Bandwidth-on-demand motion control

NARCIS (Netherlands)

Van Loon, S.J.L.M.; Hunnekens, B.G.B.; Simon, A.S.; van de Wouw, N.; Heemels, W.P.M.H.

2018-01-01

In this brief, we introduce a 'bandwidth-on-demand' variable-gain control (VGC) strategy that allows for a varying bandwidth of the feedback controller. The proposed VGC can achieve improved performance given time-varying, reference-dependent performance requirements compared with linear

Force Feedback Control Method of Active Tuned Mass Damper

Directory of Open Access Journals (Sweden)

Xiuli Wang

2017-01-01

Full Text Available Active tuned mass dampers as vibration-control devices are widely used in many fields for their good stability and effectiveness. To improve the performance of such dampers, a control method based on force feedback is proposed. The method offers several advantages such as high-precision control and low-performance requirements for the actuator, as well as not needing additional compensators. The force feedback control strategy was designed based on direct-velocity feedback. The effectiveness of the method was verified in a single-degree-of-freedom system, and factors such as damping effect, required active force, actuator stroke, and power consumption of the damper were analyzed. Finally, a simulation study was performed by configuring a main complex elastic-vibration-damping system. The results show that the method provides effective control over modal resonances of multiple orders of the system and improves its dynamics performance.

Research of a New 6-Dof Force Feedback Hand Controller System

Directory of Open Access Journals (Sweden)

Xin Gao

2014-01-01

Full Text Available The field of teleoperation with force telepresence has expanded its scope to include manipulation at different scales and in virtual worlds, and the key component of which is force feedback hand controller. This paper presents a novel force feedback hand controller system, including a 3-dof translational and 3-dof rotational hand controllers, respectively, to implement position and posture teleoperation of the robot end effector. The 3-dof translational hand controller adopts innovative three-axes decoupling structure based on the linear motor; the 3-dof rotational hand controller adopts serial mechanism based on three-axes intersecting at one point, improving its overall stiffness. Based on the kinematics, statics, and dynamics analyses for two platforms separately, the system applies big closed-loop force control method based on the zero force/torque, improving the feedback force/torque accuracy effectively. Experimental results show that self-developed 6-dof force feedback hand controller has good mechanical properties. The translational hand controller has the following advantages: simple kinematics solver, fast dynamic response, and better than 0.05 mm accuracy of three-axis end positioning, while the advantages of the rotational hand controller are wide turning space, larger than 1 Nm feedback, greater than 180 degrees of operating space of three axes, respectively, and high operation precision.

Six axis force feedback input device

Science.gov (United States)

Ohm, Timothy (Inventor)

1998-01-01

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.

Improved-Bandwidth Transimpedance Amplifier

Science.gov (United States)

Chapsky, Jacob

2009-01-01

The widest available operational amplifier, with the best voltage and current noise characteristics, is considered for transimpedance amplifier (TIA) applications where wide bandwidth is required to handle fast rising input signals (as for time-of-flight measurement cases). The added amplifier inside the TIA feedback loop can be configured to have slightly lower voltage gain than the bandwidth reduction factor.

The role of feedback resistors and tid effects in the ASET response of a high speed current feedback amplifier

International Nuclear Information System (INIS)

Roig, F.; Dusseau, L.; Privat, A.; Vaille, J.R.; Boch, J.; Saigne, F.; Ribeiro, P.; Auriel, G.; Roche, N.J.H.; Marec, R.; Calvel, P.; Bezerra, F.; Ecoffet, R.; Azais, B.

2014-01-01

The influence of external circuit designs on ASET shapes in a high speed current feedback amplifier (CFA) (AD844) is investigated by means of the pulsed laser single event effect (PLSEE) simulation technique. Changes of the feedback resistors modify circuit's electrical parameters such as closed-loop gain and bandwidth, affecting amplifier stability and so ASET shapes. Qualitative explanations based on general electronic rules and feedback theories enable the understanding of a CFA operation establishing a correlation between the evolution of external feedback resistor values and ASET parameters. TID effects on the ASET sensitivity in AD844 CFA are also investigated in this work highlighting different behaviors according to the impacted bipolar transistor in the integrated circuit. (authors)

Use of force feedback to enhance graphical user interfaces

Science.gov (United States)

Rosenberg, Louis B.; Brave, Scott

1996-04-01

This project focuses on the use of force feedback sensations to enhance user interaction with standard graphical user interface paradigms. While typical joystick and mouse devices are input-only, force feedback controllers allow physical sensations to be reflected to a user. Tasks that require users to position a cursor on a given target can be enhanced by applying physical forces to the user that aid in targeting. For example, an attractive force field implemented at the location of a graphical icon can greatly facilitate target acquisition and selection of the icon. It has been shown that force feedback can enhance a users ability to perform basic functions within graphical user interfaces.

Attainment and retention of force moderation following laparoscopic resection training with visual force feedback.

