duration of 80 as is generated

  17. Hierarchical CaCO3 chromatography: a stationary phase based on biominerals.

    Science.gov (United States)

    Sato, Kosuke; Oaki, Yuya; Takahashi, Daisuke; Toshima, Kazunobu; Imai, Hiroaki

    2015-03-23

    In biomineralization, acidic macromolecules play important roles for the growth control of crystals through a specific interaction. Inspired by this interaction, we report on an application of the hierarchical structures in CaCO3 biominerals to a stationary phase of chromatography. The separation and purification of acidic small organic molecules are achieved by thin-layer chromatography and flash chromatography using the powder of biominerals as the stationary phase. The unit nanocrystals and their oriented assembly, the hierarchical structure, are suitable for the adsorption site of the target organic molecules and the flow path of the elution solvents, respectively. The separation mode is ascribed to the specific adsorption of the acidic molecules on the crystal face and the coordination of the functional groups to the calcium ions. The results imply that a new family of stationary phase of chromatography can be developed by the fine tuning of hierarchical structures in CaCO3 materials. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  18. The effects of perceived torture controllability on symptom severity of posttraumatic stress, depression and anger in refugees and asylum seekers: A path analysis.

    Science.gov (United States)

    Le, Lillian; Morina, Naser; Schnyder, Ulrich; Schick, Matthis; Bryant, Richard A; Nickerson, Angela

    2018-03-23

    Torture is associated with greater psychopathology, however, the specific mechanisms underlying the effects of torture remain unclear. Research suggests that the perceived uncontrollable nature of, rather than the exposure to, torture, influences the development of psychological disorders. Perceived distress during torture has also been shown to influence psychological outcomes. This cross-sectional study explored the relationship between perceived torture controllability, emotions (i.e., anger and fear) during torture, and current posttraumatic stress (PTS), depression and anger symptoms, controlling for the effects of post-migration living difficulties. Data were collected from 108 refugees and asylum seekers in treatment at two psychiatric clinics in Zurich, Switzerland. Path analyses revealed negative correlations between PTS, depression and anger symptoms, and perceived torture controllability, and positive correlations with anger and fear during torture. Furthermore, the effects of perceived torture controllability on PTS and depression symptoms were mediated by fear during torture, and on anger symptoms via anger during torture. This was over and above the effects of post-migration living difficulties on psychological symptoms. The study provides preliminary evidence that perceived uncontrollability and distress during torture might be significant risk factors for current mental health of torture survivors. These findings may have implications for informing interventions for torture survivors. Copyright © 2018 Elsevier B.V. All rights reserved.

  19. Hierarchical species distribution models

    Science.gov (United States)

    Hefley, Trevor J.; Hooten, Mevin B.

    2016-01-01

    Determining the distribution pattern of a species is important to increase scientific knowledge, inform management decisions, and conserve biodiversity. To infer spatial and temporal patterns, species distribution models have been developed for use with many sampling designs and types of data. Recently, it has been shown that count, presence-absence, and presence-only data can be conceptualized as arising from a point process distribution. Therefore, it is important to understand properties of the point process distribution. We examine how the hierarchical species distribution modeling framework has been used to incorporate a wide array of regression and theory-based components while accounting for the data collection process and making use of auxiliary information. The hierarchical modeling framework allows us to demonstrate how several commonly used species distribution models can be derived from the point process distribution, highlight areas of potential overlap between different models, and suggest areas where further research is needed.

  20. Bayesian nonparametric hierarchical modeling.

    Science.gov (United States)

    Dunson, David B

    2009-04-01

    In biomedical research, hierarchical models are very widely used to accommodate dependence in multivariate and longitudinal data and for borrowing of information across data from different sources. A primary concern in hierarchical modeling is sensitivity to parametric assumptions, such as linearity and normality of the random effects. Parametric assumptions on latent variable distributions can be challenging to check and are typically unwarranted, given available prior knowledge. This article reviews some recent developments in Bayesian nonparametric methods motivated by complex, multivariate and functional data collected in biomedical studies. The author provides a brief review of flexible parametric approaches relying on finite mixtures and latent class modeling. Dirichlet process mixture models are motivated by the need to generalize these approaches to avoid assuming a fixed finite number of classes. Focusing on an epidemiology application, the author illustrates the practical utility and potential of nonparametric Bayes methods.

  1. Hierarchically Structured Electrospun Fibers

    Science.gov (United States)

    2013-01-07

    in the natural lotus and silver ragwort leaves. Figure 4. Examples of electrospun bio-mimics of natural hierarchical structures. (A) Lotus leaf...B) pillared poly(methyl methacrylate) (PMMA) electrospun fiber mimic; (C) silver ragwort leaf; (D) electrospun fiber mimic made from nylon 6 and...domains containing the protein in the surrounding EVA fibers [115]. A wide variety of core-shell fibers have been generated, including PCL/ gelatin

  2. Hierarchical video summarization

    Science.gov (United States)

    Ratakonda, Krishna; Sezan, M. Ibrahim; Crinon, Regis J.

    1998-12-01

    We address the problem of key-frame summarization of vide in the absence of any a priori information about its content. This is a common problem that is encountered in home videos. We propose a hierarchical key-frame summarization algorithm where a coarse-to-fine key-frame summary is generated. A hierarchical key-frame summary facilitates multi-level browsing where the user can quickly discover the content of the video by accessing its coarsest but most compact summary and then view a desired segment of the video with increasingly more detail. At the finest level, the summary is generated on the basis of color features of video frames, using an extension of a recently proposed key-frame extraction algorithm. The finest level key-frames are recursively clustered using a novel pairwise K-means clustering approach with temporal consecutiveness constraint. We also address summarization of MPEG-2 compressed video without fully decoding the bitstream. We also propose efficient mechanisms that facilitate decoding the video when the hierarchical summary is utilized in browsing and playback of video segments starting at selected key-frames.

  3. Tritium control and capture in salt-cooled fission and fusion reactors: Status, challenges, and path forward

    International Nuclear Information System (INIS)

    Forsberg, Charles W.; Lam, Stephen; Carpenter, David M.; Whyte, Dennis G.; Scarlat, Raluca

    2017-01-01

    Three advanced nuclear power systems use liquid salt coolants that generate tritium and thus face the common challenges of containing and capturing tritium to prevent its release to the environment. The Fluoride-salt-cooled High-temperature Reactor (FHR) uses clean fluoride salt coolants and the same graphite-matrix coated-particle fuel as high-temperature gas-cooled reactors. Molten salt reactors (MSRs) dissolve the fuel in a fluoride or chloride salt with release of fission product tritium into the salt. In most FHR and MSR systems, the base-line salts contain lithium where isotopically separated "7Li is proposed to minimize tritium production from neutron interactions with the salt. The Chinese Academy of Science plans to start operation of a 2-MWt molten salt test reactor by 2020. For high-magnetic-field fusion machines, the use of lithium enriched in "6Li is proposed to maximize tritium generation the fuel for a fusion machine. Advances in superconductors that enable higher power densities may require the use of molten lithium salts for fusion blankets and as coolants. Recent technical advances in these three reactor classes have resulted in increased government and private interest and the beginning of a coordinated effort to address the tritium control challenges in 700 °C liquid salt systems. We describe characteristics of salt-cooled fission and fusion machines, the basis for growing interest in these technologies, tritium generation in molten salts, the environment for tritium capture, models for high-temperature tritium transport in salt systems, alternative strategies for tritium control, and ongoing experimental work. Several methods to control tritium appear viable. Finally, limited experimental data is the primary constraint for designing efficient cost-effective methods of tritium control.

  4. Runtime Concepts of Hierarchical Software Components

    Czech Academy of Sciences Publication Activity Database

    Bureš, Tomáš; Hnětynka, P.; Plášil, František

    2007-01-01

    Roč. 8, special (2007), s. 454-463 ISSN 1525-9293 R&D Projects: GA AV ČR 1ET400300504 Institutional research plan: CEZ:AV0Z10300504 Keywords : component-based development * hierarchical components * connectors * controlers * runtime environment Subject RIV: JC - Computer Hardware ; Software

  5. Hierarchical Broadcasting in the Future Mobile Internet

    NARCIS (Netherlands)

    Hesselman, C.E.W.; Eertink, E.H.; Fernandez, Milagros; Crnkovic, Ivica; Fohler, Gerhard; Griwodz, Carsten; Plagemann, Thomas; Gruenbacher, Paul

    2002-01-01

    We describe an architecture for the hierarchical distribution of multimedia broadcasts in the future mobile Internet. The architecture supports network as well as application-layer mobility solutions, and uses stream control functions that are influenced by available network resources, user-defined

  6. Hierarchical silica particles by dynamic multicomponent assembly

    DEFF Research Database (Denmark)

    Wu, Z. W.; Hu, Q. Y.; Pang, J. B.

    2005-01-01

    Abstract: Aerosol-assisted assembly of mesoporous silica particles with hierarchically controllable pore structure has been prepared using cetyltrimethylammonium bromide (CTAB) and poly(propylene oxide) (PPO, H[OCH(CH3)CH2],OH) as co-templates. Addition of the hydrophobic PPO significantly...... influences the delicate hydrophilic-hydrophobic balance in the well-studied CTAB-silicate co-assembling system, resulting in various mesostructures (such as hexagonal, lamellar, and hierarchical structure). The co-assembly of CTAB, silicate clusters, and a low-molecular-weight PPO (average M-n 425) results...... in a uniform lamellar structure, while the use of a high-molecular-weight PPO (average M-n 2000), which is more hydrophobic, leads to the formation of hierarchical pore structure that contains meso-meso or meso-macro pore structure. The role of PPO additives on the mesostructure evolution in the CTAB...

  7. A preliminary path analysis of expectancy and patient-provider encounter in an open-label randomized controlled trial of spinal manipulation for cervicogenic headache.

    Science.gov (United States)

    Haas, Mitchell; Aickin, Mikel; Vavrek, Darcy

    2010-01-01

    The purpose of this article was to present a preliminary model to identify the effects of expectancy of treatment success and the patient-provider encounter (PPE) on outcomes in an open-label randomized trial. Eighty participants with chronic cervicogenic headache (CGH) were randomized to 4 groups: 2 levels of treatment dose (8 or 16) and 2 levels of therapy from a chiropractor (spinal manipulation or light massage). Providers were instructed to have equal enthusiasm for all care. Structural equation modeling with standardized path coefficients (beta) was used in a path analysis to identify the effects of patient expectancy and the PPE on CGH pain. The model included monthly pain from baseline to 12 weeks. Expectancy and PPE were evaluated on Likert scales. The patient-provider encounter was measured as patient perception of chiropractor enthusiasm, confidence, and comfort with care. Baseline patient expectancy was balanced across groups. The PPE measures were balanced across groups and consistent over the 8-week treatment period. Treatment and baseline pain had the strongest effects on pain outcomes (|beta| = .46-.59). Expectations had little effect on pain (abs value(beta) value(beta)= .03-.27) and on subsequent confidence in treatment success (abs value(beta)= .09 and .12). Encouraging equipoise in the PPE and balancing expectancy across treatment groups may protect against some confounding related to the absence of blinding in a randomized controlled trial of pain. In this trial, their effects were found to be small relative to the effects of treatment and baseline values. Copyright 2010 National University of Health Sciences. Published by Mosby, Inc. All rights reserved.

  8. The Fourier-Kelvin Stellar Interferometer (FKSI) Nulling Testbed II: Closed-loop Path Length Metrology And Control Subsystem

    Science.gov (United States)

    Frey, B. J.; Barry, R. K.; Danchi, W. C.; Hyde, T. T.; Lee, K. Y.; Martino, A. J.; Zuray, M. S.

    2006-01-01

    The Fourier-Kelvin Stellar Interferometer (FKSI) is a mission concept for an imaging and nulling interferometer in the near to mid-infrared spectral region (3-8 microns), and will be a scientific and technological pathfinder for upcoming missions including TPF-I/DARWIN, SPECS, and SPIRIT. At NASA's Goddard Space Flight Center, we have constructed a symmetric Mach-Zehnder nulling testbed to demonstrate techniques and algorithms that can be used to establish and maintain the 10(exp 4) null depth that will be required for such a mission. Among the challenges inherent in such a system is the ability to acquire and track the null fringe to the desired depth for timescales on the order of hours in a laboratory environment. In addition, it is desirable to achieve this stability without using conventional dithering techniques. We describe recent testbed metrology and control system developments necessary to achieve these goals and present our preliminary results.

  9. APPLICATION OF STANDARDIZED QUALITY CONTROL PROCEDURES TO OPEN-PATH FOURIER TRANSFORM INFRARED DATA COLLECTED AT A CONCENTRATED SWINE PRODUCTION FACILITY

    Science.gov (United States)

    Open-path Fourier transform infrared (OP/FT-IR) spectrometry was used to measure the concentrations of ammonia, methane, and other atmospheric eases at a concentrated swine production facility. A total of 2200 OP/FT-IR spectra were acquired along nine different monitoring paths d...

  10. Improving mouse controlling and movement for people with Parkinson's disease and involuntary tremor using adaptive path smoothing technique via B-spline.

    Science.gov (United States)

    Hashem, Seyed Yashar Bani; Zin, Nor Azan Mat; Yatim, Noor Faezah Mohd; Ibrahim, Norlinah Mohamed

    2014-01-01

    Many input devices are available for interacting with computers, but the computer mouse is still the most popular device for interaction. People who suffer from involuntary tremor have difficulty using the mouse in the normal way. The target participants of this research were individuals who suffer from Parkinson's disease. Tremor in limbs makes accurate mouse movements impossible or difficult without any assistive technologies to help. This study explores a new assistive technique-adaptive path smoothing via B-spline (APSS)-to enhance mouse controlling based on user's tremor level and type. APSS uses Mean filtering and B-spline to provide a smoothed mouse trajectory. Seven participants who have unwanted tremor evaluated APSS. Results show that APSS is very promising and greatly increases their control of the computer mouse. Result of user acceptance test also shows that user perceived APSS as easy to use. They also believe it to be a useful tool and intend to use it once it is available. Future studies could explore the possibility of integrating APSS with one assistive pointing technique, such as the Bubble cursor or the Sticky target technique, to provide an all in one solution for motor disabled users.

  11. ForgIng New paths in DIabetes PrevenTion (FINDIT): Study Protocol for a Randomized Controlled Trial.

    Science.gov (United States)

    Kullgren, Jeffrey T; Youles, Bradley; Shetty, Shaina; Richardson, Caroline; Fagerlin, Angela; Heisler, Michele

    2017-04-08

    Prediabetes is an asymptomatic condition in which patients' blood glucose levels are higher than normal but do not meet diagnostic criteria for type 2 diabetes mellitus (T2DM). A key window of opportunity to increase engagement of patients with prediabetes in strategies to prevent T2DM is when they are screened for T2DM and found to have prediabetes, yet the effects of this screening and brief counseling are unknown. In this parallel-design randomized controlled trial we will recruit 315 non-diabetic patients from the Ann Arbor VA Medical Center (AAVA) who have one or major risk factors for T2DM and an upcoming primary care appointment at the AAVA, but have not had a hemoglobin A1c (HbA1c) test to screen for T2DM in the previous 12 months. After informed consent, participants will complete a baseline survey and be randomly assigned to, at the time of their next primary care appointment, one of two arms: (1) to have a hemoglobin A1c (HbA1c) test to screen for T2DM and receive brief, standardized counseling about these results or (2) to review a brochure about clinical preventive services. Participants will complete surveys 2 weeks, 3 months, and 12 months after their primary care appointment, and a weight measurement 12 months after their primary care appointment. The primary outcome is weight change after 12 months. The secondary outcomes are changes in perception of risk for T2DM; knowledge of T2DM prevention; self-efficacy and motivation to prevent T2DM; use of pharmacotherapy for T2DM prevention; physical activity; participation in weight management programs; and mental health. Quantitative analyses will compare outcomes among participants in the HbA1c test arm found to have prediabetes with participants in the brochure arm. Among participants in the HbA1c test arm found to have prediabetes we will conduct semi-structured interviews about their understanding of and reactions to receiving a prediabetes diagnosis. This trial will generate foundational data

  12. Context updates are hierarchical

    Directory of Open Access Journals (Sweden)

    Anton Karl Ingason

    2016-10-01

    Full Text Available This squib studies the order in which elements are added to the shared context of interlocutors in a conversation. It focuses on context updates within one hierarchical structure and argues that structurally higher elements are entered into the context before lower elements, even if the structurally higher elements are pronounced after the lower elements. The crucial data are drawn from a comparison of relative clauses in two head-initial languages, English and Icelandic, and two head-final languages, Korean and Japanese. The findings have consequences for any theory of a dynamic semantics.

  13. Hierarchical feedback modules and reaction hubs in cell signaling networks.

    Science.gov (United States)

    Xu, Jianfeng; Lan, Yueheng

    2015-01-01

    Despite much effort, identification of modular structures and study of their organizing and functional roles remain a formidable challenge in molecular systems biology, which, however, is essential in reaching a systematic understanding of large-scale cell regulation networks and hence gaining capacity of exerting effective interference to cell activity. Combining graph theoretic methods with available dynamics information, we successfully retrieved multiple feedback modules of three important signaling networks. These feedbacks are structurally arranged in a hierarchical way and dynamically produce layered temporal profiles of output signals. We found that global and local feedbacks act in very different ways and on distinct features of the information flow conveyed by signal transduction but work highly coordinately to implement specific biological functions. The redundancy embodied with multiple signal-relaying channels and feedback controls bestow great robustness and the reaction hubs seated at junctions of different paths announce their paramount importance through exquisite parameter management. The current investigation reveals intriguing general features of the organization of cell signaling networks and their relevance to biological function, which may find interesting applications in analysis, design and control of bio-networks.

  14. Hierarchical feedback modules and reaction hubs in cell signaling networks.

    Directory of Open Access Journals (Sweden)

    Jianfeng Xu

    Full Text Available Despite much effort, identification of modular structures and study of their organizing and functional roles remain a formidable challenge in molecular systems biology, which, however, is essential in reaching a systematic understanding of large-scale cell regulation networks and hence gaining capacity of exerting effective interference to cell activity. Combining graph theoretic methods with available dynamics information, we successfully retrieved multiple feedback modules of three important signaling networks. These feedbacks are structurally arranged in a hierarchical way and dynamically produce layered temporal profiles of output signals. We found that global and local feedbacks act in very different ways and on distinct features of the information flow conveyed by signal transduction but work highly coordinately to implement specific biological functions. The redundancy embodied with multiple signal-relaying channels and feedback controls bestow great robustness and the reaction hubs seated at junctions of different paths announce their paramount importance through exquisite parameter management. The current investigation reveals intriguing general features of the organization of cell signaling networks and their relevance to biological function, which may find interesting applications in analysis, design and control of bio-networks.

  15. Hierarchical Feedback Modules and Reaction Hubs in Cell Signaling Networks

    Science.gov (United States)

    Xu, Jianfeng; Lan, Yueheng

    2015-01-01

    Despite much effort, identification of modular structures and study of their organizing and functional roles remain a formidable challenge in molecular systems biology, which, however, is essential in reaching a systematic understanding of large-scale cell regulation networks and hence gaining capacity of exerting effective interference to cell activity. Combining graph theoretic methods with available dynamics information, we successfully retrieved multiple feedback modules of three important signaling networks. These feedbacks are structurally arranged in a hierarchical way and dynamically produce layered temporal profiles of output signals. We found that global and local feedbacks act in very different ways and on distinct features of the information flow conveyed by signal transduction but work highly coordinately to implement specific biological functions. The redundancy embodied with multiple signal-relaying channels and feedback controls bestow great robustness and the reaction hubs seated at junctions of different paths announce their paramount importance through exquisite parameter management. The current investigation reveals intriguing general features of the organization of cell signaling networks and their relevance to biological function, which may find interesting applications in analysis, design and control of bio-networks. PMID:25951347

  16. A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads

    Directory of Open Access Journals (Sweden)

    Hao-Ting Lin

    2017-06-01

    Full Text Available This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

  17. A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads.

    Science.gov (United States)

    Lin, Hao-Ting

    2017-06-04

    This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC) is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

  18. Detecting Hierarchical Structure in Networks

    DEFF Research Database (Denmark)

    Herlau, Tue; Mørup, Morten; Schmidt, Mikkel Nørgaard

    2012-01-01

    Many real-world networks exhibit hierarchical organization. Previous models of hierarchies within relational data has focused on binary trees; however, for many networks it is unknown whether there is hierarchical structure, and if there is, a binary tree might not account well for it. We propose...... a generative Bayesian model that is able to infer whether hierarchies are present or not from a hypothesis space encompassing all types of hierarchical tree structures. For efficient inference we propose a collapsed Gibbs sampling procedure that jointly infers a partition and its hierarchical structure....... On synthetic and real data we demonstrate that our model can detect hierarchical structure leading to better link-prediction than competing models. Our model can be used to detect if a network exhibits hierarchical structure, thereby leading to a better comprehension and statistical account the network....

  19. Hierarchical quark mass matrices

    International Nuclear Information System (INIS)

    Rasin, A.

    1998-02-01

    I define a set of conditions that the most general hierarchical Yukawa mass matrices have to satisfy so that the leading rotations in the diagonalization matrix are a pair of (2,3) and (1,2) rotations. In addition to Fritzsch structures, examples of such hierarchical structures include also matrices with (1,3) elements of the same order or even much larger than the (1,2) elements. Such matrices can be obtained in the framework of a flavor theory. To leading order, the values of the angle in the (2,3) plane (s 23 ) and the angle in the (1,2) plane (s 12 ) do not depend on the order in which they are taken when diagonalizing. We find that any of the Cabbibo-Kobayashi-Maskawa matrix parametrizations that consist of at least one (1,2) and one (2,3) rotation may be suitable. In the particular case when the s 13 diagonalization angles are sufficiently small compared to the product s 12 s 23 , two special CKM parametrizations emerge: the R 12 R 23 R 12 parametrization follows with s 23 taken before the s 12 rotation, and vice versa for the R 23 R 12 R 23 parametrization. (author)

  20. Hierarchical partial order ranking

    International Nuclear Information System (INIS)

    Carlsen, Lars

    2008-01-01

    Assessing the potential impact on environmental and human health from the production and use of chemicals or from polluted sites involves a multi-criteria evaluation scheme. A priori several parameters are to address, e.g., production tonnage, specific release scenarios, geographical and site-specific factors in addition to various substance dependent parameters. Further socio-economic factors may be taken into consideration. The number of parameters to be included may well appear to be prohibitive for developing a sensible model. The study introduces hierarchical partial order ranking (HPOR) that remedies this problem. By HPOR the original parameters are initially grouped based on their mutual connection and a set of meta-descriptors is derived representing the ranking corresponding to the single groups of descriptors, respectively. A second partial order ranking is carried out based on the meta-descriptors, the final ranking being disclosed though average ranks. An illustrative example on the prioritisation of polluted sites is given. - Hierarchical partial order ranking of polluted sites has been developed for prioritization based on a large number of parameters

  1. Nested and Hierarchical Archimax copulas

    KAUST Repository

    Hofert, Marius; Huser, Raphaë l; Prasad, Avinash

    2017-01-01

    The class of Archimax copulas is generalized to nested and hierarchical Archimax copulas in several ways. First, nested extreme-value copulas or nested stable tail dependence functions are introduced to construct nested Archimax copulas based on a single frailty variable. Second, a hierarchical construction of d-norm generators is presented to construct hierarchical stable tail dependence functions and thus hierarchical extreme-value copulas. Moreover, one can, by itself or additionally, introduce nested frailties to extend Archimax copulas to nested Archimax copulas in a similar way as nested Archimedean copulas extend Archimedean copulas. Further results include a general formula for the density of Archimax copulas.

  2. Nested and Hierarchical Archimax copulas

    KAUST Repository

    Hofert, Marius

    2017-07-03

    The class of Archimax copulas is generalized to nested and hierarchical Archimax copulas in several ways. First, nested extreme-value copulas or nested stable tail dependence functions are introduced to construct nested Archimax copulas based on a single frailty variable. Second, a hierarchical construction of d-norm generators is presented to construct hierarchical stable tail dependence functions and thus hierarchical extreme-value copulas. Moreover, one can, by itself or additionally, introduce nested frailties to extend Archimax copulas to nested Archimax copulas in a similar way as nested Archimedean copulas extend Archimedean copulas. Further results include a general formula for the density of Archimax copulas.

  3. Path-dependent functions

    International Nuclear Information System (INIS)

    Khrapko, R.I.

    1985-01-01

    A uniform description of various path-dependent functions is presented with the help of expansion of the type of the Taylor series. So called ''path-integrals'' and ''path-tensor'' are introduced which are systems of many-component quantities whose values are defined for arbitrary paths in coordinated region of space in such a way that they contain a complete information on the path. These constructions are considered as elementary path-dependent functions and are used instead of power monomials in the usual Taylor series. Coefficients of such an expansion are interpreted as partial derivatives dependent on the order of the differentiations or else as nonstandard cavariant derivatives called two-point derivatives. Some examples of pathdependent functions are presented.Space curvature tensor is considered whose geometrica properties are determined by the (non-transitive) translator of parallel transport of a general type. Covariant operation leading to the ''extension'' of tensor fiels is pointed out

  4. Iterated Leavitt Path Algebras

    International Nuclear Information System (INIS)

    Hazrat, R.

    2009-11-01

    Leavitt path algebras associate to directed graphs a Z-graded algebra and in their simplest form recover the Leavitt algebras L(1,k). In this note, we introduce iterated Leavitt path algebras associated to directed weighted graphs which have natural ± Z grading and in their simplest form recover the Leavitt algebras L(n,k). We also characterize Leavitt path algebras which are strongly graded. (author)

  5. Pulled Motzkin paths

    Energy Technology Data Exchange (ETDEWEB)

    Janse van Rensburg, E J, E-mail: rensburg@yorku.c [Department of Mathematics and Statistics, York University, Toronto, ON, M3J 1P3 (Canada)

    2010-08-20

    In this paper the models of pulled Dyck paths in Janse van Rensburg (2010 J. Phys. A: Math. Theor. 43 215001) are generalized to pulled Motzkin path models. The generating functions of pulled Motzkin paths are determined in terms of series over trinomial coefficients and the elastic response of a Motzkin path pulled at its endpoint (see Orlandini and Whittington (2004 J. Phys. A: Math. Gen. 37 5305-14)) is shown to be R(f) = 0 for forces pushing the endpoint toward the adsorbing line and R(f) = f(1 + 2cosh f))/(2sinh f) {yields} f as f {yields} {infinity}, for forces pulling the path away from the X-axis. In addition, the elastic response of a Motzkin path pulled at its midpoint is shown to be R(f) = 0 for forces pushing the midpoint toward the adsorbing line and R(f) = f(1 + 2cosh (f/2))/sinh (f/2) {yields} 2f as f {yields} {infinity}, for forces pulling the path away from the X-axis. Formal combinatorial identities arising from pulled Motzkin path models are also presented. These identities are the generalization of combinatorial identities obtained in directed paths models to their natural trinomial counterparts.

  6. Pulled Motzkin paths

    Science.gov (United States)

    Janse van Rensburg, E. J.

    2010-08-01

    In this paper the models of pulled Dyck paths in Janse van Rensburg (2010 J. Phys. A: Math. Theor. 43 215001) are generalized to pulled Motzkin path models. The generating functions of pulled Motzkin paths are determined in terms of series over trinomial coefficients and the elastic response of a Motzkin path pulled at its endpoint (see Orlandini and Whittington (2004 J. Phys. A: Math. Gen. 37 5305-14)) is shown to be R(f) = 0 for forces pushing the endpoint toward the adsorbing line and R(f) = f(1 + 2cosh f))/(2sinh f) → f as f → ∞, for forces pulling the path away from the X-axis. In addition, the elastic response of a Motzkin path pulled at its midpoint is shown to be R(f) = 0 for forces pushing the midpoint toward the adsorbing line and R(f) = f(1 + 2cosh (f/2))/sinh (f/2) → 2f as f → ∞, for forces pulling the path away from the X-axis. Formal combinatorial identities arising from pulled Motzkin path models are also presented. These identities are the generalization of combinatorial identities obtained in directed paths models to their natural trinomial counterparts.

  7. Pulled Motzkin paths

    International Nuclear Information System (INIS)

    Janse van Rensburg, E J

    2010-01-01

    In this paper the models of pulled Dyck paths in Janse van Rensburg (2010 J. Phys. A: Math. Theor. 43 215001) are generalized to pulled Motzkin path models. The generating functions of pulled Motzkin paths are determined in terms of series over trinomial coefficients and the elastic response of a Motzkin path pulled at its endpoint (see Orlandini and Whittington (2004 J. Phys. A: Math. Gen. 37 5305-14)) is shown to be R(f) = 0 for forces pushing the endpoint toward the adsorbing line and R(f) = f(1 + 2cosh f))/(2sinh f) → f as f → ∞, for forces pulling the path away from the X-axis. In addition, the elastic response of a Motzkin path pulled at its midpoint is shown to be R(f) = 0 for forces pushing the midpoint toward the adsorbing line and R(f) = f(1 + 2cosh (f/2))/sinh (f/2) → 2f as f → ∞, for forces pulling the path away from the X-axis. Formal combinatorial identities arising from pulled Motzkin path models are also presented. These identities are the generalization of combinatorial identities obtained in directed paths models to their natural trinomial counterparts.

  8. Transmutations across hierarchical levels

    International Nuclear Information System (INIS)

    O'Neill, R.V.

    1977-01-01

    The development of large-scale ecological models depends implicitly on a concept known as hierarchy theory which views biological systems in a series of hierarchical levels (i.e., organism, population, trophic level, ecosystem). The theory states that an explanation of a biological phenomenon is provided when it is shown to be the consequence of the activities of the system's components, which are themselves systems in the next lower level of the hierarchy. Thus, the behavior of a population is explained by the behavior of the organisms in the population. The initial step in any modeling project is, therefore, to identify the system components and the interactions between them. A series of examples of transmutations in aquatic and terrestrial ecosystems are presented to show how and why changes occur. The types of changes are summarized and possible implications of transmutation for hierarchy theory, for the modeler, and for the ecological theoretician are discussed

  9. Trees and Hierarchical Structures

    CERN Document Server

    Haeseler, Arndt

    1990-01-01

    The "raison d'etre" of hierarchical dustering theory stems from one basic phe­ nomenon: This is the notorious non-transitivity of similarity relations. In spite of the fact that very often two objects may be quite similar to a third without being that similar to each other, one still wants to dassify objects according to their similarity. This should be achieved by grouping them into a hierarchy of non-overlapping dusters such that any two objects in ~ne duster appear to be more related to each other than they are to objects outside this duster. In everyday life, as well as in essentially every field of scientific investigation, there is an urge to reduce complexity by recognizing and establishing reasonable das­ sification schemes. Unfortunately, this is counterbalanced by the experience of seemingly unavoidable deadlocks caused by the existence of sequences of objects, each comparatively similar to the next, but the last rather different from the first.

  10. Optimisation by hierarchical search

    Science.gov (United States)

    Zintchenko, Ilia; Hastings, Matthew; Troyer, Matthias

    2015-03-01

    Finding optimal values for a set of variables relative to a cost function gives rise to some of the hardest problems in physics, computer science and applied mathematics. Although often very simple in their formulation, these problems have a complex cost function landscape which prevents currently known algorithms from efficiently finding the global optimum. Countless techniques have been proposed to partially circumvent this problem, but an efficient method is yet to be found. We present a heuristic, general purpose approach to potentially improve the performance of conventional algorithms or special purpose hardware devices by optimising groups of variables in a hierarchical way. We apply this approach to problems in combinatorial optimisation, machine learning and other fields.

  11. Complex networks with scale-free nature and hierarchical modularity

    Science.gov (United States)

    Shekatkar, Snehal M.; Ambika, G.

    2015-09-01

    Generative mechanisms which lead to empirically observed structure of networked systems from diverse fields like biology, technology and social sciences form a very important part of study of complex networks. The structure of many networked systems like biological cell, human society and World Wide Web markedly deviate from that of completely random networks indicating the presence of underlying processes. Often the main process involved in their evolution is the addition of links between existing nodes having a common neighbor. In this context we introduce an important property of the nodes, which we call mediating capacity, that is generic to many networks. This capacity decreases rapidly with increase in degree, making hubs weak mediators of the process. We show that this property of nodes provides an explanation for the simultaneous occurrence of the observed scale-free structure and hierarchical modularity in many networked systems. This also explains the high clustering and small-path length seen in real networks as well as non-zero degree-correlations. Our study also provides insight into the local process which ultimately leads to emergence of preferential attachment and hence is also important in understanding robustness and control of real networks as well as processes happening on real networks.

  12. Multi-Dimensional Path Queries

    DEFF Research Database (Denmark)

    Bækgaard, Lars

    1998-01-01

    to create nested path structures. We present an SQL-like query language that is based on path expressions and we show how to use it to express multi-dimensional path queries that are suited for advanced data analysis in decision support environments like data warehousing environments......We present the path-relationship model that supports multi-dimensional data modeling and querying. A path-relationship database is composed of sets of paths and sets of relationships. A path is a sequence of related elements (atoms, paths, and sets of paths). A relationship is a binary path...

  13. How hierarchical is language use?

    Science.gov (United States)

    Frank, Stefan L.; Bod, Rens; Christiansen, Morten H.

    2012-01-01

    It is generally assumed that hierarchical phrase structure plays a central role in human language. However, considerations of simplicity and evolutionary continuity suggest that hierarchical structure should not be invoked too hastily. Indeed, recent neurophysiological, behavioural and computational studies show that sequential sentence structure has considerable explanatory power and that hierarchical processing is often not involved. In this paper, we review evidence from the recent literature supporting the hypothesis that sequential structure may be fundamental to the comprehension, production and acquisition of human language. Moreover, we provide a preliminary sketch outlining a non-hierarchical model of language use and discuss its implications and testable predictions. If linguistic phenomena can be explained by sequential rather than hierarchical structure, this will have considerable impact in a wide range of fields, such as linguistics, ethology, cognitive neuroscience, psychology and computer science. PMID:22977157

  14. Unique Path Partitions

    DEFF Research Database (Denmark)

    Bessenrodt, Christine; Olsson, Jørn Børling; Sellers, James A.

    2013-01-01

    We give a complete classification of the unique path partitions and study congruence properties of the function which enumerates such partitions.......We give a complete classification of the unique path partitions and study congruence properties of the function which enumerates such partitions....

  15. Hamiltonian path integrals

    International Nuclear Information System (INIS)

    Prokhorov, L.V.

    1982-01-01

    The properties of path integrals associated with the allowance for nonstandard terms reflecting the operator nature of the canonical variables are considered. Rules for treating such terms (''equivalence rules'') are formulated. Problems with a boundary, the behavior of path integrals under canonical transformations, and the problem of quantization of dynamical systems with constraints are considered in the framework of the method

  16. Herbicides as weed control agents: state of the art: I. Weed control research and safener technology: the path to modern agriculture.

    Science.gov (United States)

    Kraehmer, Hansjoerg; Laber, Bernd; Rosinger, Chris; Schulz, Arno

    2014-11-01

    The purpose of modern industrial herbicides is to control weeds. The species of weeds that plague crops today are a consequence of the historical past, being related to the history of the evolution of crops and farming practices. Chemical weed control began over a century ago with inorganic compounds and transitioned to the age of organic herbicides. Targeted herbicide research has created a steady stream of successful products. However, safeners have proven to be more difficult to find. Once found, the mode of action of the safener must be determined, partly to help in the discovery of further compounds within the same class. However, mounting regulatory and economic pressure has changed the industry completely, making it harder to find a successful herbicide. Herbicide resistance has also become a major problem, increasing the difficulty of controlling weeds. As a result, the development of new molecules has become a rare event today. © 2014 American Society of Plant Biologists. All Rights Reserved.

  17. Controlled facile synthesis of hierarchical CuO@MnO{sub 2} core–shell nanosheet arrays for high-performance lithium-ion battery

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Qing; Heng, Bojun; Wang, Hai; Sun, Daming; Wang, Bixiao; Sun, Miao; Guan, Shunli; Fu, Ranyan; Tang, Yiwen, E-mail: ywtang@phy.ccnu.edu.cn

    2015-08-25

    Highlights: • We have facile synthesized the CuO@MnO{sub 2} nanosheet array directly on Cu substrate. • This core–shell structure was assembled as a full cell (vs LiCoO{sub 2}) for the first time. • The full cell exhibits a 127 mA h g{sup −1} at the 150 mA g{sup −1} after 100 cycle. • This strategy can be generalized to construct other hybrid nanostructures. - Abstract: We report a facile, rapid and low-cost two step approach to synthesize hierarchical CuO@MnO{sub 2} core–shell nanosheet arrays directly on Cu foil substrate. The as prepared CuO@MnO{sub 2} arrays can be directly used as integrated electrodes. Furthermore, the CuO@MnO{sub 2} nanosheet arrays were assembled with the commercial Li Ion Battery Cathode (LiCoO{sub 2}) as a full cell, which exhibited high capacity and good cycle stability (120 mA h g{sup −1} after 100 cycles at a rate of 150 mA g{sup −1}) and an excellent rate performance (a stable capacity of about 127 mA h g{sup −1} after 100 cycles of variable charging rate). The excellent performance of the CuO@MnO{sub 2} hybrids comes from their intelligent integration of the two compatible components into unique hierarchical architectures with a high specific capacity. Primary single-crystalline CuO nanosheet arrays directly grown on Cu substrates allow for efficient electrical and ionic transport. The secondary MnO{sub 2} shell provide enhanced surface area and high theoretical Li{sup +} storage capacity, and can also serve as volume spacers between neighboring CuO nanosheet arrays to maintain electrolyte penetration as well as reduce the aggregation during Li{sup +} intercalation, thus leading to improved electrochemical energy storage performance.