Science.gov (United States)

Hernandez, Rafael; Onar-Thomas, Arzu; Travascio, Francesco; Asfour, Shihab

2017-11-01

Laparoscopic training with visual force feedback can lead to immediate improvements in force moderation. However, the long-term retention of this kind of learning and its potential decay are yet unclear. A laparoscopic resection task and force sensing apparatus were designed to assess the benefits of visual force feedback training. Twenty-two male university students with no previous experience in laparoscopy underwent relevant FLS proficiency training. Participants were randomly assigned to either a control or treatment group. Both groups trained on the task for 2 weeks as follows: initial baseline, sixteen training trials, and post-test immediately after. The treatment group had visual force feedback during training, whereas the control group did not. Participants then performed four weekly test trials to assess long-term retention of training. Outcomes recorded were maximum pulling and pushing forces, completion time, and rated task difficulty. Extreme maximum pulling force values were tapered throughout both the training and retention periods. Average maximum pushing forces were significantly lowered towards the end of training and during retention period. No significant decay of applied force learning was found during the 4-week retention period. Completion time and rated task difficulty were higher during training, but results indicate that the difference eventually fades during the retention period. Significant differences in aptitude across participants were found. Visual force feedback training improves on certain aspects of force moderation in a laparoscopic resection task. Results suggest that with enough training there is no significant decay of learning within the first month of the retention period. It is essential to account for differences in aptitude between individuals in this type of longitudinal research. This study shows how an inexpensive force measuring system can be used with an FLS Trainer System after some retrofitting. Surgical

Teleoperation over low bandwidth communication links

International Nuclear Information System (INIS)

Fryer, R.J.; Mair, G.M.; Clark, N.; Heng, J.

1996-01-01

Teleoperation is well established for many areas of hazardous environment working. Where such environments are well structured and contained, such as within a working plant, communications bandwidths need not be a constraining factor. However where the worksite is remote, large, poorly structured or damaged communications rapidly become a critical factor in the efficient deployment and use of teleoperation equipment. The paper justifies and describes means which we are exploring to reduce the required communications bandwidth for teleoperation whist retaining full functionality. Techniques involved include incorporation of local intelligence at the worksite, with bandwidth devoted to high-level up-link control signals and down-link feedback, and the use of highly compressed video feeding 'virtual reality type' HMDs to provide maximum system transparency for the operator. The work is drawing on previous experience with an 'anthropomorphic robot heat' for telepresence work, and proprietary algorithms capable of compressing full colour video to standard telephone modem data rates. (Author)

Electrotactile EMG feedback improves the control of prosthesis grasping force

Science.gov (United States)

Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario

2016-10-01

Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for

The impact of force feedback level on steering performance

NARCIS (Netherlands)

Anand, S.; Terken, J.; Hogema, J.H.

2013-01-01

Steer-by-wire systems provide designers the ability to customize and personalize force feedback on the steering wheel, based on individual preferences. Earlier studies using subjective responses have shown that there are individual differences in preferences for force feedback. It has also been

Digital force-feedback for protein unfolding experiments using atomic force microscopy

Science.gov (United States)

Bippes, Christian A.; Janovjak, Harald; Kedrov, Alexej; Muller, Daniel J.

2007-01-01

Since its invention in the 1990s single-molecule force spectroscopy has been increasingly applied to study protein (un-)folding, cell adhesion, and ligand-receptor interactions. In most force spectroscopy studies, the cantilever of an atomic force microscope (AFM) is separated from a surface at a constant velocity, thus applying an increasing force to folded bio-molecules or bio-molecular bonds. Recently, Fernandez and co-workers introduced the so-called force-clamp technique. Single proteins were subjected to a defined constant force allowing their life times and life time distributions to be directly measured. Up to now, the force-clamping was performed by analogue PID controllers, which require complex additional hardware and might make it difficult to combine the force-feedback with other modes such as constant velocity. These points may be limiting the applicability and versatility of this technique. Here we present a simple, fast, and all-digital (software-based) PID controller that yields response times of a few milliseconds in combination with a commercial AFM. We demonstrate the performance of our feedback loop by force-clamp unfolding of single Ig27 domains of titin and the membrane proteins bacteriorhodopsin (BR) and the sodium/proton antiporter NhaA.

Digital force-feedback for protein unfolding experiments using atomic force microscopy

International Nuclear Information System (INIS)

Bippes, Christian A; Janovjak, Harald; Kedrov, Alexej; Muller, Daniel J

2007-01-01

Since its invention in the 1990s single-molecule force spectroscopy has been increasingly applied to study protein (un-)folding, cell adhesion, and ligand-receptor interactions. In most force spectroscopy studies, the cantilever of an atomic force microscope (AFM) is separated from a surface at a constant velocity, thus applying an increasing force to folded bio-molecules or bio-molecular bonds. Recently, Fernandez and co-workers introduced the so-called force-clamp technique. Single proteins were subjected to a defined constant force allowing their life times and life time distributions to be directly measured. Up to now, the force-clamping was performed by analogue PID controllers, which require complex additional hardware and might make it difficult to combine the force-feedback with other modes such as constant velocity. These points may be limiting the applicability and versatility of this technique. Here we present a simple, fast, and all-digital (software-based) PID controller that yields response times of a few milliseconds in combination with a commercial AFM. We demonstrate the performance of our feedback loop by force-clamp unfolding of single Ig27 domains of titin and the membrane proteins bacteriorhodopsin (BR) and the sodium/proton antiporter NhaA

Force Maintenance Accuracy Using a Tool: Effects of Magnitude and Feedback.