  18. Synergy of multi-scale toughening and protective mechanisms at hierarchical branch-stem interfaces

    Science.gov (United States)

    Müller, Ulrich; Gindl-Altmutter, Wolfgang; Konnerth, Johannes; Maier, Günther A.; Keckes, Jozef

    2015-09-01

    Biological materials possess a variety of artful interfaces whose size and properties are adapted to their hierarchical levels and functional requirements. Bone, nacre, and wood exhibit an impressive fracture resistance based mainly on small crystallite size, interface organic adhesives and hierarchical microstructure. Currently, little is known about mechanical concepts in macroscopic biological interfaces like the branch-stem junction with estimated 1014 instances on earth and sizes up to few meters. Here we demonstrate that the crack growth in the upper region of the branch-stem interface of conifer trees proceeds along a narrow predefined region of transversally loaded tracheids, denoted as sacrificial tissue, which fail upon critical bending moments on the branch. The specific arrangement of the tracheids allows disconnecting the overloaded branch from the stem in a controlled way by maintaining the stem integrity. The interface microstructure based on the sharply adjusted cell orientation and cell helical angle secures a zig-zag crack propagation path, mechanical interlock closing after the bending moment is removed, crack gap bridging and self-repairing by resin deposition. The multi-scale synergetic concepts allows for a controllable crack growth between stiff stem and flexible branch, as well as mechanical tree integrity, intact physiological functions and recovery after the cracking.

  19. Formalizing a hierarchical file system

    NARCIS (Netherlands)

    Hesselink, Wim H.; Lali, Muhammad Ikram

    An abstract file system is defined here as a partial function from (absolute) paths to data. Such a file system determines the set of valid paths. It allows the file system to be read and written at a valid path, and it allows the system to be modified by the Unix operations for creation, removal,

  20. Formalizing a Hierarchical File System

    NARCIS (Netherlands)

    Hesselink, Wim H.; Lali, M.I.

    2009-01-01

    In this note, we define an abstract file system as a partial function from (absolute) paths to data. Such a file system determines the set of valid paths. It allows the file system to be read and written at a valid path, and it allows the system to be modified by the Unix operations for removal

  1. An Improved 6LoWPAN Hierarchical Routing Protocol

    Directory of Open Access Journals (Sweden)

    Xue Li

    2015-10-01

    Full Text Available IETF 6LoWPAN working group is engaged in the IPv6 protocol stack research work based on IEEE802.15.4 standard. In this working group, the routing protocol is one of the important research contents. In the 6LoWPAN, HiLow is a well-known layered routing protocol. This paper puts forward an improved hierarchical routing protocol GHiLow by improving HiLow parent node selection and path restoration strategy. GHiLow improves the parent node selection by increasing the choice of parameters. Simutaneously, it also improves path recovery by analysing different situations to recovery path. Therefore, GHiLow contributes to the ehancement of network performance and the decrease of network energy consumption.

  2. Path integration quantization

    International Nuclear Information System (INIS)

    DeWitt-Morette, C.

    1983-01-01

    Much is expected of path integration as a quantization procedure. Much more is possible if one recognizes that path integration is at the crossroad of stochastic and differential calculus and uses the full power of both stochastic and differential calculus in setting up and computing path integrals. In contrast to differential calculus, stochastic calculus has only comparatively recently become an instrument of thought. It has nevertheless already been used in a variety of challenging problems, for instance in the quantization problem. The author presents some applications of the stochastic scheme. (Auth.)

  3. Two dimensional simplicial paths

    International Nuclear Information System (INIS)

    Piso, M.I.

    1994-07-01

    Paths on the R 3 real Euclidean manifold are defined as 2-dimensional simplicial strips which are orbits of the action of a discrete one-parameter group. It is proven that there exists at least one embedding of R 3 in the free Z-module generated by S 2 (x 0 ). The speed is defined as the simplicial derivative of the path. If mass is attached to the simplex, the free Lagrangian is proportional to the width of the path. In the continuum limit, the relativistic form of the Lagrangian is recovered. (author). 7 refs

  4. Hierarchical Discriminant Analysis

    Directory of Open Access Journals (Sweden)

    Di Lu

    2018-01-01

    Full Text Available The Internet of Things (IoT generates lots of high-dimensional sensor intelligent data. The processing of high-dimensional data (e.g., data visualization and data classification is very difficult, so it requires excellent subspace learning algorithms to learn a latent subspace to preserve the intrinsic structure of the high-dimensional data, and abandon the least useful information in the subsequent processing. In this context, many subspace learning algorithms have been presented. However, in the process of transforming the high-dimensional data into the low-dimensional space, the huge difference between the sum of inter-class distance and the sum of intra-class distance for distinct data may cause a bias problem. That means that the impact of intra-class distance is overwhelmed. To address this problem, we propose a novel algorithm called Hierarchical Discriminant Analysis (HDA. It minimizes the sum of intra-class distance first, and then maximizes the sum of inter-class distance. This proposed method balances the bias from the inter-class and that from the intra-class to achieve better performance. Extensive experiments are conducted on several benchmark face datasets. The results reveal that HDA obtains better performance than other dimensionality reduction algorithms.

  5. Hierarchical Linked Views

    Energy Technology Data Exchange (ETDEWEB)

    Erbacher, Robert; Frincke, Deb

    2007-07-02

    Coordinated views have proven critical to the development of effective visualization environments. This results from the fact that a single view or representation of the data cannot show all of the intricacies of a given data set. Additionally, users will often need to correlate more data parameters than can effectively be integrated into a single visual display. Typically, development of multiple-linked views results in an adhoc configuration of views and associated interactions. The hierarchical model we are proposing is geared towards more effective organization of such environments and the views they encompass. At the same time, this model can effectively integrate much of the prior work on interactive and visual frameworks. Additionally, we expand the concept of views to incorporate perceptual views. This is related to the fact that visual displays can have information encoded at various levels of focus. Thus, a global view of the display provides overall trends of the data while focusing in on individual elements provides detailed specifics. By integrating interaction and perception into a single model, we show how one impacts the other. Typically, interaction and perception are considered separately, however, when interaction is being considered at a fundamental level and allowed to direct/modify the visualization directly we must consider them simultaneously and how they impact one another.

  6. Zero-Slack, Noncritical Paths

    Science.gov (United States)

    Simons, Jacob V., Jr.

    2017-01-01

    The critical path method/program evaluation and review technique method of project scheduling is based on the importance of managing a project's critical path(s). Although a critical path is the longest path through a network, its location in large projects is facilitated by the computation of activity slack. However, logical fallacies in…

  7. Optimization of educational paths for higher education

    Science.gov (United States)

    Tarasyev, Alexandr A.; Agarkov, Gavriil; Medvedev, Aleksandr

    2017-11-01

    In our research, we combine the theory of economic behavior and the methodology of increasing efficiency of the human capital to estimate the optimal educational paths. We provide an optimization model for higher education process to analyze possible educational paths for each rational individual. The preferences of each rational individual are compared to the best economically possible educational path. The main factor of the individual choice, which is formed by the formation of optimal educational path, deals with higher salaries level in the chosen economic sector after graduation. Another factor that influences on the economic profit is the reduction of educational costs or the possibility of the budget support for the student. The main outcome of this research consists in correction of the governmental policy of investment in human capital based on the results of educational paths optimal control.

  8. Synthesis of Hierarchically Structured Hybrid Materials by Controlled Self-Assembly of Metal-Organic Framework with Mesoporous Silica for CO2 Adsorption.

    Science.gov (United States)

    Chen, Chong; Li, Bingxue; Zhou, Lijin; Xia, Zefeng; Feng, Nengjie; Ding, Jing; Wang, Lei; Wan, Hui; Guan, Guofeng

    2017-07-12

    The HKUST-1@SBA-15 composites with hierarchical pore structure were constructed by in situ self-assembly of metal-organic framework (MOF) with mesoporous silica. The structure directing role of SBA-15 had an obvious impact on the growth of MOF crystals, which in turn affected the morphologies and structural properties of the composites. The pristine HKUST-1 and the composites with different content of SBA-15 were characterized by XRD, N 2 adsorption-desorption, SEM, TEM, FT-IR, TG, XPS, and CO 2 -TPD techniques. It was found that the composites were assembled by oriented growth of MOF nanocrystals on the surfaces of SBA-15 matrix. The interactions between surface silanol groups and metal centers induced structural changes and resulted in the increases in surface areas as well as micropore volumes of hybrid materials. Besides, the additional constraints from SBA-15 also restrained the expansion of HKUST-1, contributing to their smaller crystal sizes in the composites. The adsorption isotherms of CO 2 on the materials were measured and applied to calculate the isosteric heats of adsorption. The HS-1 composite exhibited an increase of 15.9% in CO 2 uptake capacity compared with that of HKUST-1. Moreover, its higher isosteric heats of CO 2 adsorption indicated the stronger interactions between the surfaces and CO 2 molecules. The adsorption rate of the composite was also improved due to the introduction of mesopores. Ten cycles of CO 2 adsorption-desorption experiments implied that the HS-1 had excellent reversibility of CO 2 adsorption. This study was intended to provide the possibility of assembling new composites with tailored properties based on MOF and mesoporous silica to satisfy the requirements of various applications.

  9. Cluster Based Hierarchical Routing Protocol for Wireless Sensor Network

    OpenAIRE

    Rashed, Md. Golam; Kabir, M. Hasnat; Rahim, Muhammad Sajjadur; Ullah, Shaikh Enayet

    2012-01-01

    The efficient use of energy source in a sensor node is most desirable criteria for prolong the life time of wireless sensor network. In this paper, we propose a two layer hierarchical routing protocol called Cluster Based Hierarchical Routing Protocol (CBHRP). We introduce a new concept called head-set, consists of one active cluster head and some other associate cluster heads within a cluster. The head-set members are responsible for control and management of the network. Results show that t...

  10. Groebner Finite Path Algebras

    OpenAIRE

    Leamer, Micah J.

    2004-01-01

    Let K be a field and Q a finite directed multi-graph. In this paper I classify all path algebras KQ and admissible orders with the property that all of their finitely generated ideals have finite Groebner bases. MS

  11. Cooperative organic mine avoidance path planning

    Science.gov (United States)

    McCubbin, Christopher B.; Piatko, Christine D.; Peterson, Adam V.; Donnald, Creighton R.; Cohen, David

    2005-06-01

    The JHU/APL Path Planning team has developed path planning techniques to look for paths that balance the utility and risk associated with different routes through a minefield. Extending on previous years' efforts, we investigated real-world Naval mine avoidance requirements and developed a tactical decision aid (TDA) that satisfies those requirements. APL has developed new mine path planning techniques using graph based and genetic algorithms which quickly produce near-minimum risk paths for complicated fitness functions incorporating risk, path length, ship kinematics, and naval doctrine. The TDA user interface, a Java Swing application that obtains data via Corba interfaces to path planning databases, allows the operator to explore a fusion of historic and in situ mine field data, control the path planner, and display the planning results. To provide a context for the minefield data, the user interface also renders data from the Digital Nautical Chart database, a database created by the National Geospatial-Intelligence Agency containing charts of the world's ports and coastal regions. This TDA has been developed in conjunction with the COMID (Cooperative Organic Mine Defense) system. This paper presents a description of the algorithms, architecture, and application produced.

  12. Direct hierarchical assembly of nanoparticles

    Science.gov (United States)

    Xu, Ting; Zhao, Yue; Thorkelsson, Kari

    2014-07-22

    The present invention provides hierarchical assemblies of a block copolymer, a bifunctional linking compound and a nanoparticle. The block copolymers form one micro-domain and the nanoparticles another micro-domain.

  13. Hierarchical materials: Background and perspectives

    DEFF Research Database (Denmark)

    2016-01-01

    Hierarchical design draws inspiration from analysis of biological materials and has opened new possibilities for enhancing performance and enabling new functionalities and extraordinary properties. With the development of nanotechnology, the necessary technological requirements for the manufactur...

  14. Path planning in changeable environments

    NARCIS (Netherlands)

    Nieuwenhuisen, D.

    2007-01-01

    This thesis addresses path planning in changeable environments. In contrast to traditional path planning that deals with static environments, in changeable environments objects are allowed to change their configurations over time. In many cases, path planning algorithms must facilitate quick

  15. Functional annotation of hierarchical modularity.

    Directory of Open Access Journals (Sweden)

    Kanchana Padmanabhan

    Full Text Available In biological networks of molecular interactions in a cell, network motifs that are biologically relevant are also functionally coherent, or form functional modules. These functionally coherent modules combine in a hierarchical manner into larger, less cohesive subsystems, thus revealing one of the essential design principles of system-level cellular organization and function-hierarchical modularity. Arguably, hierarchical modularity has not been explicitly taken into consideration by most, if not all, functional annotation systems. As a result, the existing methods would often fail to assign a statistically significant functional coherence score to biologically relevant molecular machines. We developed a methodology for hierarchical functional annotation. Given the hierarchical taxonomy of functional concepts (e.g., Gene Ontology and the association of individual genes or proteins with these concepts (e.g., GO terms, our method will assign a Hierarchical Modularity Score (HMS to each node in the hierarchy of functional modules; the HMS score and its p-value measure functional coherence of each module in the hierarchy. While existing methods annotate each module with a set of "enriched" functional terms in a bag of genes, our complementary method provides the hierarchical functional annotation of the modules and their hierarchically organized components. A hierarchical organization of functional modules often comes as a bi-product of cluster analysis of gene expression data or protein interaction data. Otherwise, our method will automatically build such a hierarchy by directly incorporating the functional taxonomy information into the hierarchy search process and by allowing multi-functional genes to be part of more than one component in the hierarchy. In addition, its underlying HMS scoring metric ensures that functional specificity of the terms across different levels of the hierarchical taxonomy is properly treated. We have evaluated our

  16. Hierarchical architecture of active knits

    International Nuclear Information System (INIS)

    Abel, Julianna; Luntz, Jonathan; Brei, Diann

    2013-01-01

    Nature eloquently utilizes hierarchical structures to form the world around us. Applying the hierarchical architecture paradigm to smart materials can provide a basis for a new genre of actuators which produce complex actuation motions. One promising example of cellular architecture—active knits—provides complex three-dimensional distributed actuation motions with expanded operational performance through a hierarchically organized structure. The hierarchical structure arranges a single fiber of active material, such as shape memory alloys (SMAs), into a cellular network of interlacing adjacent loops according to a knitting grid. This paper defines a four-level hierarchical classification of knit structures: the basic knit loop, knit patterns, grid patterns, and restructured grids. Each level of the hierarchy provides increased architectural complexity, resulting in expanded kinematic actuation motions of active knits. The range of kinematic actuation motions are displayed through experimental examples of different SMA active knits. The results from this paper illustrate and classify the ways in which each level of the hierarchical knit architecture leverages the performance of the base smart material to generate unique actuation motions, providing necessary insight to best exploit this new actuation paradigm. (paper)

  17. Path-Goal Theory of Leadership

    Science.gov (United States)

    1975-04-01

    Leadership and Turnover Among Managers ," Organization Behavior and Human Performance, 10(1973), pp. 184-200; R. J. House, "A Path-Goal Theory of...of Leadership ." 6R. J. House and G. Dessler, "Path-Goal Theory of Leadership " R. M. Stqg- dill. Managers , Employees, Organization (Ohio State...of Control." 23 R. J. House, "Notes on the Path-Goal Theory of Leadership " (University of Toronto, Faculty of Management Studies, May 1974). 24 R

  18. Quivers of Bound Path Algebras and Bound Path Coalgebras

    Directory of Open Access Journals (Sweden)

    Dr. Intan Muchtadi

    2010-09-01

    Full Text Available bras and coalgebras can be represented as quiver (directed graph, and from quiver we can construct algebras and coalgebras called path algebras and path coalgebras. In this paper we show that the quiver of a bound path coalgebra (resp. algebra is the dual quiver of its bound path algebra (resp. coalgebra.

  19. Path Models of Vocal Emotion Communication.

    Directory of Open Access Journals (Sweden)

    Tanja Bänziger

    Full Text Available We propose to use a comprehensive path model of vocal emotion communication, encompassing encoding, transmission, and decoding processes, to empirically model data sets on emotion expression and recognition. The utility of the approach is demonstrated for two data sets from two different cultures and languages, based on corpora of vocal emotion enactment by professional actors and emotion inference by naïve listeners. Lens model equations, hierarchical regression, and multivariate path analysis are used to compare the relative contributions of objectively measured acoustic cues in the enacted expressions and subjective voice cues as perceived by listeners to the variance in emotion inference from vocal expressions for four emotion families (fear, anger, happiness, and sadness. While the results confirm the central role of arousal in vocal emotion communication, the utility of applying an extended path modeling framework is demonstrated by the identification of unique combinations of distal cues and proximal percepts carrying information about specific emotion families, independent of arousal. The statistical models generated show that more sophisticated acoustic parameters need to be developed to explain the distal underpinnings of subjective voice quality percepts that account for much of the variance in emotion inference, in particular voice instability and roughness. The general approach advocated here, as well as the specific results, open up new research strategies for work in psychology (specifically emotion and social perception research and engineering and computer science (specifically research and development in the domain of affective computing, particularly on automatic emotion detection and synthetic emotion expression in avatars.