Science.gov (United States)

Wang, Dangxiao; Jiao, Jian; Yang, Gaofeng; Zhang, Yuru

2016-01-01

The ability to precisely produce a force via a hand-held tool is crucial in fine manipulations. In this paper, we study the error in maintaining a target force ranging from 0.5 to 5 N under two concurrent feedback conditions: pure haptic feedback (H), and visual plus haptic feedback (V + H). The results show that absolute error (AE) increases along with the increasing force magnitudes under both feedback conditions. For target forces ranging from 1.5 to 5 N, the relative error (RE) is approximately constant under both feedback conditions, while the RE significantly increases for the small target forces of 0.5 and 1 N. The effect of force magnitude on the coefficient of variation (CoV) is not significant for target forces ranging from 1.5 to 5 N. For both the RE and the CoV, the values under the H condition are significantly larger than those under the V + H condition. The effect of manipulation mode (i.e., a hand-held tool or a fingertip) on force maintenance accuracy is complex, i.e., its effect on RE is not significant while its effect on CoV is significant. Only for the magnitude of 0.5 N, the RE of using the tool was significantly greater than that of using the fingertip under both feedback conditions. For both the RE and the CoV, no interaction effect exists between manipulation mode, force magnitude and feedback condition.

Integration of sensory force feedback is disturbed in CRPS-related dystonia.

Science.gov (United States)

Mugge, Winfred; van der Helm, Frans C T; Schouten, Alfred C

2013-01-01

Complex regional pain syndrome (CRPS) is characterized by pain and disturbed blood flow, temperature regulation and motor control. Approximately 25% of cases develop fixed dystonia. The origin of this movement disorder is poorly understood, although recent insights suggest involvement of disturbed force feedback. Assessment of sensorimotor integration may provide insight into the pathophysiology of fixed dystonia. Sensory weighting is the process of integrating and weighting sensory feedback channels in the central nervous system to improve the state estimate. It was hypothesized that patients with CRPS-related dystonia bias sensory weighting of force and position toward position due to the unreliability of force feedback. The current study provides experimental evidence for dysfunctional sensory integration in fixed dystonia, showing that CRPS-patients with fixed dystonia weight force and position feedback differently than controls do. The study shows reduced force feedback weights in CRPS-patients with fixed dystonia, making it the first to demonstrate disturbed integration of force feedback in fixed dystonia, an important step towards understanding the pathophysiology of fixed dystonia.

Integration of sensory force feedback is disturbed in CRPS-related dystonia.

Directory of Open Access Journals (Sweden)

Winfred Mugge

Full Text Available Complex regional pain syndrome (CRPS is characterized by pain and disturbed blood flow, temperature regulation and motor control. Approximately 25% of cases develop fixed dystonia. The origin of this movement disorder is poorly understood, although recent insights suggest involvement of disturbed force feedback. Assessment of sensorimotor integration may provide insight into the pathophysiology of fixed dystonia. Sensory weighting is the process of integrating and weighting sensory feedback channels in the central nervous system to improve the state estimate. It was hypothesized that patients with CRPS-related dystonia bias sensory weighting of force and position toward position due to the unreliability of force feedback. The current study provides experimental evidence for dysfunctional sensory integration in fixed dystonia, showing that CRPS-patients with fixed dystonia weight force and position feedback differently than controls do. The study shows reduced force feedback weights in CRPS-patients with fixed dystonia, making it the first to demonstrate disturbed integration of force feedback in fixed dystonia, an important step towards understanding the pathophysiology of fixed dystonia.

Survey of Digital Feedback Systems in High Current Storage Rings

International Nuclear Information System (INIS)

Teytelman, Dmitry

2003-01-01

In the last decade demand for brightness in synchrotron light sources and luminosity in circular colliders led to construction of multiple high current storage rings. Many of these new machines require feedback systems to achieve design stored beam currents. In the same time frame the rapid advances in the technology of digital signal processing allowed the implementation of these complex feedback systems. In this paper I concentrate on three applications of feedback to storage rings: orbit control in light sources, coupled-bunch instability control, and low-level RF control. Each of these applications is challenging in areas of processing bandwidth, algorithm complexity, and control of time-varying beam and system dynamics. I will review existing implementations as well as comment on promising future directions

Distributed force feedback in the spinal cord and the regulation of limb mechanics.

Science.gov (United States)

Nichols, T Richard

2018-03-01

This review is an update on the role of force feedback from Golgi tendon organs in the regulation of limb mechanics during voluntary movement. Current ideas about the role of force feedback are based on modular circuits linking idealized systems of agonists, synergists, and antagonistic muscles. In contrast, force feedback is widely distributed across the muscles of a limb and cannot be understood based on these circuit motifs. Similarly, muscle architecture cannot be understood in terms of idealized systems, since muscles cross multiple joints and axes of rotation and further influence remote joints through inertial coupling. It is hypothesized that distributed force feedback better represents the complex mechanical interactions of muscles, including the stresses in the musculoskeletal network born by muscle articulations, myofascial force transmission, and inertial coupling. Together with the strains of muscle fascicles measured by length feedback from muscle spindle receptors, this integrated proprioceptive feedback represents the mechanical state of the musculoskeletal system. Within the spinal cord, force feedback has excitatory and inhibitory components that coexist in various combinations based on motor task and integrated with length feedback at the premotoneuronal and motoneuronal levels. It is concluded that, in agreement with other investigators, autogenic, excitatory force feedback contributes to propulsion and weight support. It is further concluded that coexistent inhibitory force feedback, together with length feedback, functions to manage interjoint coordination and the mechanical properties of the limb in the face of destabilizing inertial forces and positive force feedback, as required by the accelerations and changing directions of both predator and prey.

The role of visual and direct force feedback in robotics-assisted mitral valve annuloplasty.

Science.gov (United States)

Currie, Maria E; Talasaz, Ali; Rayman, Reiza; Chu, Michael W A; Kiaii, Bob; Peters, Terry; Trejos, Ana Luisa; Patel, Rajni

2017-09-01

The objective of this work was to determine the effect of both direct force feedback and visual force feedback on the amount of force applied to mitral valve tissue during ex vivo robotics-assisted mitral valve annuloplasty. A force feedback-enabled master-slave surgical system was developed to provide both visual and direct force feedback during robotics-assisted cardiac surgery. This system measured the amount of force applied by novice and expert surgeons to cardiac tissue during ex vivo mitral valve annuloplasty repair. The addition of visual (2.16 ± 1.67), direct (1.62 ± 0.86), or both visual and direct force feedback (2.15 ± 1.08) resulted in lower mean maximum force applied to mitral valve tissue while suturing compared with no force feedback (3.34 ± 1.93 N; P forces on cardiac tissue during robotics-assisted mitral valve annuloplasty suturing, force feedback may be required. Copyright © 2016 John Wiley & Sons, Ltd.

PC-based digital feedback control for scanning force microscope

International Nuclear Information System (INIS)

Mohd Ashhar Khalid

2002-01-01

In the past, most digital feedback implementation for scanned-probe microscope were based on a digital signal processor (DSP). At present DSP plug-in card with the input-output interface module is still expensive compared to a fast pentium PC motherboard. For a magnetic force microscope (MFM) digital feedback has an advantage where the magnetic signal can be easily separated from the topographic signal. In this paper, a simple low-cost PC-based digital feedback and imaging system for Scanning Force Microscope (SFM) is presented. (Author)

Effects of realistic force feedback in a robotic assisted minimally invasive surgery system.

Science.gov (United States)

Moradi Dalvand, Mohsen; Shirinzadeh, Bijan; Nahavandi, Saeid; Smith, Julian

2014-06-01

Robotic assisted minimally invasive surgery systems not only have the advantages of traditional laparoscopic procedures but also restore the surgeon's hand-eye coordination and improve the surgeon's precision by filtering hand tremors. Unfortunately, these benefits have come at the expense of the surgeon's ability to feel. Several research efforts have already attempted to restore this feature and study the effects of force feedback in robotic systems. The proposed methods and studies have some shortcomings. The main focus of this research is to overcome some of these limitations and to study the effects of force feedback in palpation in a more realistic fashion. A parallel robot assisted minimally invasive surgery system (PRAMiSS) with force feedback capabilities was employed to study the effects of realistic force feedback in palpation of artificial tissue samples. PRAMiSS is capable of actually measuring the tip/tissue interaction forces directly from the surgery site. Four sets of experiments using only vision feedback, only force feedback, simultaneous force and vision feedback and direct manipulation were conducted to evaluate the role of sensory feedback from sideways tip/tissue interaction forces with a scale factor of 100% in characterising tissues of varying stiffness. Twenty human subjects were involved in the experiments for at least 1440 trials. Friedman and Wilcoxon signed-rank tests were employed to statistically analyse the experimental results. Providing realistic force feedback in robotic assisted surgery systems improves the quality of tissue characterization procedures. Force feedback capability also increases the certainty of characterizing soft tissues compared with direct palpation using the lateral sides of index fingers. The force feedback capability can improve the quality of palpation and characterization of soft tissues of varying stiffness by restoring sense of touch in robotic assisted minimally invasive surgery operations.

Optimal feedback control of the forced van der Pol system

International Nuclear Information System (INIS)

Chagas, T.P.; Toledo, B.A.; Rempel, E.L.; Chian, A.C.-L.; Valdivia, J.A.

2012-01-01

A simple feedback control strategy for chaotic systems is investigated using the forced van der Pol system as an example. The strategy regards chaos control as an optimization problem, where the maximum magnitude Floquet multiplier of a target unstable periodic orbit (UPO) is used as a cost function that needs to be minimized. Thus, the method obtains the optimal control gain in terms of the stability of the target UPO. This strategy was recently proposed for the proportional feedback control (PFC) method. Here, it is extended to the highly popular delayed feedback control (DFC) method. Since the DFC method treats the system as a delay-differential equation whose phase space is infinite-dimensional, the characteristic multipliers are found through a truncation in the number of delayed states. Control of a target UPO is achieved for several values of the forcing amplitude. We compare the DFC and PFC methods in terms of stability of the controlled orbit, steady state error and control effort.

Tactical Decision Aids High Bandwidth Links Using Autonomous Vehicles

Science.gov (United States)

2004-01-01

1 Tactical Decision Aids (High Bandwidth Links Using Autonomous Vehicles ) A. J. Healey, D. P. Horner, Center for Autonomous Underwater Vehicle...SUBTITLE Tactical Decision Aids (High Bandwidth Links Using Autonomous Vehicles ) 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6

High Cable Forces Deteriorate Pinch Force Control in Voluntary-Closing Body-Powered Prostheses.