  20. DICOM involving XML path-tag

    Science.gov (United States)

    Zeng, Qiang; Yao, Zhihong; Liu, Lei

    2011-03-01

    Digital Imaging and Communications in Medicine (DICOM) is a standard for handling, storing, printing, and transmitting information in medical imaging. XML (Extensible Markup Language) is a set of rules for encoding documents in machine-readable form which has become more and more popular. The combination of these two is very necessary and promising. Using XML tags instead of numeric labels in DICOM files will effectively increase the readability and enhance the clear hierarchical structure of DICOM files. However, due to the fact that the XML tags rely heavily on the orders of the tags, the strong data dependency has a lot of influence on the flexibility of inserting and exchanging data. In order to improve the extensibility and sharing of DICOM files, this paper introduces XML Path-Tag to DICOM. When a DICOM file is converted to XML format, adding simple Path-Tag into the DICOM file in place of complex tags will keep the flexibility of a DICOM file while inserting data elements and give full play to the advantages of the structure and readability of an XML file. Our method can solve the weak readability problem of DICOM files and the tedious work of inserting data into an XML file. In addition, we set up a conversion engine that can transform among traditional DICOM files, XML-DCM and XML-DCM files involving XML Path-Tag efficiently.

  1. Hierarchical Control Strategy of Heat and Power for Zero Energy Buildings including Hybrid Fuel Cell/Photovoltaic Power Sources and Plug-in Electric Vehicle

    DEFF Research Database (Denmark)

    Ghiasi, Mohammad Iman; Aliakbar Golkar, Masoud; Hajizadeh, Amin

    2016-01-01

    to demonstrate the effectiveness and capability of the proposed control strategy during different operating conditions in the utility grid. Finally, the performance of the proposed controller is verified using hardware-in-the-loop (HIL) real-time simulations carried out in OPAL-RT technologies for a real...

  2. Anisotropic and Hierarchical Porosity in Multifunctional Ceramics

    Science.gov (United States)

    Lichtner, Aaron Zev

    The performance of multifunctional porous ceramics is often hindered by the seemingly contradictory effects of porosity on both mechanical and non-structural properties and yet a sufficient body of knowledge linking microstructure to these properties does not exist. Using a combination of tailored anisotropic and hierarchical materials, these disparate effects may be reconciled. In this project, a systematic investigation of the processing, characterization and properties of anisotropic and isotropic hierarchically porous ceramics was conducted. The system chosen was a composite ceramic intended as the cathode for a solid oxide fuel cell (SOFC). Comprehensive processing investigations led to the development of approaches to make hierarchical, anisotropic porous microstructures using directional freeze-casting of well dispersed slurries. The effect of all the important processing parameters was investigated. This resulted in an ability to tailor and control the important microstructural features including the scale of the microstructure, the macropore size and total porosity. Comparable isotropic porous ceramics were also processed using fugitive pore formers. A suite of characterization techniques including x-ray tomography and 3-D sectional scanning electron micrographs (FIB-SEM) was used to characterize and quantify the green and partially sintered microstructures. The effect of sintering temperature on the microstructure was quantified and discrete element simulations (DEM) were used to explain the experimental observations. Finally, the comprehensive mechanical properties, at room temperature, were investigated, experimentally and using DEM, for the different microstructures.

  3. Hierarchical Fiber Structures Made by Electrospinning Polymers

    Science.gov (United States)

    Reneker, Darrell H.

    2009-03-01

    A filter for water purification that is very thin, with small interstices and high surface area per unit mass, can be made with nanofibers. The mechanical strength of a very thin sheet of nanofibers is not great enough to withstand the pressure drop of the fluid flowing through. If the sheet of nanofibers is made thicker, the strength will increase, but the flow will be reduced to an impractical level. An optimized filter can be made with nanometer scale structures supported on micron scale structures, which are in turn supported on millimeter scale structures. This leads to a durable hierarchical structure to optimize the filtration efficiency with a minimum amount of material. Buckling coils,ootnotetextTao Han, Darrell H Reneker, Alexander L. Yarin, Polymer, Volume 48, issue 20 (September 21, 2007), p. 6064-6076. electrical bending coilsootnotetextDarrell H. Reneker and Alexander L. Yarin, Polymer, Volume 49, Issue 10 (2008) Pages 2387-2425, DOI:10.1016/j.polymer.2008.02.002. Feature Article. and pendulum coilsootnotetextT. Han, D.H. Reneker, A.L. Yarin, Polymer, Volume 49, (2008) Pages 2160-2169, doi:10.1016/jpolymer.2008.01.0487878. spanning dimensions from a few microns to a few centimeters can be collected from a single jet by controlling the position and motion of a collector. Attractive routes to the design and construction of hierarchical structures for filtration are based on nanofibers supported on small coils that are in turn supported on larger coils, which are supported on even larger overlapping coils. ``Such top-down'' hierarchical structures are easy to make by electrospinning. In one example, a thin hierarchical structure was made, with a high surface area and small interstices, having an open area of over 50%, with the thinnest fibers supported at least every 15 microns.

  4. Hierarchical video summarization based on context clustering

    Science.gov (United States)

    Tseng, Belle L.; Smith, John R.

    2003-11-01

    A personalized video summary is dynamically generated in our video personalization and summarization system based on user preference and usage environment. The three-tier personalization system adopts the server-middleware-client architecture in order to maintain, select, adapt, and deliver rich media content to the user. The server stores the content sources along with their corresponding MPEG-7 metadata descriptions. In this paper, the metadata includes visual semantic annotations and automatic speech transcriptions. Our personalization and summarization engine in the middleware selects the optimal set of desired video segments by matching shot annotations and sentence transcripts with user preferences. Besides finding the desired contents, the objective is to present a coherent summary. There are diverse methods for creating summaries, and we focus on the challenges of generating a hierarchical video summary based on context information. In our summarization algorithm, three inputs are used to generate the hierarchical video summary output. These inputs are (1) MPEG-7 metadata descriptions of the contents in the server, (2) user preference and usage environment declarations from the user client, and (3) context information including MPEG-7 controlled term list and classification scheme. In a video sequence, descriptions and relevance scores are assigned to each shot. Based on these shot descriptions, context clustering is performed to collect consecutively similar shots to correspond to hierarchical scene representations. The context clustering is based on the available context information, and may be derived from domain knowledge or rules engines. Finally, the selection of structured video segments to generate the hierarchical summary efficiently balances between scene representation and shot selection.

  5. Diversion Path Analysis Handbook. Volume 1. Methodology

    International Nuclear Information System (INIS)

    Goodwin, K.E.; Schleter, J.C.; Maltese, M.D.K.

    1978-11-01

    Diversion Path Analysis (DPA) is a safeguards evaluation tool which is used to determine the vulnerability of the Material Control and Material Accounting (MC and MA) Subsystems to the threat of theft of Special Nuclear Material (SNM) by a knowledgeable Insider. The DPA team should consist of two individuals who have technical backgrounds. The implementation of DPA is divided into five basic steps: Information and Data Gathering, Process Characterization, Analysis of Diversion Paths, Results and Findings, and Documentation

  6. Feasible Path Planning for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Vu Trieu Minh

    2014-01-01

    Full Text Available The objective of this paper is to find feasible path planning algorithms for nonholonomic vehicles including flatness, polynomial, and symmetric polynomial trajectories subject to the real vehicle dynamical constraints. Performances of these path planning methods are simulated and compared to evaluate the more realistic and smoother generated trajectories. Results show that the symmetric polynomial algorithm provides the smoothest trajectory. Therefore, this algorithm is recommended for the development of an automatic control for autonomous vehicles.

  7. Changes of hierarchical network in local and world stock market

    Science.gov (United States)

    Patwary, Enayet Ullah; Lee, Jong Youl; Nobi, Ashadun; Kim, Doo Hwan; Lee, Jae Woo

    2017-10-01

    We consider the cross-correlation coefficients of the daily returns in the local and global stock markets. We generate the minimal spanning tree (MST) using the correlation matrix. We observe that the MSTs change their structure from chain-like networks to star-like networks during periods of market uncertainty. We quantify the measure of the hierarchical network utilizing the value of the hierarchy measured by the hierarchical path. The hierarchy and betweenness centrality characterize the state of the market regarding the impact of crises. During crises, the non-financial company is established as the central node of the MST. However, before the crisis and during stable periods, the financial company is occupying the central node of the MST in the Korean and the U.S. stock markets. The changes in the network structure and the central node are good indicators of an upcoming crisis.

  8. Paths correlation matrix.

    Science.gov (United States)

    Qian, Weixian; Zhou, Xiaojun; Lu, Yingcheng; Xu, Jiang

    2015-09-15

    Both the Jones and Mueller matrices encounter difficulties when physically modeling mixed materials or rough surfaces due to the complexity of light-matter interactions. To address these issues, we derived a matrix called the paths correlation matrix (PCM), which is a probabilistic mixture of Jones matrices of every light propagation path. Because PCM is related to actual light propagation paths, it is well suited for physical modeling. Experiments were performed, and the reflection PCM of a mixture of polypropylene and graphite was measured. The PCM of the mixed sample was accurately decomposed into pure polypropylene's single reflection, pure graphite's single reflection, and depolarization caused by multiple reflections, which is consistent with the theoretical derivation. Reflection parameters of rough surface can be calculated from PCM decomposition, and the results fit well with the theoretical calculations provided by the Fresnel equations. These theoretical and experimental analyses verify that PCM is an efficient way to physically model light-matter interactions.

  9. Leavitt path algebras

    CERN Document Server

    Abrams, Gene; Siles Molina, Mercedes

    2017-01-01

    This book offers a comprehensive introduction by three of the leading experts in the field, collecting fundamental results and open problems in a single volume. Since Leavitt path algebras were first defined in 2005, interest in these algebras has grown substantially, with ring theorists as well as researchers working in graph C*-algebras, group theory and symbolic dynamics attracted to the topic. Providing a historical perspective on the subject, the authors review existing arguments, establish new results, and outline the major themes and ring-theoretic concepts, such as the ideal structure, Z-grading and the close link between Leavitt path algebras and graph C*-algebras. The book also presents key lines of current research, including the Algebraic Kirchberg Phillips Question, various additional classification questions, and connections to noncommutative algebraic geometry. Leavitt Path Algebras will appeal to graduate students and researchers working in the field and related areas, such as C*-algebras and...

  10. The Thinnest Path Problem

    Science.gov (United States)

    2016-07-22

    be reduced to TP in -D UDH for any . We then show that the 2-D disk hypergraph constructed in the proof of Theorem 1 can be modified to an exposed...transmission range that induces hy- peredge , i.e., (3) GAO et al.: THINNEST PATH PROBLEM 1181 Theorem 5 shows that the covered area of the path...representation of (the two hyperedges rooted at from the example given in Fig. 6 are illustrated in green and blue, respectively). step, we show in this

  11. Path dependence and creation

    DEFF Research Database (Denmark)

    Garud, Raghu; Karnøe, Peter

    This edited volume stems from a conference held in Copenhagen that the authors ran in August of 1997. The authors, aware of the recent work in evolutionary theory and the science of chaos and complexity, challenge the sometimes deterministic flavour of this work. They are interested in uncovering...... the place of agency in these theories that take history so seriously. In the end, they are as interested in path creation and destruction as they are in path dependence. This book is compiled of both theoretical and empirical writing. It shows relatively well-known industries such as the automobile...

  12. Reparametrization in the path integral

    International Nuclear Information System (INIS)

    Storchak, S.N.

    1983-01-01

    The question of the invariance of a measure in the n-dimensional path integral under the path reparametrization is considered. The non-invariance of the measure through the jacobian is suggeste. After the path integral reparametrization the representatioq for the Green's function of the Hamilton operator in terms of the path integral with the classical Hamiltonian has been obtained

  13. Nearly Cyclic Pursuit and its Hierarchical variant for Multi-agent Systems

    DEFF Research Database (Denmark)

    Iqbal, Muhammad; Leth, John-Josef; Ngo, Trung Dung

    2015-01-01

    The rendezvous problem for multiple agents under nearly cyclic pursuit and hierarchical nearly cyclic pursuit is discussed in this paper. The control law designed under nearly cyclic pursuit strategy enables the agents to converge at a point dictated by a beacon. A hierarchical version of the nea......The rendezvous problem for multiple agents under nearly cyclic pursuit and hierarchical nearly cyclic pursuit is discussed in this paper. The control law designed under nearly cyclic pursuit strategy enables the agents to converge at a point dictated by a beacon. A hierarchical version...

  14. MEASURING PATH DEPENDENCY

    Directory of Open Access Journals (Sweden)

    Peter Juhasz

    2017-03-01

    Full Text Available While risk management gained popularity during the last decades even some of the basic risk types are still far out of focus. One of these is path dependency that refers to the uncertainty of how we reach a certain level of total performance over time. While decision makers are careful in accessing how their position will look like the end of certain periods, little attention is given how they will get there through the period. The uncertainty of how a process will develop across a shorter period of time is often “eliminated” by simply choosing a longer planning time interval, what makes path dependency is one of the most often overlooked business risk types. After reviewing the origin of the problem we propose and compare seven risk measures to access path. Traditional risk measures like standard deviation of sub period cash flows fail to capture this risk type. We conclude that in most cases considering the distribution of the expected cash flow effect caused by the path dependency may offer the best method, but we may need to use several measures at the same time to include all the optimisation limits of the given firm

  15. Optimal Path Determination for Flying Vehicle to Search an Object

    Science.gov (United States)

    Heru Tjahjana, R.; Heri Soelistyo U, R.; Ratnasari, L.; Irawanto, B.

    2018-01-01

    In this paper, a method to determine optimal path for flying vehicle to search an object is proposed. Background of the paper is controlling air vehicle to search an object. Optimal path determination is one of the most popular problem in optimization. This paper describe model of control design for a flying vehicle to search an object, and focus on the optimal path that used to search an object. In this paper, optimal control model is used to control flying vehicle to make the vehicle move in optimal path. If the vehicle move in optimal path, then the path to reach the searched object also optimal. The cost Functional is one of the most important things in optimal control design, in this paper the cost functional make the air vehicle can move as soon as possible to reach the object. The axis reference of flying vehicle uses N-E-D (North-East-Down) coordinate system. The result of this paper are the theorems which say that the cost functional make the control optimal and make the vehicle move in optimal path are proved analytically. The other result of this paper also shows the cost functional which used is convex. The convexity of the cost functional is use for guarantee the existence of optimal control. This paper also expose some simulations to show an optimal path for flying vehicle to search an object. The optimization method which used to find the optimal control and optimal path vehicle in this paper is Pontryagin Minimum Principle.

  16. Deliberate change without hierarchical influence?

    DEFF Research Database (Denmark)

    Nørskov, Sladjana; Kesting, Peter; Ulhøi, John Parm

    2017-01-01

    reveals that deliberate change is indeed achievable in a non-hierarchical collaborative OSS community context. However, it presupposes the presence and active involvement of informal change agents. The paper identifies and specifies four key drivers for change agents’ influence. Originality....../value The findings contribute to organisational analysis by providing a deeper understanding of the importance of leadership in making deliberate change possible in non-hierarchical settings. It points to the importance of “change-by-conviction”, essentially based on voluntary behaviour. This can open the door...

  17. Flow and transport in hierarchically fractured systems

    International Nuclear Information System (INIS)

    Karasaki, K.

    1993-01-01

    Preliminary results indicate that flow in the saturated zone at Yucca Mountain is controlled by fractures. A current conceptual model assumes that the flow in the fracture system can be approximately by a three-dimensionally interconnected network of linear conduits. The overall flow system of rocks at Yucca Mountain is considered to consist of hierarchically structured heterogeneous fracture systems of multiple scales. A case study suggests that it is more appropriate to use the flow parameters of the large fracture system for predicting the first arrival time, rather than using the bulk average parameters of the total system

  18. Modular networks with hierarchical organization

    Indian Academy of Sciences (India)

    Several networks occurring in real life have modular structures that are arranged in a hierarchical fashion. In this paper, we have proposed a model for such networks, using a stochastic generation method. Using this model we show that, the scaling relation between the clustering and degree of the nodes is not a necessary ...

  19. Hierarchical Microaggressions in Higher Education

    Science.gov (United States)

    Young, Kathryn; Anderson, Myron; Stewart, Saran

    2015-01-01

    Although there has been substantial research examining the effects of microaggressions in the public sphere, there has been little research that examines microaggressions in the workplace. This study explores the types of microaggressions that affect employees at universities. We coin the term "hierarchical microaggression" to represent…

  20. Hierarchical self-assembly of magnetic nanoclusters for theranostics: Tunable size, enhanced magnetic resonance imagability, and controlled and targeted drug delivery.

    Science.gov (United States)

    Nguyen, Dai Hai; Lee, Jung Seok; Choi, Jong Hoon; Park, Kyung Min; Lee, Yunki; Park, Ki Dong

    2016-04-15

    Nanoparticle-based imaging and therapy are of interest for theranostic nanomedicine. In particular, superparamagnetic iron oxide (SPIO) nanoparticles (NPs) have attracted much attention in cancer imaging, diagnostics, and treatment because of their superior imagability and biocompatibility (approved by the Food and Drug Administration). Here, we developed SPIO nanoparticles (NPs) that self-assembled into magnetic nanoclusters (SAMNs) in aqueous environments as a theranostic nano-system. To generate multi-functional SPIO NPs, we covalently conjugated β-cyclodextrin (β-CD) to SPIO NPs using metal-adhesive dopamine groups. Polyethylene glycol (PEG) and paclitaxel (PTX) were hosted in the β-CD cavity through high affinity complexation. The core-shell structure of the magnetic nanoclusters was elucidated based on the condensed SPIO core and a PEG shell using electron microscopy and the composition was analyzed by thermogravimetric analysis (TGA). Our results indicate that nanocluster size could be readily controlled by changing the SPIO/PEG ratio in the assemblies. Interestingly, we observed a significant enhancement in magnetic resonance contrast due to the large cluster size and dense iron oxide core. In addition, tethering a tumor-targeting peptide to the SAMNs enhanced their uptake into tumor cells. PTX was efficiently loaded into β-CDs and released in a controlled manner when exposed to competitive guest molecules. These results strongly indicate that the SAMNs developed in this study possess great potential for application in image-guided cancer chemotherapy. In this study, we developed multi-functional SPIO NPs that self-assembled into magnetic nanoclusters (SAMNs) in aqueous conditions as a theranostic nano-system. The beta-cyclodextrin (β-CD) was immobilized on the surfaces of SPIO NPs and RGD-conjugated polyethylene glycol (PEG) and paclitaxel (PTX) were hosted in the β-CD cavity through high affinity complexation. We found that nanocluster size could be

  1. Nonadiabatic transition path sampling

    International Nuclear Information System (INIS)

    Sherman, M. C.; Corcelli, S. A.