Directory of Open Access Journals (Sweden)

Mona Hichert

Full Text Available It is generally asserted that reliable and intuitive control of upper-limb prostheses requires adequate feedback of prosthetic finger positions and pinch forces applied to objects. Body-powered prostheses (BPPs provide the user with direct proprioceptive feedback. Currently available BPPs often require high cable operation forces, which complicates control of the forces at the terminal device. The aim of this study is to quantify the influence of high cable forces on object manipulation with voluntary-closing prostheses.Able-bodied male subjects were fitted with a bypass-prosthesis with low and high cable force settings for the prehensor. Subjects were requested to grasp and transfer a collapsible object as fast as they could without dropping or breaking it. The object had a low and a high breaking force setting.Subjects conducted significantly more successful manipulations with the low cable force setting, both for the low (33% more and high (50% object's breaking force. The time to complete the task was not different between settings during successful manipulation trials.High cable forces lead to reduced pinch force control during object manipulation. This implies that low cable operation forces should be a key design requirement for voluntary-closing BPPs.

Fabrication of a thin-film capacitive force sensor array for tactile feedback in robotic surgery.

Science.gov (United States)

Paydar, Omeed H; Wottawa, Christopher R; Fan, Richard E; Dutson, Erik P; Grundfest, Warren S; Culjat, Martin O; Candler, Rob N

2012-01-01

Although surgical robotic systems provide several advantages over conventional minimally invasive techniques, they are limited by a lack of tactile feedback. Recent research efforts have successfully integrated tactile feedback components onto surgical robotic systems, and have shown significant improvement to surgical control during in vitro experiments. The primary barrier to the adoption of tactile feedback in clinical use is the unavailability of suitable force sensing technologies. This paper describes the design and fabrication of a thin-film capacitive force sensor array that is intended for integration with tactile feedback systems. This capacitive force sensing technology could provide precise, high-sensitivity, real-time responses to both static and dynamic loads. Capacitive force sensors were designed to operate with optimal sensitivity and dynamic range in the range of forces typical in minimally invasive surgery (0-40 N). Initial results validate the fabrication of these capacitive force-sensing arrays. We report 16.3 pF and 146 pF for 1-mm(2) and 9-mm(2) capacitive areas, respectively, whose values are within 3% of theoretical predictions.

Fundamentals of force feedback and application to a surgery simulator.

Science.gov (United States)

Maass, Heiko; Chantier, Benjamin B A; Cakmak, Hueseyin K; Trantakis, Christos; Kuehnapfel, Uwe G

2003-01-01

Force feedback increases the effectiveness of virtual-reality surgery training systems. An overview of the fundamentals of applying force feedback is presented. An impedance control technique and data processing methods for stability preservation are illustrated. A flexible interface for general force-feedback applications has been developed. This interface is capable of controlling several different force-feedback hardware systems, including the SensAble PHANTOM, the Laparoscopic Impulse Engines from Immersion, and the VS-One virtual endoscopic surgery trainer. The findings are evaluated using the main simulation system, KISMET, and the modeling tools KISMO and VESUV. Within the scope of a cooperative project called HapticIO (funded by the German Ministry of Education and Research [BMBF]), new haptic devices have been designed for virtual neuroendoscopy and laparoscopy. The concept and implementations presented in this paper have been found to be flexible, stable and suitable for universal use. The impedance method, combined with the open-loop feed-forward control technique, is well suited and appropriate for the task.

A kinesthetic washout filter for force-feedback rendering.

Science.gov (United States)

Danieau, Fabien; Lecuyer, Anatole; Guillotel, Philippe; Fleureau, Julien; Mollet, Nicolas; Christie, Marc

2015-01-01

Today haptic feedback can be designed and associated to audiovisual content (haptic-audiovisuals or HAV). Although there are multiple means to create individual haptic effects, the issue of how to properly adapt such effects on force-feedback devices has not been addressed and is mostly a manual endeavor. We propose a new approach for the haptic rendering of HAV, based on a washout filter for force-feedback devices. A body model and an inverse kinematics algorithm simulate the user's kinesthetic perception. Then, the haptic rendering is adapted in order to handle transitions between haptic effects and to optimize the amplitude of effects regarding the device capabilities. Results of a user study show that this new haptic rendering can successfully improve the HAV experience.

Extended-bandwidth frequency sweeps of a distributed feedback laser using combined injection current and temperature modulation.

Science.gov (United States)

Hefferman, Gerald; Chen, Zhen; Wei, Tao

2017-07-01

This article details the generation of an extended-bandwidth frequency sweep using a single, communication grade distributed feedback (DFB) laser. The frequency sweep is generated using a two-step technique. In the first step, injection current modulation is employed as a means of varying the output frequency of a DFB laser over a bandwidth of 99.26 GHz. A digital optical phase lock loop is used to lock the frequency sweep speed during current modulation, resulting in a linear frequency chirp. In the second step, the temperature of the DFB laser is modulated, resulting in a shifted starting laser output frequency. A laser frequency chirp is again generated beginning at this shifted starting frequency, resulting in a frequency-shifted spectrum relative to the first recorded data. This process is then repeated across a range of starting temperatures, resulting in a series of partially overlapping, frequency-shifted spectra. These spectra are then aligned using cross-correlation and combined using averaging to form a single, broadband spectrum with a total bandwidth of 510.9 GHz. In order to investigate the utility of this technique, experimental testing was performed in which the approach was used as the swept-frequency source of a coherent optical frequency domain reflectometry system. This system was used to interrogate an optical fiber containing a 20 point, 1-mm pitch length fiber Bragg grating, corresponding to a period of 100 GHz. Using this technique, both the periodicity of the grating in the frequency domain and the individual reflector elements of the structure in the time domain were resolved, demonstrating the technique's potential as a method of extending the sweeping bandwidth of semiconductor lasers for frequency-based sensing applications.

Extended-bandwidth frequency sweeps of a distributed feedback laser using combined injection current and temperature modulation

Science.gov (United States)

Hefferman, Gerald; Chen, Zhen; Wei, Tao

2017-07-01

This article details the generation of an extended-bandwidth frequency sweep using a single, communication grade distributed feedback (DFB) laser. The frequency sweep is generated using a two-step technique. In the first step, injection current modulation is employed as a means of varying the output frequency of a DFB laser over a bandwidth of 99.26 GHz. A digital optical phase lock loop is used to lock the frequency sweep speed during current modulation, resulting in a linear frequency chirp. In the second step, the temperature of the DFB laser is modulated, resulting in a shifted starting laser output frequency. A laser frequency chirp is again generated beginning at this shifted starting frequency, resulting in a frequency-shifted spectrum relative to the first recorded data. This process is then repeated across a range of starting temperatures, resulting in a series of partially overlapping, frequency-shifted spectra. These spectra are then aligned using cross-correlation and combined using averaging to form a single, broadband spectrum with a total bandwidth of 510.9 GHz. In order to investigate the utility of this technique, experimental testing was performed in which the approach was used as the swept-frequency source of a coherent optical frequency domain reflectometry system. This system was used to interrogate an optical fiber containing a 20 point, 1-mm pitch length fiber Bragg grating, corresponding to a period of 100 GHz. Using this technique, both the periodicity of the grating in the frequency domain and the individual reflector elements of the structure in the time domain were resolved, demonstrating the technique's potential as a method of extending the sweeping bandwidth of semiconductor lasers for frequency-based sensing applications.

An exploration of grip force regulation with a low-impedance myoelectric prosthesis featuring referred haptic feedback.

Science.gov (United States)

Brown, Jeremy D; Paek, Andrew; Syed, Mashaal; O'Malley, Marcia K; Shewokis, Patricia A; Contreras-Vidal, Jose L; Davis, Alicia J; Gillespie, R Brent

2015-11-25

Haptic display technologies are well suited to relay proprioceptive, force, and contact cues from a prosthetic terminal device back to the residual limb and thereby reduce reliance on visual feedback. The ease with which an amputee interprets these haptic cues, however, likely depends on whether their dynamic signal behavior corresponds to expected behaviors-behaviors consonant with a natural limb coupled to the environment. A highly geared motor in a terminal device along with the associated high back-drive impedance influences dynamic interactions with the environment, creating effects not encountered with a natural limb. Here we explore grasp and lift performance with a backdrivable (low backdrive impedance) terminal device placed under proportional myoelectric position control that features referred haptic feedback. We fabricated a back-drivable terminal device that could be used by amputees and non-amputees alike and drove aperture (or grip force, when a stiff object was in its grasp) in proportion to a myoelectric signal drawn from a single muscle site in the forearm. In randomly ordered trials, we assessed the performance of N=10 participants (7 non-amputee, 3 amputee) attempting to grasp and lift an object using the terminal device under three feedback conditions (no feedback, vibrotactile feedback, and joint torque feedback), and two object weights that were indiscernible by vision. Both non-amputee and amputee participants scaled their grip force according to the object weight. Our results showed only minor differences in grip force, grip/load force coordination, and slip as a function of sensory feedback condition, though the grip force at the point of lift-off for the heavier object was significantly greater for amputee participants in the presence of joint torque feedback. An examination of grip/load force phase plots revealed that our amputee participants used larger safety margins and demonstrated less coordination than our non-amputee participants

Isometric force exaggeration in simulated weightlessness by water immersion: role of visual feedback.

Science.gov (United States)

Dalecki, Marc; Bock, Otmar

2014-06-01

Previous studies reported that humans produce exaggerated isometric forces (20-50%) in microgravity, hypergravity, and under water. Subjects were not provided with visual feedback and exaggerations were attributed to proprioceptive deficits. The few studies that provided visual feedback in micro- and hypergravity found no deficits. The present work was undertaken to find out whether visual feedback can reduce or eliminate isometric force exaggerations during shallow water immersion, a working environment for astronauts and divers. There were 48 subjects who had to produce isometric forces of 15 N with a joystick; targets were presented via screen. Procedures were similar to earlier studies, but provided visual feedback. Subjects were tested 16.4 ft (5 m) under water (WET) and on dry land (DRY). Response accuracy was calculated with landmarks such as initial and peak force magnitude, and response timing. Initial force and response timing were equal in WET compared to DRY. A small but significant force exaggeration (+5%) remained for peak force in WET that was limited to directions toward the trunk. Force exaggeration under water is largely compensated, but not completely eliminated by visual feedback. As in earlier studies without visual feedback, force exaggeration manifested during later but not early response parts, speaking for impaired proprioceptive feedback rather than for erroneous central motor planning. Since in contrast to micro/hypergravity, visual feedback did not sufficiently abolish force deficits under water, proprioceptive information seems to be weighted differently in micro/hypergravity and shallow water immersion, probably because only the latter environment produces increased ambient pressure, which is known to induce neuronal changes.