    2016-01-01

    Fewest-switches surface hopping (FSSH) is combined with transition path sampling (TPS) to produce a new method called nonadiabatic path sampling (NAPS). The NAPS method is validated on a model electron transfer system coupled to a Langevin bath. Numerically exact rate constants are computed using the reactive flux (RF) method over a broad range of solvent frictions that span from the energy diffusion (low friction) regime to the spatial diffusion (high friction) regime. The NAPS method is shown to quantitatively reproduce the RF benchmark rate constants over the full range of solvent friction. Integrating FSSH within the TPS framework expands the applicability of both approaches and creates a new method that will be helpful in determining detailed mechanisms for nonadiabatic reactions in the condensed-phase.

  2. Hierarchically structured, nitrogen-doped carbon membranes

    KAUST Repository

    Wang, Hong; Wu, Tao

    2017-01-01

    The present invention is a structure, method of making and method of use for a novel macroscopic hierarchically structured, nitrogen-doped, nano-porous carbon membrane (HNDCMs) with asymmetric and hierarchical pore architecture that can be produced

  3. PATHS groundwater hydrologic model

    Energy Technology Data Exchange (ETDEWEB)

    Nelson, R.W.; Schur, J.A.

    1980-04-01

    A preliminary evaluation capability for two-dimensional groundwater pollution problems was developed as part of the Transport Modeling Task for the Waste Isolation Safety Assessment Program (WISAP). Our approach was to use the data limitations as a guide in setting the level of modeling detail. PATHS Groundwater Hydrologic Model is the first level (simplest) idealized hybrid analytical/numerical model for two-dimensional, saturated groundwater flow and single component transport; homogeneous geology. This document consists of the description of the PATHS groundwater hydrologic model. The preliminary evaluation capability prepared for WISAP, including the enhancements that were made because of the authors' experience using the earlier capability is described. Appendixes A through D supplement the report as follows: complete derivations of the background equations are provided in Appendix A. Appendix B is a comprehensive set of instructions for users of PATHS. It is written for users who have little or no experience with computers. Appendix C is for the programmer. It contains information on how input parameters are passed between programs in the system. It also contains program listings and test case listing. Appendix D is a definition of terms.

  4. Automated path length and M56 measurements at Jefferson Lab

    International Nuclear Information System (INIS)

    Hardy, D.; Tang, J.; Legg, R.

    1997-01-01

    Accurate measurement of path length and path length changes versus momentum (M 56 ) are critical for maintaining minimum beam energy spread in the CEBAF (Continuous Electron Beam Accelerator Facility) accelerator at the Thomas Jefferson National Accelerator Facility (Jefferson Lab). The relative path length for each circuit of the beam (1256m) must be equal within 1.5 degrees of 1497 MHz RF phase. A relative path length measurement is made by measuring the relative phases of RF signals from a cavity that is separately excited for each pass of a 4.2 μs pulsed beam. This method distinguishes the path length to less than 0.5 path length error. The development of a VME based automated measurement system for path length and M 56 has contributed to faster machine setup time and has the potential for use as a feedback parameter for automated control

  5. Hierarchical processing in the prefrontal cortex in a variety of cognitive domains

    Directory of Open Access Journals (Sweden)

    Hyeon-Ae eJeon

    2014-11-01

    Full Text Available This review scrutinizes several findings on human hierarchical processing within the prefrontal cortex (PFC in diverse cognitive domains. Converging evidence from previous studies has shown that the PFC, specifically Brodmann area (BA 44, may function as the essential region for hierarchical processing across the domains. In language fMRI studies, BA 44 was significantly activated for the hierarchical processing of center-embedded sentences and this pattern of activations was also observed in artificial grammar. The same pattern was observed in the visuo-spatial domain where BA44 was actively involved in the processing of hierarchy for the visual symbol. Musical syntax, which is the rule-based arrangement of musical sets, has also been construed as hierarchical processing as in the language domain such that the activation in BA44 was observed in a chord sequence paradigm. P600 ERP was also engendered during the processing of musical hierarchy. Along with a longstanding idea that a human’s number faculty is developed as a by-product of language faculty, BA44 was closely involved in hierarchical processing in mental arithmetic. This review extended its discussion of hierarchical processing to hierarchical behavior, that is, human action which has been referred to as being hierarchically composed. Several lesion and TMS studies supported the involvement of BA44 for hierarchical processing in the action domain. Lastly, the hierarchical organization of cognitive controls was discussed within the PFC, forming a cascade of top-down hierarchical processes operating along a posterior-to-anterior axis of the lateral PFC including BA44 within the network. It is proposed that PFC is actively involved in different forms of hierarchical processing and specifically BA44 may play an integral role in the process. Taking levels of proficiency and subcortical areas into consideration may provide further insight into the functional role of BA44 for hierarchical

  6. Analysis of factors controlling soil phosphorus loss with surface runoff in Huihe National Nature Reserve by principal component and path analysis methods.

    Science.gov (United States)

    He, Jing; Su, Derong; Lv, Shihai; Diao, Zhaoyan; Bu, He; Wo, Qiang

    2018-01-01

    Phosphorus (P) loss with surface runoff accounts for the P input to and acceleration of eutrophication of the freshwater. Many studies have focused on factors affecting P loss with surface runoff from soils, but rarely on the relationship among these factors. In the present study, rainfall simulation on P loss with surface runoff was conducted in Huihe National Nature Reserve, in Hulunbeier grassland, China, and the relationships between P loss with surface runoff, soil properties, and rainfall conditions were examined. Principal component analysis and path analysis were used to analyze the direct and indirect effects on P loss with surface runoff. The results showed that P loss with surface runoff was closely correlated with soil electrical conductivity, soil pH, soil Olsen P, soil total nitrogen (TN), soil total phosphorus (TP), and soil organic carbon (SOC). The main driving factors which influenced P loss with surface runoff were soil TN, soil pH, soil Olsen P, and soil water content. Path analysis and determination coefficient analysis indicated that the standard multiple regression equation for P loss with surface runoff and each main factor was Y = 7.429 - 0.439 soil TN - 6.834 soil pH + 1.721 soil Olsen-P + 0.183 soil water content (r = 0.487, p runoff. The effect of physical and chemical properties of undisturbed soils on P loss with surface runoff was discussed, and the soil water content and soil Olsen P were strongly positive influences on the P loss with surface runoff.

  7. Path following mobile robot in the presence of velocity constraints

    DEFF Research Database (Denmark)

    Bak, Martin; Poulsen, Niels Kjølstad; Ravn, Ole

    2001-01-01

    This paper focuses on path following algorithms for mobile robots with velocity constraints on the wheels. The path considered consists of straight lines intersected with given angles. We present a fast real-time receding horizon controller which anticipates the intersections and smoothly control...

  8. Shortest Paths and Vehicle Routing

    DEFF Research Database (Denmark)

    Petersen, Bjørn

    This thesis presents how to parallelize a shortest path labeling algorithm. It is shown how to handle Chvátal-Gomory rank-1 cuts in a column generation context. A Branch-and-Cut algorithm is given for the Elementary Shortest Paths Problem with Capacity Constraint. A reformulation of the Vehicle...... Routing Problem based on partial paths is presented. Finally, a practical application of finding shortest paths in the telecommunication industry is shown....

  9. Automatic Hierarchical Color Image Classification

    Directory of Open Access Journals (Sweden)

    Jing Huang

    2003-02-01

    Full Text Available Organizing images into semantic categories can be extremely useful for content-based image retrieval and image annotation. Grouping images into semantic classes is a difficult problem, however. Image classification attempts to solve this hard problem by using low-level image features. In this paper, we propose a method for hierarchical classification of images via supervised learning. This scheme relies on using a good low-level feature and subsequently performing feature-space reconfiguration using singular value decomposition to reduce noise and dimensionality. We use the training data to obtain a hierarchical classification tree that can be used to categorize new images. Our experimental results suggest that this scheme not only performs better than standard nearest-neighbor techniques, but also has both storage and computational advantages.

  10. Hierarchical Semantic Model of Geovideo

    Directory of Open Access Journals (Sweden)

    XIE Xiao

    2015-05-01

    Full Text Available The public security incidents were getting increasingly challenging with regard to their new features, including multi-scale mobility, multistage dynamic evolution, as well as spatiotemporal concurrency and uncertainty in the complex urban environment. However, the existing video models, which were used/designed for independent archive or local analysis of surveillance video, have seriously inhibited emergency response to the urgent requirements.Aiming at the explicit representation of change mechanism in video, the paper proposed a novel hierarchical geovideo semantic model using UML. This model was characterized by the hierarchical representation of both data structure and semantics based on the change-oriented three domains (feature domain, process domain and event domain instead of overall semantic description of video streaming; combining both geographical semantics and video content semantics, in support of global semantic association between multiple geovideo data. The public security incidents by video surveillance are inspected as an example to illustrate the validity of this model.

  11. Hybrid and hierarchical composite materials

    CERN Document Server

    Kim, Chang-Soo; Sano, Tomoko

    2015-01-01

    This book addresses a broad spectrum of areas in both hybrid materials and hierarchical composites, including recent development of processing technologies, structural designs, modern computer simulation techniques, and the relationships between the processing-structure-property-performance. Each topic is introduced at length with numerous  and detailed examples and over 150 illustrations.   In addition, the authors present a method of categorizing these materials, so that representative examples of all material classes are discussed.

  12. Hierarchical analysis of urban space

    OpenAIRE

    Kataeva, Y.

    2014-01-01

    Multi-level structure of urban space, multitude of subjects of its transformation, which follow asymmetric interests, multilevel system of institutions which regulate interaction in the "population business government -public organizations" system, determine the use of hierarchic approach to the analysis of urban space. The article observes theoretical justification of using this approach to study correlations and peculiarities of interaction in urban space as in an intricately organized syst...

  13. Rocket Flight Path

    Directory of Open Access Journals (Sweden)

    Jamie Waters

    2014-09-01

    Full Text Available This project uses Newton’s Second Law of Motion, Euler’s method, basic physics, and basic calculus to model the flight path of a rocket. From this, one can find the height and velocity at any point from launch to the maximum altitude, or apogee. This can then be compared to the actual values to see if the method of estimation is a plausible. The rocket used for this project is modeled after Bullistic-1 which was launched by the Society of Aeronautics and Rocketry at the University of South Florida.

  14. JAVA PathFinder

    Science.gov (United States)

    Mehhtz, Peter

    2005-01-01

    JPF is an explicit state software model checker for Java bytecode. Today, JPF is a swiss army knife for all sort of runtime based verification purposes. This basically means JPF is a Java virtual machine that executes your program not just once (like a normal VM), but theoretically in all possible ways, checking for property violations like deadlocks or unhandled exceptions along all potential execution paths. If it finds an error, JPF reports the whole execution that leads to it. Unlike a normal debugger, JPF keeps track of every step how it got to the defect.

  15. Hamiltonian path integrals

    International Nuclear Information System (INIS)

    Prokhorov, L.V.

    1982-01-01

    Problems related to consideration of operator nonpermutability in Hamiltonian path integral (HPI) are considered in the review. Integrals are investigated using trajectories in configuration space (nonrelativistic quantum mechanics). Problems related to trajectory integrals in HPI phase space are discussed: the problem of operator nonpermutability consideration (extra terms problem) and corresponding equivalence rules; ambiguity of HPI usual recording; transition to curvilinear coordinates. Problem of quantization of dynamical systems with couplings has been studied. As in the case of canonical transformations, quantization of the systems with couplings of the first kind requires the consideration of extra terms

  16. Path to Prosperity

    OpenAIRE

    Wolfowitz,Paul

    2006-01-01

    Paul Wolfowitz, President of the World Bank, discussed Singapore's remarkable progress along the road from poverty to prosperity which has also been discovered by many other countries in East Asia and around the world. He spoke of how each country must find its own path for people to pursue the same dreams of the chance to go to school, the security of a good job, and the ability to provide a better future for their children. Throughout the world, and importantly in the developing world, ther...

  17. Planning paths through a spatial hierarchy - Eliminating stair-stepping effects

    Science.gov (United States)

    Slack, Marc G.

    1989-01-01

    Stair-stepping effects are a result of the loss of spatial continuity resulting from the decomposition of space into a grid. This paper presents a path planning algorithm which eliminates stair-stepping effects induced by the grid-based spatial representation. The algorithm exploits a hierarchical spatial model to efficiently plan paths for a mobile robot operating in dynamic domains. The spatial model and path planning algorithm map to a parallel machine, allowing the system to operate incrementally, thereby accounting for unexpected events in the operating space.

  18. A high performance hierarchical storage management system for the Canadian tier-1 centre at TRIUMF

    International Nuclear Information System (INIS)

    Deatrich, D C; Liu, S X; Tafirout, R

    2010-01-01

    We describe in this paper the design and implementation of Tapeguy, a high performance non-proprietary Hierarchical Storage Management (HSM) system which is interfaced to dCache for efficient tertiary storage operations. The system has been successfully implemented at the Canadian Tier-1 Centre at TRIUMF. The ATLAS experiment will collect a large amount of data (approximately 3.5 Petabytes each year). An efficient HSM system will play a crucial role in the success of the ATLAS Computing Model which is driven by intensive large-scale data analysis activities that will be performed on the Worldwide LHC Computing Grid infrastructure continuously. Tapeguy is Perl-based. It controls and manages data and tape libraries. Its architecture is scalable and includes Dataset Writing control, a Read-back Queuing mechanism and I/O tape drive load balancing as well as on-demand allocation of resources. A central MySQL database records metadata information for every file and transaction (for audit and performance evaluation), as well as an inventory of library elements. Tapeguy Dataset Writing was implemented to group files which are close in time and of similar type. Optional dataset path control dynamically allocates tape families and assign tapes to it. Tape flushing is based on various strategies: time, threshold or external callbacks mechanisms. Tapeguy Read-back Queuing reorders all read requests by using an elevator algorithm, avoiding unnecessary tape loading and unloading. Implementation of priorities will guarantee file delivery to all clients in a timely manner.

  19. Hierarchical Power Sharing Control in DC Microgrids

    DEFF Research Database (Denmark)

    Peyghami, Saeed; Mokhtari, Hossein; Blaabjerg, Frede

    2016-01-01

    Because of the advances in power electronics, DC-based power systems, have been used in industrial applications such as data centers [18], space applications [10], aircraft [12], offshore wind farms, electric vehicles [56], DC home systems [5, 20], and high-voltage DC transmission systems...

  20. Information Fusion and Control in Hierarchical Systems

    Science.gov (United States)

    2013-05-01

    this complicates the analysis without bringing any additional insights. Therefore, for simplicity, we hence- forth assume a threshold value of 1 in our... complicated expression of Γkij which prevents solution of the differential equations (6.14). 6.3.4 Curvatures and information In the mathematical field of...P. Petersen, Riemannian geometry, Springer, New York, 1998. [77] Z. Yang, J. Laaksonen, Principal whitened gradient for information geometry, Neural

  1. Hierarchical coordination control of mobile robots

    NARCIS (Netherlands)

    Adinandra, S.

    2012-01-01

    In the last decade, robotic systems have penetrated human life more than human can imagine. In particular, the multi-mobile robotic systems have faced a fast growing due to the fact that by deploying a large collection of mobile robots the overall system has a high redundancy and offers the

  2. World nuclear energy paths

    International Nuclear Information System (INIS)

    Connolly, T.J.; Hansen, U.; Jaek, W.; Beckurts, K.H.

    1979-01-01

    In examing the world nuclear energy paths, the following assumptions were adopted: the world economy will grow somewhat more slowly than in the past, leading to reductions in electricity demand growth rates; national and international political impediments to the deployment of nuclear power will gradually disappear over the next few years; further development of nuclear power will proceed steadily, without serious interruption but with realistic lead times for the introduction of advanced technologies. Given these assumptions, this paper attempts a study of possible world nuclear energy developments, disaggregated on a regional and national basis. The scenario technique was used and a few alternative fuel-cycle scenarios were developed. Each is an internally consistent model of technically and economically feasible paths to the further development of nuclear power in an aggregate of individual countries and regions of the world. The main purpose of this modeling exercise was to gain some insight into the probable international locations of reactors and other nuclear facilities, the future requirements for uranium and for fuel-cycle services, and the problems of spent-fuel storage and waste management. The study also presents an assessment of the role that nuclear power might actually play in meeting future world energy demand

  3. Convex Clustering: An Attractive Alternative to Hierarchical Clustering

    Science.gov (United States)

    Chen, Gary K.; Chi, Eric C.; Ranola, John Michael O.; Lange, Kenneth

    2015-01-01

    The primary goal in cluster analysis is to discover natural groupings of objects. The field of cluster analysis is crowded with diverse methods that make special assumptions about data and address different scientific aims. Despite its shortcomings in accuracy, hierarchical clustering is the dominant clustering method in bioinformatics. Biologists find the trees constructed by hierarchical clustering visually appealing and in tune with their evolutionary perspective. Hierarchical clustering operates on multiple scales simultaneously. This is essential, for instance, in transcriptome data, where one may be interested in making qualitative inferences about how lower-order relationships like gene modules lead to higher-order relationships like pathways or biological processes. The recently developed method of convex clustering preserves the visual appeal of hierarchical clustering while ameliorating its propensity to make false inferences in the presence of outliers and noise. The solution paths generated by convex clustering reveal relationships between clusters that are hidden by static methods such as k-means clustering. The current paper derives and tests a novel proximal distance algorithm for minimizing the objective function of convex clustering. The algorithm separates parameters, accommodates missing data, and supports prior information on relationships. Our program CONVEXCLUSTER incorporating the algorithm is implemented on ATI and nVidia graphics processing units (GPUs) for maximal speed. Several biological examples illustrate the strengths of convex clustering and the ability of the proximal distance algorithm to handle high-dimensional problems. CONVEXCLUSTER can be freely downloaded from the UCLA Human Genetics web site at http://www.genetics.ucla.edu/software/ PMID:25965340

  4. Neural Architectures for Control

    Science.gov (United States)

    Peterson, James K.

    1991-01-01

    The cerebellar model articulated controller (CMAC) neural architectures are shown to be viable for the purposes of real-time learning and control. Software tools for the exploration of CMAC performance are developed for three hardware platforms, the MacIntosh, the IBM PC, and the SUN workstation. All algorithm development was done using the C programming language. These software tools were then used to implement an adaptive critic neuro-control design that learns in real-time how to back up a trailer truck. The truck backer-upper experiment is a standard performance measure in the neural network literature, but previously the training of the controllers was done off-line. With the CMAC neural architectures, it was possible to train the neuro-controllers on-line in real-time on a MS-DOS PC 386. CMAC neural architectures are also used in conjunction with a hierarchical planning approach to find collision-free paths over 2-D analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The CMAC architectures are trained in real-time for each obstacle field presented. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array. These results are a very good indication of the potential power of the neural architectures in control design. In order to reach as wide an audience as possible, we have run a seminar on neuro-control that has met once per week since 20 May 1991. This seminar has thoroughly discussed the CMAC architecture, relevant portions of classical control, back propagation through time, and adaptive critic designs.