Knee implant imaging at 3 Tesla using high-bandwidth radiofrequency pulses.

Science.gov (United States)

Bachschmidt, Theresa J; Sutter, Reto; Jakob, Peter M; Pfirrmann, Christian W A; Nittka, Mathias

2015-06-01

To investigate the impact of high-bandwidth radiofrequency (RF) pulses used in turbo spin echo (TSE) sequences or combined with slice encoding for metal artifact correction (SEMAC) on artifact reduction at 3 Tesla in the knee in the presence of metal. Local transmit/receive coils feature increased maximum B1 amplitude, reduced SAR exposition and thus enable the application of high-bandwidth RF pulses. Susceptibility-induced through-plane distortion scales inversely with the RF bandwidth and the view angle, hence blurring, increases for higher RF bandwidths, when SEMAC is used. These effects were assessed for a phantom containing a total knee arthroplasty. TSE and SEMAC sequences with conventional and high RF bandwidths and different contrasts were tested on eight patients with different types of implants. To realize scan times of 7 to 9 min, SEMAC was always applied with eight slice-encoding steps and distortion was rated by two radiologists. A local transmit/receive knee coil enables the use of an RF bandwidth of 4 kHz compared with 850 Hz in conventional sequences. Phantom scans confirm the relation of RF bandwidth and through-plane distortion, which can be reduced up to 79%, and demonstrate the increased blurring for high-bandwidth RF pulses. In average, artifacts in this RF mode are rated hardly visible for patients with joint arthroplasties, when eight SEMAC slice-encoding steps are applied, and for patients with titanium fixtures, when TSE is used. The application of high-bandwidth RF pulses by local transmit coils substantially reduces through-plane distortion artifacts at 3 Tesla. © 2014 Wiley Periodicals, Inc.

Variations in Static Force Control and Motor Unit Behavior with Error Amplification Feedback in the Elderly

Directory of Open Access Journals (Sweden)

Yi-Ching Chen

2017-11-01

Full Text Available Error amplification (EA feedback is a promising approach to advance visuomotor skill. As error detection and visuomotor processing at short time scales decline with age, this study examined whether older adults could benefit from EA feedback that included higher-frequency information to guide a force-tracking task. Fourteen young and 14 older adults performed low-level static isometric force-tracking with visual guidance of typical visual feedback and EA feedback containing augmented high-frequency errors. Stabilogram diffusion analysis was used to characterize force fluctuation dynamics. Also, the discharge behaviors of motor units and pooled motor unit coherence were assessed following the decomposition of multi-channel surface electromyography (EMG. EA produced different behavioral and neurophysiological impacts on young and older adults. Older adults exhibited inferior task accuracy with EA feedback than with typical visual feedback, but not young adults. Although stabilogram diffusion analysis revealed that EA led to a significant decrease in critical time points for both groups, EA potentiated the critical point of force fluctuations <ΔFc2>, short-term effective diffusion coefficients (Ds, and short-term exponent scaling only for the older adults. Moreover, in older adults, EA added to the size of discharge variability of motor units and discharge regularity of cumulative discharge rate, but suppressed the pooled motor unit coherence in the 13–35 Hz band. Virtual EA alters the strategic balance between open-loop and closed-loop controls for force-tracking. Contrary to expectations, the prevailing use of closed-loop control with EA that contained high-frequency error information enhanced the motor unit discharge variability and undermined the force steadiness in the older group, concerning declines in physiological complexity in the neurobehavioral system and the common drive to the motoneuronal pool against force destabilization.

High-speed force mapping on living cells with a small cantilever atomic force microscope

International Nuclear Information System (INIS)

Braunsmann, Christoph; Seifert, Jan; Rheinlaender, Johannes; Schäffer, Tilman E.

2014-01-01

The imaging speed of the wide-spread force mapping mode for quantitative mechanical measurements on soft samples in liquid with the atomic force microscope (AFM) is limited by the bandwidth of the z-scanner and viscous drag forces on the cantilever. Here, we applied high-speed, large scan-range atomic force microscopy and small cantilevers to increase the speed of force mapping by ≈10−100 times. This allowed resolving dynamic processes on living mouse embryonic fibroblasts. Cytoskeleton reorganization during cell locomotion, growth of individual cytoskeleton fibers, cell blebbing, and the formation of endocytic pits in the cell membrane were observed. Increasing the force curve rate from 2 to 300 Hz increased the measured apparent Young's modulus of the cells by about 10 times, which facilitated force mapping measurements at high speed

High-speed force mapping on living cells with a small cantilever atomic force microscope

Energy Technology Data Exchange (ETDEWEB)

Braunsmann, Christoph; Seifert, Jan; Rheinlaender, Johannes; Schäffer, Tilman E., E-mail: Tilman.Schaeffer@uni-tuebingen [Institute of Applied Physics and LISA, University of Tübingen, Auf der Morgenstelle 10, 72076 Tübingen (Germany)