  5. Paths of Cultural Systems

    Directory of Open Access Journals (Sweden)

    Paul Ballonoff

    2017-12-01

    Full Text Available A theory of cultural structures predicts the objects observed by anthropologists. We here define those which use kinship relationships to define systems. A finite structure we call a partially defined quasigroup (or pdq, as stated by Definition 1 below on a dictionary (called a natural language allows prediction of certain anthropological descriptions, using homomorphisms of pdqs onto finite groups. A viable history (defined using pdqs states how an individual in a population following such history may perform culturally allowed associations, which allows a viable history to continue to survive. The vector states on sets of viable histories identify demographic observables on descent sequences. Paths of vector states on sets of viable histories may determine which histories can exist empirically.

  6. Propagators and path integrals

    Energy Technology Data Exchange (ETDEWEB)

    Holten, J.W. van

    1995-08-22

    Path-integral expressions for one-particle propagators in scalar and fermionic field theories are derived, for arbitrary mass. This establishes a direct connection between field theory and specific classical point-particle models. The role of world-line reparametrization invariance of the classical action and the implementation of the corresponding BRST-symmetry in the quantum theory are discussed. The presence of classical world-line supersymmetry is shown to lead to an unwanted doubling of states for massive spin-1/2 particles. The origin of this phenomenon is traced to a `hidden` topological fermionic excitation. A different formulation of the pseudo-classical mechanics using a bosonic representation of {gamma}{sub 5} is shown to remove these extra states at the expense of losing manifest supersymmetry. (orig.).

  7. innovation path exploration

    Directory of Open Access Journals (Sweden)

    Li Jian

    2016-01-01

    Full Text Available The world has entered the information age, all kinds of information technologies such as cloud technology, big data technology are in rapid development, and the “Internet plus” appeared. The main purpose of “Internet plus” is to provide an opportunity for the further development of the enterprise, the enterprise technology, business and other aspects of factors combine. For enterprises, grasp the “Internet plus” the impact of the market economy will undoubtedly pave the way for the future development of enterprises. This paper will be on the innovation path of the enterprise management “Internet plus” era tied you study, hope to be able to put forward some opinions and suggestions.

  8. Quad-rotor flight path energy optimization

    Science.gov (United States)

    Kemper, Edward

    Quad-Rotor unmanned areal vehicles (UAVs) have been a popular area of research and development in the last decade, especially with the advent of affordable microcontrollers like the MSP 430 and the Raspberry Pi. Path-Energy Optimization is an area that is well developed for linear systems. In this thesis, this idea of path-energy optimization is extended to the nonlinear model of the Quad-rotor UAV. The classical optimization technique is adapted to the nonlinear model that is derived for the problem at hand, coming up with a set of partial differential equations and boundary value conditions to solve these equations. Then, different techniques to implement energy optimization algorithms are tested using simulations in Python. First, a purely nonlinear approach is used. This method is shown to be computationally intensive, with no practical solution available in a reasonable amount of time. Second, heuristic techniques to minimize the energy of the flight path are tested, using Ziegler-Nichols' proportional integral derivative (PID) controller tuning technique. Finally, a brute force look-up table based PID controller is used. Simulation results of the heuristic method show that both reliable control of the system and path-energy optimization are achieved in a reasonable amount of time.

  9. Path Planning Method in Multi-obstacle Marine Environment

    Science.gov (United States)

    Zhang, Jinpeng; Sun, Hanxv

    2017-12-01

    In this paper, an improved algorithm for particle swarm optimization is proposed for the application of underwater robot in the complex marine environment. Not only did consider to avoid obstacles when path planning, but also considered the current direction and the size effect on the performance of the robot dynamics. The algorithm uses the trunk binary tree structure to construct the path search space and A * heuristic search method is used in the search space to find a evaluation standard path. Then the particle swarm algorithm to optimize the path by adjusting evaluation function, which makes the underwater robot in the current navigation easier to control, and consume less energy.

  10. Deep neural network with weight sparsity control and pre-training extracts hierarchical features and enhances classification performance: Evidence from whole-brain resting-state functional connectivity patterns of schizophrenia.

    Science.gov (United States)

    Kim, Junghoe; Calhoun, Vince D; Shim, Eunsoo; Lee, Jong-Hwan

    2016-01-01

    Functional connectivity (FC) patterns obtained from resting-state functional magnetic resonance imaging data are commonly employed to study neuropsychiatric conditions by using pattern classifiers such as the support vector machine (SVM). Meanwhile, a deep neural network (DNN) with multiple hidden layers has shown its ability to systematically extract lower-to-higher level information of image and speech data from lower-to-higher hidden layers, markedly enhancing classification accuracy. The objective of this study was to adopt the DNN for whole-brain resting-state FC pattern classification of schizophrenia (SZ) patients vs. healthy controls (HCs) and identification of aberrant FC patterns associated with SZ. We hypothesized that the lower-to-higher level features learned via the DNN would significantly enhance the classification accuracy, and proposed an adaptive learning algorithm to explicitly control the weight sparsity in each hidden layer via L1-norm regularization. Furthermore, the weights were initialized via stacked autoencoder based pre-training to further improve the classification performance. Classification accuracy was systematically evaluated as a function of (1) the number of hidden layers/nodes, (2) the use of L1-norm regularization, (3) the use of the pre-training, (4) the use of framewise displacement (FD) removal, and (5) the use of anatomical/functional parcellation. Using FC patterns from anatomically parcellated regions without FD removal, an error rate of 14.2% was achieved by employing three hidden layers and 50 hidden nodes with both L1-norm regularization and pre-training, which was substantially lower than the error rate from the SVM (22.3%). Moreover, the trained DNN weights (i.e., the learned features) were found to represent the hierarchical organization of aberrant FC patterns in SZ compared with HC. Specifically, pairs of nodes extracted from the lower hidden layer represented sparse FC patterns implicated in SZ, which was

  11. Analysis of factors controlling sediment phosphorus flux potential of wetlands in Hulun Buir grassland by principal component and path analysis method.

    Science.gov (United States)

    He, Jing; Su, Derong; Lv, Shihai; Diao, Zhaoyan; Ye, Shengxing; Zheng, Zhirong

    2017-11-08

    Phosphorus (P) flux potential can predict the trend of phosphorus release from wetland sediments to water and provide scientific parameters for further monitoring and management for phosphorus flux from wetland sediments to overlying water. Many studies have focused on factors affecting sediment P flux potential in sediment-water interface, but rarely on the relationship among these factors. In the present study, experiment on sediment P flux potential in sediment-water interface was conducted in six wetlands in Hulun Buir grassland, China and the relationships among sediment P flux potential in sediment-water interface, sediment physical properties, and sediment chemical characteristics were examined. Principal component analysis and path analysis were used to discuss these data in correlation coefficient, direct, and indirect effects on sediment P flux potential in sediment-water interface. Results indicated that the major factors affecting sediment P flux potential in sediment-water interface were amount of organophosphate-degradation bacterium in sediment, Ca-P content, and total phosphorus concentrations. The factors of direct influence sediment P flux potential were sediment Ca-P content, Olsen-P content, SOC content, and sediment Al-P content. The indirect influence sediment P flux potential in sediment-water interface was sediment Olsen-P content, sediment SOC content, sediment Ca-P content, and sediment Al-P content. And the standard multiple regression describing the relationship between sediment P flux potential in sediment-water interface and its major effect factors was Y = 5.849 - 1.025X 1  - 1.995X 2  + 0.188X 3  - 0.282X 4 (r = 0.9298, p < 0.01, n = 96), where Y is sediment P flux potential in sediment-water interface, X 1 is sediment Ca-P content, X 2 is sediment Olsen-P content, X 3 is sediment SOC content, and X 4 is sediment Al-P content. Therefore, future research will focus on these sediment properties to analyze the

  12. Hierarchal scalar and vector tetrahedra

    International Nuclear Information System (INIS)

    Webb, J.P.; Forghani, B.

    1993-01-01

    A new set of scalar and vector tetrahedral finite elements are presented. The elements are hierarchal, allowing mixing of polynomial orders; scalar orders up to 3 and vector orders up to 2 are defined. The vector elements impose tangential continuity on the field but not normal continuity, making them suitable for representing the vector electric or magnetic field. Further, the scalar and vector elements are such that they can easily be used in the same mesh, a requirement of many quasi-static formulations. Results are presented for two 50 Hz problems: the Bath Cube, and TEAM Problem 7

  13. Hierarchical modularization of biochemical pathways using fuzzy-c means clustering.

    Science.gov (United States)

    de Luis Balaguer, Maria A; Williams, Cranos M

    2014-08-01

    Biological systems that are representative of regulatory, metabolic, or signaling pathways can be highly complex. Mathematical models that describe such systems inherit this complexity. As a result, these models can often fail to provide a path toward the intuitive comprehension of these systems. More coarse information that allows a perceptive insight of the system is sometimes needed in combination with the model to understand control hierarchies or lower level functional relationships. In this paper, we present a method to identify relationships between components of dynamic models of biochemical pathways that reside in different functional groups. We find primary relationships and secondary relationships. The secondary relationships reveal connections that are present in the system, which current techniques that only identify primary relationships are unable to show. We also identify how relationships between components dynamically change over time. This results in a method that provides the hierarchy of the relationships among components, which can help us to understand the low level functional structure of the system and to elucidate potential hierarchical control. As a proof of concept, we apply the algorithm to the epidermal growth factor signal transduction pathway, and to the C3 photosynthesis pathway. We identify primary relationships among components that are in agreement with previous computational decomposition studies, and identify secondary relationships that uncover connections among components that current computational approaches were unable to reveal.

  14. Controllable synthesis of Bi{sub 2}WO{sub 6} nanoplate self-assembled hierarchical erythrocyte microspheres via a one-pot hydrothermal reaction with enhanced visible light photocatalytic activity

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Zhenya; Huang, Lin; Xie, Yanyu; Lin, Zheguan; Fan, Yunyan; Liu, Dan; Chen, Lu; Zhang, Zizhong, E-mail: z.zhang@fzu.edu.cn; Wang, Xuxu

    2017-05-01

    Highlights: • Bi{sub 2}WO{sub 6} hierarchical erythrocyte structure was designed by F{sup −}-assisted one-pot reaction. • Erythrocyte structure enhanced the visible-light photocatalytic activity of Bi{sub 2}WO{sub 6}. • Superoxide radical anions and h{sup +} were the main active species for RhB degradation. - Abstract: This work provides a simple approach of the F{sup −}-assisted one-pot hydrothermal reaction to successfully synthesize Bi{sub 2}WO{sub 6} hierarchical erythrocyte microspheres. The importance role of F{sup −} was systematically investigated by comparing different type of halogen ions, hydrothermal temperature and time. The possible growth mechanism of Bi{sub 2}WO{sub 6} hierarchical structures was proposed. The hierarchical erythrocytes were formed through the well-ordered and oriented self-assembly of thin Bi{sub 2}WO{sub 6} nanoplate primary subunits. F{sup −} ions were absorbed on Bi{sub 2}WO{sub 6} nanoplate surface to suppress the nanoplate stack but to induce a self-assembly through the edge interaction of Bi{sub 2}WO{sub 6} nanoplates into erythrocyte-like hierarchical microspheres superstructures. This erythrocyte structure narrowed the band gap energy and enhanced the visible-light photocatalytic activity of Bi{sub 2}WO{sub 6}. Moreover, superoxide radical anions and h{sup +} were revealed as the main active species responding for the RhB degradation on Bi{sub 2}WO{sub 6} under visible light irradiation.

  15. A Hybrid 3D Path Planning Method for UAVs

    DEFF Research Database (Denmark)

    Ortiz-Arroyo, Daniel

    2015-01-01

    This paper presents a hybrid method for path planning in 3D spaces. We propose an improvement to a near-optimal 2D off-line algorithm and a flexible normalized on-line fuzzy controller to find shortest paths. Our method, targeted to low altitude domains, is simple and efficient. Our preliminary resu...

  16. A metal-organic framework derived hierarchical nickel-cobalt sulfide nanosheet array on Ni foam with enhanced electrochemical performance for supercapacitors.

    Science.gov (United States)

    Tao, Kai; Han, Xue; Ma, Qingxiang; Han, Lei

    2018-03-06

    Metal-organic frameworks (MOFs) have emerged as a new platform for the construction of various functional materials for energy related applications. Here, a facile MOF templating method is developed to fabricate a hierarchical nickel-cobalt sulfide nanosheet array on conductive Ni foam (Ni-Co-S/NF) as a binder-free electrode for supercapacitors. A uniform 2D Co-MOF nanowall array is first grown in situ on Ni foam in aqueous solution at room temperature, and then the Co-MOF nanowalls are converted into hierarchical Ni-Co-S nanoarchitectures via an etching and ion-exchange reaction with Ni(NO 3 ) 2 , and a subsequent solvothermal sulfurization. Taking advantage of the compositional and structural merits of the hierarchical Ni-Co-S nanosheet array and conductive Ni foam, such as fast electron transportation, short ion diffusion path, abundant active sites and rich redox reactions, the obtained Ni-Co-S/NF electrode exhibits excellent electrochemical capacitive performance (1406.9 F g -1 at 0.5 A g -1 , 53.9% retention at 10 A g -1 and 88.6% retention over 1000 cycles), which is superior to control CoS/NF. An asymmetric supercapacitor (ASC) assembled by using the as-fabricated Ni-Co-S/NF as the positive electrode and activated carbon (AC) as the negative electrode delivers a high energy density of 24.8 W h kg -1 at a high power density of 849.5 W kg -1 . Even when the power density is as high as 8.5 kW kg -1 , the ASC still exhibits a high energy density of 12.5 W h kg -1 . This facile synthetic strategy can also be extended to fabricate other hierarchical integrated electrodes for high-efficiency electrochemical energy conversion and storage devices.

  17. Path integral in Snyder space

    Energy Technology Data Exchange (ETDEWEB)

    Mignemi, S., E-mail: smignemi@unica.it [Dipartimento di Matematica e Informatica, Università di Cagliari, Viale Merello 92, 09123 Cagliari (Italy); INFN, Sezione di Cagliari, Cittadella Universitaria, 09042 Monserrato (Italy); Štrajn, R. [Dipartimento di Matematica e Informatica, Università di Cagliari, Viale Merello 92, 09123 Cagliari (Italy); INFN, Sezione di Cagliari, Cittadella Universitaria, 09042 Monserrato (Italy)

    2016-04-29

    The definition of path integrals in one- and two-dimensional Snyder space is discussed in detail both in the traditional setting and in the first-order formalism of Faddeev and Jackiw. - Highlights: • The definition of the path integral in Snyder space is discussed using phase space methods. • The same result is obtained in the first-order formalism of Faddeev and Jackiw. • The path integral formulation of the two-dimensional Snyder harmonic oscillator is outlined.

  18. Path integral in Snyder space

    International Nuclear Information System (INIS)

    Mignemi, S.; Štrajn, R.

    2016-01-01

    The definition of path integrals in one- and two-dimensional Snyder space is discussed in detail both in the traditional setting and in the first-order formalism of Faddeev and Jackiw. - Highlights: • The definition of the path integral in Snyder space is discussed using phase space methods. • The same result is obtained in the first-order formalism of Faddeev and Jackiw. • The path integral formulation of the two-dimensional Snyder harmonic oscillator is outlined.

  19. Optimization of Hierarchical System for Data Acquisition

    Directory of Open Access Journals (Sweden)

    V. Novotny

    2011-04-01

    Full Text Available Television broadcasting over IP networks (IPTV is one of a number of network applications that are except of media distribution also interested in data acquisition from group of information resources of variable size. IP-TV uses Real-time Transport Protocol (RTP protocol for media streaming and RTP Control Protocol (RTCP protocol for session quality feedback. Other applications, for example sensor networks, have data acquisition as the main task. Current solutions have mostly problem with scalability - how to collect and process information from large amount of end nodes quickly and effectively? The article deals with optimization of hierarchical system of data acquisition. Problem is mathematically described, delay minima are searched and results are proved by simulations.

  20. Growing hierarchical probabilistic self-organizing graphs.

    Science.gov (United States)

    López-Rubio, Ezequiel; Palomo, Esteban José

    2011-07-01

    Since the introduction of the growing hierarchical self-organizing map, much work has been done on self-organizing neural models with a dynamic structure. These models allow adjusting the layers of the model to the features of the input dataset. Here we propose a new self-organizing model which is based on a probabilistic mixture of multivariate Gaussian components. The learning rule is derived from the stochastic approximation framework, and a probabilistic criterion is used to control the growth of the model. Moreover, the model is able to adapt to the topology of each layer, so that a hierarchy of dynamic graphs is built. This overcomes the limitations of the self-organizing maps with a fixed topology, and gives rise to a faithful visualization method for high-dimensional data.

  1. Loops in hierarchical channel networks

    Science.gov (United States)

    Katifori, Eleni; Magnasco, Marcelo

    2012-02-01

    Nature provides us with many examples of planar distribution and structural networks having dense sets of closed loops. An archetype of this form of network organization is the vasculature of dicotyledonous leaves, which showcases a hierarchically-nested architecture. Although a number of methods have been proposed to measure aspects of the structure of such networks, a robust metric to quantify their hierarchical organization is still lacking. We present an algorithmic framework that allows mapping loopy networks to binary trees, preserving in the connectivity of the trees the architecture of the original graph. We apply this framework to investigate computer generated and natural graphs extracted from digitized images of dicotyledonous leaves and animal vasculature. We calculate various metrics on the corresponding trees and discuss the relationship of these quantities to the architectural organization of the original graphs. This algorithmic framework decouples the geometric information from the metric topology (connectivity and edge weight) and it ultimately allows us to perform a quantitative statistical comparison between predictions of theoretical models and naturally occurring loopy graphs.

  2. Stability of glassy hierarchical networks

    Science.gov (United States)

    Zamani, M.; Camargo-Forero, L.; Vicsek, T.

    2018-02-01

    The structure of interactions in most animal and human societies can be best represented by complex hierarchical networks. In order to maintain close-to-optimal function both stability and adaptability are necessary. Here we investigate the stability of hierarchical networks that emerge from the simulations of an organization type with an efficiency function reminiscent of the Hamiltonian of spin glasses. Using this quantitative approach we find a number of expected (from everyday observations) and highly non-trivial results for the obtained locally optimal networks, including, for example: (i) stability increases with growing efficiency and level of hierarchy; (ii) the same perturbation results in a larger change for more efficient states; (iii) networks with a lower level of hierarchy become more efficient after perturbation; (iv) due to the huge number of possible optimal states only a small fraction of them exhibit resilience and, finally, (v) ‘attacks’ targeting the nodes selectively (regarding their position in the hierarchy) can result in paradoxical outcomes.

  3. Hierarchical modeling of active materials

    International Nuclear Information System (INIS)

    Taya, Minoru

    2003-01-01

    Intelligent (or smart) materials are increasingly becoming key materials for use in actuators and sensors. If an intelligent material is used as a sensor, it can be embedded in a variety of structure functioning as a health monitoring system to make their life longer with high reliability. If an intelligent material is used as an active material in an actuator, it plays a key role of making dynamic movement of the actuator under a set of stimuli. This talk intends to cover two different active materials in actuators, (1) piezoelectric laminate with FGM microstructure, (2) ferromagnetic shape memory alloy (FSMA). The advantage of using the FGM piezo laminate is to enhance its fatigue life while maintaining large bending displacement, while that of use in FSMA is its fast actuation while providing a large force and stroke capability. Use of hierarchical modeling of the above active materials is a key design step in optimizing its microstructure for enhancement of their performance. I will discuss briefly hierarchical modeling of the above two active materials. For FGM piezo laminate, we will use both micromechanical model and laminate theory, while for FSMA, the modeling interfacing nano-structure, microstructure and macro-behavior is discussed. (author)

  4. Hierarchical organisation of causal graphs

    International Nuclear Information System (INIS)

    Dziopa, P.

    1993-01-01

    This paper deals with the design of a supervision system using a hierarchy of models formed by graphs, in which the variables are the nodes and the causal relations between the variables of the arcs. To obtain a representation of the variables evolutions which contains only the relevant features of their real evolutions, the causal relations are completed with qualitative transfer functions (QTFs) which produce roughly the behaviour of the classical transfer functions. Major improvements have been made in the building of the hierarchical organization. First, the basic variables of the uppermost level and the causal relations between them are chosen. The next graph is built by adding intermediary variables to the upper graph. When the undermost graph has been built, the transfer functions parameters corresponding to its causal relations are identified. The second task consists in the upwelling of the information from the undermost graph to the uppermost one. A fusion procedure of the causal relations has been designed to compute the QFTs relevant for each level. This procedure aims to reduce the number of parameters needed to represent an evolution at a high level of abstraction. These techniques have been applied to the hierarchical modelling of nuclear process. (authors). 8 refs., 12 figs

  5. Tornado intensity estimated from damage path dimensions.

    Directory of Open Access Journals (Sweden)

    James B Elsner

    Full Text Available The Newcastle/Moore and El Reno tornadoes of May 2013 are recent reminders of the destructive power of tornadoes. A direct estimate of a tornado's power is difficult and dangerous to get. An indirect estimate on a categorical scale is available from a post-storm survery of the damage. Wind speed bounds are attached to the scale, but the scale is not adequate for analyzing trends in tornado intensity separate from trends in tornado frequency. Here tornado intensity on a continuum is estimated from damage path length and width, which are measured on continuous scales and correlated to the EF rating. The wind speeds on the EF scale are treated as interval censored data and regressed onto the path dimensions and fatalities. The regression model indicates a 25% increase in expected intensity over a threshold intensity of 29 m s(-1 for a 100 km increase in path length and a 17% increase in expected intensity for a one km increase in path width. The model shows a 43% increase in the expected intensity when fatalities are observed controlling for path dimensions. The estimated wind speeds correlate at a level of .77 (.34, .93 [95% confidence interval] with a small sample of wind speeds estimated independently from a doppler radar calibration. The estimated wind speeds allow analyses to be done on the tornado database that are not possible with the categorical scale. The modeled intensities can be used in climatology and in environmental and engineering applications. Research is needed to understand the upward trends in path length and width.

  6. Tornado intensity estimated from damage path dimensions.

    Science.gov (United States)

    Elsner, James B; Jagger, Thomas H; Elsner, Ian J

    2014-01-01

    The Newcastle/Moore and El Reno tornadoes of May 2013 are recent reminders of the destructive power of tornadoes. A direct estimate of a tornado's power is difficult and dangerous to get. An indirect estimate on a categorical scale is available from a post-storm survery of the damage. Wind speed bounds are attached to the scale, but the scale is not adequate for analyzing trends in tornado intensity separate from trends in tornado frequency. Here tornado intensity on a continuum is estimated from damage path length and width, which are measured on continuous scales and correlated to the EF rating. The wind speeds on the EF scale are treated as interval censored data and regressed onto the path dimensions and fatalities. The regression model indicates a 25% increase in expected intensity over a threshold intensity of 29 m s(-1) for a 100 km increase in path length and a 17% increase in expected intensity for a one km increase in path width. The model shows a 43% increase in the expected intensity when fatalities are observed controlling for path dimensions. The estimated wind speeds correlate at a level of .77 (.34, .93) [95% confidence interval] with a small sample of wind speeds estimated independently from a doppler radar calibration. The estimated wind speeds allow analyses to be done on the tornado database that are not possible with the categorical scale. The modeled intensities can be used in climatology and in environmental and engineering applications. Research is needed to understand the upward trends in path length and width.

  7. The Application of an Evidence-Based Clinical Nursing Path for Improving the Preoperative and Postoperative Quality of Care of Pediatric Retroperitoneal Neuroblastoma Patients: A Randomized Controlled Trial at a Tertiary Medical Institution.

    Science.gov (United States)

    Liu, Yang; Mo, Lin; Tang, Yan; Wang, Qiuhong; Huang, Xiaoyan

    A clinical nursing path (CNP) that encourages patients and their families to become actively involved in healthcare decision-making processes may improve outcomes of pediatric retroperitoneal neuroblastoma (NB) patients. The aim of this study was to evaluate the utility and value of an evidence-based CNP provided to pediatric retroperitoneal NB patients undergoing resection surgery. One hundred twenty NB cases were assigned to a control group or a CNP group. The control group was provided with standard nursing care. The CNP group was provided with nursing care in accordance with an evidence-based CNP. The utility and value of the CNP were compared with standard nursing care. Outcome measures included rates of postoperative complications, lengths of hospital stay, and cost of hospitalization, as well as preoperative and postoperative quality of care and patient satisfaction with care. The rates of postoperative complications, length of preoperative hospitalization, total length of hospital stay, and costs of hospitalization were significantly lower for patients receiving the CNP compared with the control group. Preoperative and postoperative quality of care and patient satisfaction with care were significantly higher in patients receiving the CNP compared with the control group. Adoption of a CNP for preoperative and postoperative care of pediatric retroperitoneal NB patients undergoing resection surgery improves clinical outcomes and patient satisfaction with care. A CNP can increase families' participation in a patient's recovery process, enhance nurses' understanding of the services they are providing, and improve the quality of healthcare received by patients.

  8. Two Generations of Path Dependence

    DEFF Research Database (Denmark)

    Madsen, Mogens Ove

      Even if there is no fully articulated and generally accepted theory of Path Dependence it has eagerly been taken up across a wide range of social sciences - primarily coming from economics. Path Dependence is most of all a metaphor that offers reason to believe, that some political, social...

  9. Chromatic roots and hamiltonian paths

    DEFF Research Database (Denmark)

    Thomassen, Carsten

    2000-01-01

    We present a new connection between colorings and hamiltonian paths: If the chromatic polynomial of a graph has a noninteger root less than or equal to t(n) = 2/3 + 1/3 (3)root (26 + 6 root (33)) + 1/3 (3)root (26 - 6 root (33)) = 1.29559.... then the graph has no hamiltonian path. This result...

  10. On Hilbert space of paths

    International Nuclear Information System (INIS)

    Exner, P.; Kolerov, G.I.

    1980-01-01

    A Hilbert space of paths, the elements of which are determined by trigonometric series, was proposed and used recently by Truman. This space is shown to consist precisely of all absolutely continuous paths ending in the origin with square-integrable derivatives

  11. Practicality of diversion path analysis

    International Nuclear Information System (INIS)

    Murphey, W.M.; Schleter, J.C.

    1974-07-01

    One can define the safeguards system for nuclear material as the set of all protective actions taken to prevent or to deter attempts to divert nuclear material to unauthorized use. Maintenance of effective safeguards requires a program for routine assessment of plant safeguards systems in terms of their capabilities to satisfy safeguards aims. Plant internal control systems provide capabilities for detection of unprevented diversion and can provide assurance that diversion has not occurred. A procedure called Diversion Path Analysis (DPA) enables routine assessment of the capabilities of internal control systems in this regard and identification of safeguards problem areas in a plant. A framework for safeguards system design is also provided which will allow flexibility to accommodate individual plant circumstances while maintaining acceptable diversion detection capability. The steps of the procedure are described and the practicality of the analytical method is shown by referring to a demonstration test for a high throughput process where plant personnel were major participants. The boundary conditions for the demonstration case are given, along with some conclusions about the general procedure. (U.S.)

  12. A Novel Data Hierarchical Fusion Method for Gas Turbine Engine Performance Fault Diagnosis

    Directory of Open Access Journals (Sweden)

    Feng Lu

    2016-10-01

    Full Text Available Gas path fault diagnosis involves the effective utilization of condition-based sensor signals along engine gas path to accurately identify engine performance failure. The rapid development of information processing technology has led to the use of multiple-source information fusion for fault diagnostics. Numerous efforts have been paid to develop data-based fusion methods, such as neural networks fusion, while little research has focused on fusion architecture or the fusion of different method kinds. In this paper, a data hierarchical fusion using improved weighted Dempster–Shaffer evidence theory (WDS is proposed, and the integration of data-based and model-based methods is presented for engine gas-path fault diagnosis. For the purpose of simplifying learning machine typology, a recursive reduced kernel based extreme learning machine (RR-KELM is developed to produce the fault probability, which is considered as the data-based evidence. Meanwhile, the model-based evidence is achieved using particle filter-fuzzy logic algorithm (PF-FL by engine health estimation and component fault location in feature level. The outputs of two evidences are integrated using WDS evidence theory in decision level to reach a final recognition decision of gas-path fault pattern. The characteristics and advantages of two evidences are analyzed and used as guidelines for data hierarchical fusion framework. Our goal is that the proposed methodology provides much better performance of gas-path fault diagnosis compared to solely relying on data-based or model-based method. The hierarchical fusion framework is evaluated in terms to fault diagnosis accuracy and robustness through a case study involving fault mode dataset of a turbofan engine that is generated by the general gas turbine simulation. These applications confirm the effectiveness and usefulness of the proposed approach.

  13. Hard paths, soft paths or no paths? Cross-cultural perceptions of water solutions

    Science.gov (United States)

    Wutich, A.; White, A. C.; White, D. D.; Larson, K. L.; Brewis, A.; Roberts, C.

    2014-01-01

    In this study, we examine how development status and water scarcity shape people's perceptions of "hard path" and "soft path" water solutions. Based on ethnographic research conducted in four semi-rural/peri-urban sites (in Bolivia, Fiji, New Zealand, and the US), we use content analysis to conduct statistical and thematic comparisons of interview data. Our results indicate clear differences associated with development status and, to a lesser extent, water scarcity. People in the two less developed sites were more likely to suggest hard path solutions, less likely to suggest soft path solutions, and more likely to see no path to solutions than people in the more developed sites. Thematically, people in the two less developed sites envisioned solutions that involve small-scale water infrastructure and decentralized, community-based solutions, while people in the more developed sites envisioned solutions that involve large-scale infrastructure and centralized, regulatory water solutions. People in the two water-scarce sites were less likely to suggest soft path solutions and more likely to see no path to solutions (but no more likely to suggest hard path solutions) than people in the water-rich sites. Thematically, people in the two water-rich sites seemed to perceive a wider array of unrealized potential soft path solutions than those in the water-scarce sites. On balance, our findings are encouraging in that they indicate that people are receptive to soft path solutions in a range of sites, even those with limited financial or water resources. Our research points to the need for more studies that investigate the social feasibility of soft path water solutions, particularly in sites with significant financial and natural resource constraints.

  14. Multicollinearity in hierarchical linear models.

    Science.gov (United States)

    Yu, Han; Jiang, Shanhe; Land, Kenneth C

    2015-09-01

    This study investigates an ill-posed problem (multicollinearity) in Hierarchical Linear Models from both the data and the model perspectives. We propose an intuitive, effective approach to diagnosing the presence of multicollinearity and its remedies in this class of models. A simulation study demonstrates the impacts of multicollinearity on coefficient estimates, associated standard errors, and variance components at various levels of multicollinearity for finite sample sizes typical in social science studies. We further investigate the role multicollinearity plays at each level for estimation of coefficient parameters in terms of shrinkage. Based on these analyses, we recommend a top-down method for assessing multicollinearity in HLMs that first examines the contextual predictors (Level-2 in a two-level model) and then the individual predictors (Level-1) and uses the results for data collection, research problem redefinition, model re-specification, variable selection and estimation of a final model. Copyright © 2015 Elsevier Inc. All rights reserved.

  15. Silver Films with Hierarchical Chirality.

    Science.gov (United States)

    Ma, Liguo; Cao, Yuanyuan; Duan, Yingying; Han, Lu; Che, Shunai

    2017-07-17

    Physical fabrication of chiral metallic films usually results in singular or large-sized chirality, restricting the optical asymmetric responses to long electromagnetic wavelengths. The chiral molecule-induced formation of silver films prepared chemically on a copper substrate through a redox reaction is presented. Three levels of chirality were identified: primary twisted nanoflakes with atomic crystal lattices, secondary helical stacking of these nanoflakes to form nanoplates, and tertiary micrometer-sized circinates consisting of chiral arranged nanoplates. The chiral Ag films exhibited multiple plasmonic absorption- and scattering-based optical activities at UV/Vis wavelengths based on their hierarchical chirality. The Ag films showed chiral selectivity for amino acids in catalytic electrochemical reactions, which originated from their primary atomic crystal lattices. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  16. Hierarchical coarse-graining transform.

    Science.gov (United States)

    Pancaldi, Vera; King, Peter R; Christensen, Kim

    2009-03-01

    We present a hierarchical transform that can be applied to Laplace-like differential equations such as Darcy's equation for single-phase flow in a porous medium. A finite-difference discretization scheme is used to set the equation in the form of an eigenvalue problem. Within the formalism suggested, the pressure field is decomposed into an average value and fluctuations of different kinds and at different scales. The application of the transform to the equation allows us to calculate the unknown pressure with a varying level of detail. A procedure is suggested to localize important features in the pressure field based only on the fine-scale permeability, and hence we develop a form of adaptive coarse graining. The formalism and method are described and demonstrated using two synthetic toy problems.

  17. Controlling electron quantum paths for generation of circularly polarized high-order harmonics by H2+ subject to tailored (ω , 2 ω ) counter-rotating laser fields

    Science.gov (United States)

    Heslar, John; Telnov, Dmitry A.; Chu, Shih-I.

    2018-04-01

    Recently, studies of high-order harmonics (HHG) from atoms driven by bichromatic counter-rotating circularly polarized laser fields as a source of coherent circularly polarized extreme ultraviolet (XUV) and soft-x-ray beams in a tabletop-scale setup have received considerable attention. Here, we demonstrate the ability to control the electron recollisions giving three returns per one cycle of the fundamental frequency ω by using tailored bichromatic (ω , 2 ω ) counter-rotating circularly polarized laser fields with a molecular target. The full control of the electronic pathway is first analyzed by a classical trajectory analysis and then extended to a detailed quantum study of H2+ molecules in bichromatic (ω , 2 ω ) counter-rotating circularly polarized laser fields. The radiation spectrum contains doublets of left- and right-circularly polarized harmonics in the XUV ranges. We study in detail the below-, near-, and above-threshold harmonic regions and describe how excited-state resonances alter the ellipticity and phase of the generated harmonic peaks.

  18. Adaptive hierarchical multi-agent organizations

    NARCIS (Netherlands)

    Ghijsen, M.; Jansweijer, W.N.H.; Wielinga, B.J.; Babuška, R.; Groen, F.C.A.

    2010-01-01

    In this chapter, we discuss the design of adaptive hierarchical organizations for multi-agent systems (MAS). Hierarchical organizations have a number of advantages such as their ability to handle complex problems and their scalability to large organizations. By introducing adaptivity in the

  19. The Case for a Hierarchical Cosmology

    Science.gov (United States)

    Vaucouleurs, G. de

    1970-01-01

    The development of modern theoretical cosmology is presented and some questionable assumptions of orthodox cosmology are pointed out. Suggests that recent observations indicate that hierarchical clustering is a basic factor in cosmology. The implications of hierarchical models of the universe are considered. Bibliography. (LC)

  20. Discovering hierarchical structure in normal relational data

    DEFF Research Database (Denmark)

    Schmidt, Mikkel Nørgaard; Herlau, Tue; Mørup, Morten

    2014-01-01

    -parametric generative model for hierarchical clustering of similarity based on multifurcating Gibbs fragmentation trees. This allows us to infer and display the posterior distribution of hierarchical structures that comply with the data. We demonstrate the utility of our method on synthetic data and data of functional...

  1. Biased trapping issue on weighted hierarchical networks

    Indian Academy of Sciences (India)

    archical networks which are based on the classic scale-free hierarchical networks. ... Weighted hierarchical networks; weight-dependent walks; mean first passage ..... The weighted networks can mimic some real-world natural and social systems to ... the Priority Academic Program Development of Jiangsu Higher Education ...

  2. Differential neural network configuration during human path integration

    Science.gov (United States)

    Arnold, Aiden E. G. F; Burles, Ford; Bray, Signe; Levy, Richard M.; Iaria, Giuseppe

    2014-01-01

    Path integration is a fundamental skill for navigation in both humans and animals. Despite recent advances in unraveling the neural basis of path integration in animal models, relatively little is known about how path integration operates at a neural level in humans. Previous attempts to characterize the neural mechanisms used by humans to visually path integrate have suggested a central role of the hippocampus in allowing accurate performance, broadly resembling results from animal data. However, in recent years both the central role of the hippocampus and the perspective that animals and humans share similar neural mechanisms for path integration has come into question. The present study uses a data driven analysis to investigate the neural systems engaged during visual path integration in humans, allowing for an unbiased estimate of neural activity across the entire brain. Our results suggest that humans employ common task control, attention and spatial working memory systems across a frontoparietal network during path integration. However, individuals differed in how these systems are configured into functional networks. High performing individuals were found to more broadly express spatial working memory systems in prefrontal cortex, while low performing individuals engaged an allocentric memory system based primarily in the medial occipito-temporal region. These findings suggest that visual path integration in humans over short distances can operate through a spatial working memory system engaging primarily the prefrontal cortex and that the differential configuration of memory systems recruited by task control networks may help explain individual biases in spatial learning strategies. PMID:24808849

  3. Hierarchically Nanostructured Materials for Sustainable Environmental Applications

    Directory of Open Access Journals (Sweden)

    Zheng eRen

    2013-11-01

    Full Text Available This article presents a comprehensive overview of the hierarchical nanostructured materials with either geometry or composition complexity in environmental applications. The hierarchical nanostructures offer advantages of high surface area, synergistic interactions and multiple functionalities towards water remediation, environmental gas sensing and monitoring as well as catalytic gas treatment. Recent advances in synthetic strategies for various hierarchical morphologies such as hollow spheres and urchin-shaped architectures have been reviewed. In addition to the chemical synthesis, the physical mechanisms associated with the materials design and device fabrication have been discussed for each specific application. The development and application of hierarchical complex perovskite oxide nanostructures have also been introduced in photocatalytic water remediation, gas sensing and catalytic converter. Hierarchical nanostructures will open up many possibilities for materials design and device fabrication in environmental chemistry and technology.

  4. Hierarchical Rhetorical Sentence Categorization for Scientific Papers

    Science.gov (United States)

    Rachman, G. H.; Khodra, M. L.; Widyantoro, D. H.

    2018-03-01

    Important information in scientific papers can be composed of rhetorical sentences that is structured from certain categories. To get this information, text categorization should be conducted. Actually, some works in this task have been completed by employing word frequency, semantic similarity words, hierarchical classification, and the others. Therefore, this paper aims to present the rhetorical sentence categorization from scientific paper by employing TF-IDF and Word2Vec to capture word frequency and semantic similarity words and employing hierarchical classification. Every experiment is tested in two classifiers, namely Naïve Bayes and SVM Linear. This paper shows that hierarchical classifier is better than flat classifier employing either TF-IDF or Word2Vec, although it increases only almost 2% from 27.82% when using flat classifier until 29.61% when using hierarchical classifier. It shows also different learning model for child-category can be built by hierarchical classifier.

  5. Processing of hierarchical syntactic structure in music.

    Science.gov (United States)

    Koelsch, Stefan; Rohrmeier, Martin; Torrecuso, Renzo; Jentschke, Sebastian

    2013-09-17

    Hierarchical structure with nested nonlocal dependencies is a key feature of human language and can be identified theoretically in most pieces of tonal music. However, previous studies have argued against the perception of such structures in music. Here, we show processing of nonlocal dependencies in music. We presented chorales by J. S. Bach and modified versions in which the hierarchical structure was rendered irregular whereas the local structure was kept intact. Brain electric responses differed between regular and irregular hierarchical structures, in both musicians and nonmusicians. This finding indicates that, when listening to music, humans apply cognitive processes that are capable of dealing with long-distance dependencies resulting from hierarchically organized syntactic structures. Our results reveal that a brain mechanism fundamental for syntactic processing is engaged during the perception of music, indicating that processing of hierarchical structure with nested nonlocal dependencies is not just a key component of human language, but a multidomain capacity of human cognition.

  6. Synthesis of Hierarchical Sisal-Like V2O5 with Exposed Stable {001} Facets as Long Life Cathode Materials for Advanced Lithium-Ion Batteries.

    Science.gov (United States)

    Wu, Naiteng; Du, Wuzhou; Liu, Guilong; Zhou, Zhan; Fu, Hong-Ru; Tang, Qianqian; Liu, Xianming; He, Yan-Bing

    2017-12-20

    Vanadium pentoxide (V 2 O 5 ) is considered a promising cathode material for advanced lithium-ion batteries owing to its high specific capacity and low cost. However, the application of V 2 O 5 -based electrodes has been hindered because of their inferior conductivity, cycling stability, and power performance. Herein, hierarchical sisal-like V 2 O 5 microstructures consisting of primary one-dimensional (1D) nanobelts with [001] facets orientation growth and rich oxygen vacancies are synthesized through a facile hydrothermal process using polyoxyethylene-20-cetyl-ether as the surface control agent, followed by calcination. The primary 1D nanobelt shortens the transfer path of electrons and ions, and the stable {001} facets could reduce the side reaction at the interface of electrode/electrolyte, simultaneously. Moreover, the formation of low valence state vanadium would generate the oxygen vacancies to facilitate lithium-ion diffusion. As a result, the sisal-like V 2 O 5 manifests excellent electrochemical performances, including high specific capacity (297 mA h g -1 at a current of 0.1 C) and robust cycling performance (capacity fading 0.06% per cycle). This work develops a controllable method to craft the hierarchical sisal-like V 2 O 5 microstructures with excellent high rate and long-term cyclic stability.

  7. Linear open-loop and closed-loop control theory. Modelling of control paths, robust stability, design of robust controllers, trajectory control with follow-up contorl, polynomial description of MIMO systems, time discrete control loops and scanning control loops; Lineare Regelungs- und Steuerungstheorie. Modellierung von Regelstrecken, Robuste Stabilitaet und Entwurf robuster Regler, Trajektoriensteuerung mit Folgeregelung, Polynomiale Beschreibung von MIMO-Systemen, Zeitdiskrete und Abtastregelkreise

    Energy Technology Data Exchange (ETDEWEB)

    Reinschke, K. [Technische Univ. Dresden (Germany). Inst. fuer Regelungs- und Streuerungstheorie

    2006-07-01

    After the introduction of bachelor and master studies in Germany, new training concepts are required. In the field of engineering, there is a lack of research-oriented German-language textbooks which are also suited for further training of professionally experienced engineers. The author addresses readers with good prior knowledge of mathematics and application-oriented basic training in open-loop and control-loop engineering who intend to deepen their knowledge of the methods of control of linear time-continuous processes. The reader is enabled to apply the mathematical tools of linear system theory for control purposes. Unavoidable uncertainties in the modelling of control paths are considered. The focus is on function theoretical and algebraic aspects which enable the design of robust stabilising controllers as well as trajectory control and follow-up control and also the time-continuous treatment of scanning control loops. There are many examples to illustrate the general laws that are presented. (orig.) [German] Die Einfuehrung von gestuften Bachelor- und Master-Studiengaengen erfordert neue Ausbildungskonzepte. Fuer die Master- und Promotionsstudiengaenge der Ingenieure mangelt es bisher an forschungsorientierten deutschsprachigen Lehrwerken, die zugleich auch zur Fortbildung von berufserfahrenen Ingenieuren geeignet sind. Dieses Buch traegt zur Behebung dieses Mangels bei. Der Autor wendet sich an Leser, die eine gute mathematische Vorbildung und eine anwendungsorientierte Grundausbildung in Regelungs- und Steuerungstechnik abgeschlossen haben und nun tiefer in die Methoden der Regelung und Steuerung von linearen zeitkontinuierlichen Prozessen eindringen wollen. Der Leser wird befaehigt, die mathematischen Werkzeuge der linearen Systemtheorie fuer regelungstechnische Zwecke einzusetzen. Bei der Modellierung von Regelstrecken werden die unvermeidlichen Unbestimmtheiten beruecksichtigt. Im Zentrum stehen die funktionentheoretischen und algebraischen

  8. Perfect discretization of path integrals

    International Nuclear Information System (INIS)

    Steinhaus, Sebastian

    2012-01-01

    In order to obtain a well-defined path integral one often employs discretizations. In the case of General Relativity these generically break diffeomorphism symmetry, which has severe consequences since these symmetries determine the dynamics of the corresponding system. In this article we consider the path integral of reparametrization invariant systems as a toy example and present an improvement procedure for the discretized propagator. Fixed points and convergence of the procedure are discussed. Furthermore we show that a reparametrization invariant path integral implies discretization independence and acts as a projector onto physical states.

  9. Perfect discretization of path integrals

    Science.gov (United States)

    Steinhaus, Sebastian

    2012-05-01

    In order to obtain a well-defined path integral one often employs discretizations. In the case of General Relativity these generically break diffeomorphism symmetry, which has severe consequences since these symmetries determine the dynamics of the corresponding system. In this article we consider the path integral of reparametrization invariant systems as a toy example and present an improvement procedure for the discretized propagator. Fixed points and convergence of the procedure are discussed. Furthermore we show that a reparametrization invariant path integral implies discretization independence and acts as a projector onto physical states.

  10. Decision paths in complex tasks

    Science.gov (United States)

    Galanter, Eugene

    1991-01-01

    Complex real world action and its prediction and control has escaped analysis by the classical methods of psychological research. The reason is that psychologists have no procedures to parse complex tasks into their constituents. Where such a division can be made, based say on expert judgment, there is no natural scale to measure the positive or negative values of the components. Even if we could assign numbers to task parts, we lack rules i.e., a theory, to combine them into a total task representation. We compare here two plausible theories for the amalgamation of the value of task components. Both of these theories require a numerical representation of motivation, for motivation is the primary variable that guides choice and action in well-learned tasks. We address this problem of motivational quantification and performance prediction by developing psychophysical scales of the desireability or aversiveness of task components based on utility scaling methods (Galanter 1990). We modify methods used originally to scale sensory magnitudes (Stevens and Galanter 1957), and that have been applied recently to the measure of task 'workload' by Gopher and Braune (1984). Our modification uses utility comparison scaling techniques which avoid the unnecessary assumptions made by Gopher and Braune. Formula for the utility of complex tasks based on the theoretical models are used to predict decision and choice of alternate paths to the same goal.

  11. Toward solving the sign problem with path optimization method

    Science.gov (United States)

    Mori, Yuto; Kashiwa, Kouji; Ohnishi, Akira

    2017-12-01

    We propose a new approach to circumvent the sign problem in which the integration path is optimized to control the sign problem. We give a trial function specifying the integration path in the complex plane and tune it to optimize the cost function which represents the seriousness of the sign problem. We call it the path optimization method. In this method, we do not need to solve the gradient flow required in the Lefschetz-thimble method and then the construction of the integration-path contour arrives at the optimization problem where several efficient methods can be applied. In a simple model with a serious sign problem, the path optimization method is demonstrated to work well; the residual sign problem is resolved and precise results can be obtained even in the region where the global sign problem is serious.

  12. Optimal Path Planner for Mobile Robot in 2D Environment

    Directory of Open Access Journals (Sweden)

    Valeri Kroumov

    2004-06-01

    Full Text Available The problem of path planning for the case of a mobile robot moving in an environment filled with obstacles with known shapes and positions is studied. A path planner based on the genetic algorithm approach, which generates optimal in length path is proposed. The population member paths are generated by another algorithm, which uses for description of the obstacles an artificial annealing neural network and is based on potential field approach. The resulting path is piecewise linear with changing directions at the corners of the obstacles. Because of this feature, the inverse kinematics problems in controlling differential drive robots are simply solved: to drive the robot to some goal pose (x, y, theta, the robot can be spun in place until it is aimed at (x, y, then driven forward until it is at (x, y, and then spun in place until the required goal orientation

  13. Liquid phase epitaxial growth of heterostructured hierarchical MOF thin films

    KAUST Repository

    Chernikova, Valeriya; Shekhah, Osama; Spanopoulos, Ioannis; Trikalitis, Pantelis N.; Eddaoudi, Mohamed

    2017-01-01

    Precise control of epitaxial growth of MOF-on-MOF thin films, for ordered hierarchical tbo-type structures is demonstrated. The heterostructured MOF thin film was fabricated by successful sequential deposition of layers from two different MOFs. The 2-periodic layers, edge-transitive 4,4-square lattices regarded as supermolecular building layers, were commendably cross-linked using a combination of inorganic/organic and organic pillars.

  14. Liquid phase epitaxial growth of heterostructured hierarchical MOF thin films

    KAUST Repository

    Chernikova, Valeriya

    2017-05-10

    Precise control of epitaxial growth of MOF-on-MOF thin films, for ordered hierarchical tbo-type structures is demonstrated. The heterostructured MOF thin film was fabricated by successful sequential deposition of layers from two different MOFs. The 2-periodic layers, edge-transitive 4,4-square lattices regarded as supermolecular building layers, were commendably cross-linked using a combination of inorganic/organic and organic pillars.

  15. A Hierarchical Visualization Analysis Model of Power Big Data

    Science.gov (United States)

    Li, Yongjie; Wang, Zheng; Hao, Yang

    2018-01-01

    Based on the conception of integrating VR scene and power big data analysis, a hierarchical visualization analysis model of power big data is proposed, in which levels are designed, targeting at different abstract modules like transaction, engine, computation, control and store. The regularly departed modules of power data storing, data mining and analysis, data visualization are integrated into one platform by this model. It provides a visual analysis solution for the power big data.

  16. Comparing motivational, self-regulatory and habitual processes in a computer-tailored physical activity intervention in hospital employees - protocol for the PATHS randomised controlled trial.

    Science.gov (United States)

    Kwasnicka, Dominika; Vandelanotte, Corneel; Rebar, Amanda; Gardner, Benjamin; Short, Camille; Duncan, Mitch; Crook, Dawn; Hagger, Martin S

    2017-05-26

    Most people do not engage in sufficient physical activity to confer health benefits and to reduce risk of chronic disease. Healthcare professionals frequently provide guidance on physical activity, but often do not meet guideline levels of physical activity themselves. The main objective of this study is to develop and test the efficacy of a tailored intervention to increase healthcare professionals' physical activity participation and quality of life, and to reduce work-related stress and absenteeism. This is the first study to compare the additive effects of three forms of a tailored intervention using different techniques from behavioural theory, which differ according to their focus on motivational, self-regulatory and/or habitual processes. Healthcare professionals (N = 192) will be recruited from four hospitals in Perth, Western Australia, via email lists, leaflets, and posters to participate in the four group randomised controlled trial. Participants will be randomised to one of four conditions: (1) education only (non-tailored information only), (2) education plus intervention components to enhance motivation, (3) education plus components to enhance motivation and self-regulation, and (4) education plus components to enhance motivation, self-regulation and habit formation. All intervention groups will receive a computer-tailored intervention administered via a web-based platform and will receive supporting text-messages containing tailored information, prompts and feedback relevant to each condition. All outcomes will be assessed at baseline, and at 3-month follow-up. The primary outcome assessed in this study is physical activity measured using activity monitors. Secondary outcomes include: quality of life, stress, anxiety, sleep, and absenteeism. Website engagement, retention, preferences and intervention fidelity will also be evaluated as well as potential mediators and moderators of intervention effect. This is the first study to examine a tailored

  17. Comparing motivational, self-regulatory and habitual processes in a computer-tailored physical activity intervention in hospital employees - protocol for the PATHS randomised controlled trial

    Directory of Open Access Journals (Sweden)

    Dominika Kwasnicka

    2017-05-01

    Full Text Available Abstract Background Most people do not engage in sufficient physical activity to confer health benefits and to reduce risk of chronic disease. Healthcare professionals frequently provide guidance on physical activity, but often do not meet guideline levels of physical activity themselves. The main objective of this study is to develop and test the efficacy of a tailored intervention to increase healthcare professionals’ physical activity participation and quality of life, and to reduce work-related stress and absenteeism. This is the first study to compare the additive effects of three forms of a tailored intervention using different techniques from behavioural theory, which differ according to their focus on motivational, self-regulatory and/or habitual processes. Methods/Design Healthcare professionals (N = 192 will be recruited from four hospitals in Perth, Western Australia, via email lists, leaflets, and posters to participate in the four group randomised controlled trial. Participants will be randomised to one of four conditions: (1 education only (non-tailored information only, (2 education plus intervention components to enhance motivation, (3 education plus components to enhance motivation and self-regulation, and (4 education plus components to enhance motivation, self-regulation and habit formation. All intervention groups will receive a computer-tailored intervention administered via a web-based platform and will receive supporting text-messages containing tailored information, prompts and feedback relevant to each condition. All outcomes will be assessed at baseline, and at 3-month follow-up. The primary outcome assessed in this study is physical activity measured using activity monitors. Secondary outcomes include: quality of life, stress, anxiety, sleep, and absenteeism. Website engagement, retention, preferences and intervention fidelity will also be evaluated as well as potential mediators and moderators of intervention

  18. Parallel Motion Simulation of Large-Scale Real-Time Crowd in a Hierarchical Environmental Model

    Directory of Open Access Journals (Sweden)

    Xin Wang

    2012-01-01

    Full Text Available This paper presents a parallel real-time crowd simulation method based on a hierarchical environmental model. A dynamical model of the complex environment should be constructed to simulate the state transition and propagation of individual motions. By modeling of a virtual environment where virtual crowds reside, we employ different parallel methods on a topological layer, a path layer and a perceptual layer. We propose a parallel motion path matching method based on the path layer and a parallel crowd simulation method based on the perceptual layer. The large-scale real-time crowd simulation becomes possible with these methods. Numerical experiments are carried out to demonstrate the methods and results.

  19. An improved hierarchical A * algorithm in the optimization of parking lots

    Science.gov (United States)

    Wang, Yong; Wu, Junjuan; Wang, Ying

    2017-08-01

    In the parking lot parking path optimization, the traditional evaluation index is the shortest distance as the best index and it does not consider the actual road conditions. Now, the introduction of a more practical evaluation index can not only simplify the hardware design of the boot system but also save the software overhead. Firstly, we establish the parking lot network graph RPCDV mathematical model and all nodes in the network is divided into two layers which were constructed using different evaluation function base on the improved hierarchical A * algorithm which improves the time optimal path search efficiency and search precision of the evaluation index. The final results show that for different sections of the program attribute parameter algorithm always faster the time to find the optimal path.

  20. Wetting and Dewetting Transitions on Submerged Superhydrophobic Surfaces with Hierarchical Structures.

    Science.gov (United States)

    Wu, Huaping; Yang, Zhe; Cao, Binbin; Zhang, Zheng; Zhu, Kai; Wu, Bingbing; Jiang, Shaofei; Chai, Guozhong

    2017-01-10

    The wetting transition on submersed superhydrophobic surfaces with hierarchical structures and the influence of trapped air on superhydrophobic stability are predicted based on the thermodynamics and mechanical analyses. The dewetting transition on the hierarchically structured surfaces is investigated, and two necessary thermodynamic conditions and a mechanical balance condition for dewetting transition are proposed. The corresponding thermodynamic phase diagram of reversible transition and the critical reversed pressure well explain the experimental results reported previously. Our theory provides a useful guideline for precise controlling of breaking down and recovering of superhydrophobicity by designing superhydrophobic surfaces with hierarchical structures under water.