2014-07-15

The imaging speed of the wide-spread force mapping mode for quantitative mechanical measurements on soft samples in liquid with the atomic force microscope (AFM) is limited by the bandwidth of the z-scanner and viscous drag forces on the cantilever. Here, we applied high-speed, large scan-range atomic force microscopy and small cantilevers to increase the speed of force mapping by ≈10−100 times. This allowed resolving dynamic processes on living mouse embryonic fibroblasts. Cytoskeleton reorganization during cell locomotion, growth of individual cytoskeleton fibers, cell blebbing, and the formation of endocytic pits in the cell membrane were observed. Increasing the force curve rate from 2 to 300 Hz increased the measured apparent Young's modulus of the cells by about 10 times, which facilitated force mapping measurements at high speed.

In-circuit-measurement of parasitic elements in high gain high bandwidth low noise transimpedance amplifiers.

Science.gov (United States)

Cochems, P; Kirk, A; Zimmermann, S

2014-12-01

Parasitic elements play an important role in the development of every high performance circuit. In the case of high gain, high bandwidth transimpedance amplifiers, the most important parasitic elements are parasitic capacitances at the input and in the feedback path, which significantly influence the stability, the frequency response, and the noise of the amplifier. As these parasitic capacitances range from a few picofarads down to only a few femtofarads, it is nearly impossible to measure them accurately using traditional LCR meters. Unfortunately, they also cannot be easily determined from the transfer function of the transimpedance amplifier, as it contains several overlapping effects and its measurement is only possible when the circuit is already stable. Therefore, we developed an in-circuit measurement method utilizing minimal modifications to the input stage in order to measure its parasitic capacitances directly and with unconditional stability. Furthermore, using the data acquired with this measurement technique, we both proposed a model for the complicated frequency response of high value thick film resistors as they are used in high gain transimpedance amplifiers and optimized our transimpedance amplifier design.

High-frequency multimodal atomic force microscopy

Directory of Open Access Journals (Sweden)

Adrian P. Nievergelt

2014-12-01

Full Text Available Multifrequency atomic force microscopy imaging has been recently demonstrated as a powerful technique for quickly obtaining information about the mechanical properties of a sample. Combining this development with recent gains in imaging speed through small cantilevers holds the promise of a convenient, high-speed method for obtaining nanoscale topography as well as mechanical properties. Nevertheless, instrument bandwidth limitations on cantilever excitation and readout have restricted the ability of multifrequency techniques to fully benefit from small cantilevers. We present an approach for cantilever excitation and deflection readout with a bandwidth of 20 MHz, enabling multifrequency techniques extended beyond 2 MHz for obtaining materials contrast in liquid and air, as well as soft imaging of delicate biological samples.

Force feedback in a piezoelectric linear actuator for neurosurgery.

Science.gov (United States)

De Lorenzo, Danilo; De Momi, Elena; Dyagilev, Ilya; Manganelli, Rudy; Formaglio, Alessandro; Prattichizzo, Domenico; Shoham, Moshe; Ferrigno, Giancarlo

2011-09-01

Force feedback in robotic minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. A force sensor mounted on the probe raises problems with sterilization of the overall surgical tool. Also, the use of off-axis gauges introduces a moment that increases the friction force on the bearing, which can easily mask off the signal, given the small force to be measured. This work aims at designing and testing two methods for estimating the resistance to the advancement (force) experienced by a standard probe for brain biopsies within a brain-like material. The further goal is to provide a neurosurgeon using a master-slave tele-operated driver with direct feedback on the tissue mechanical characteristics. Two possible sensing methods, in-axis strain gauge force sensor and position-position error (control-based method), were implemented and tested, both aimed at device miniaturization. The analysis carried out was aimed at fulfilment of the psychophysics requirements for force detection and delay tolerance, also taking into account safety, which is directly related to the last two issues. Controller parameters definition is addressed and consideration is given to development of the device with integration of a haptic interface. Results show better performance of the control-based method (RMSE sensors. Force feedback in minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. Copyright © 2011 John Wiley & Sons, Ltd.

High bandwidth concurrent processing on commodity platforms

CERN Document Server

Boosten, M; Van der Stok, P D V

1999-01-01

The I/O bandwidth and real-time processing power required for high- energy physics experiments is increasing rapidly over time. The current requirements can only be met by using large-scale concurrent processing. We are investigating the use of a large PC cluster interconnected by Fast and Gigabit Ethernet to meet the performance requirements of the ATLAS second level trigger. This architecture is attractive because of its performance and competitive pricing. A major problem is obtaining frequent high-bandwidth I/O without sacrificing the CPU's processing power. We present a tight integration of a user-level scheduler and a zero-copy communication layer. This system closely approaches the performance of the underlying hardware in terms of both CPU power and I/O capacity. (0 refs).

Review of high bandwidth fiber optics radiation sensors

International Nuclear Information System (INIS)

Lyons, P.B.

1985-01-01

This paper summarizes the use of fiber optics or guided optical systems for radiation sensors. It is limited a passive systems wherein electrical is not required at the sensor location. However, electrically powered light sources, receivers and/or recorders may still be required for detection and data storage in sensor system operation. This paper emphasizes sensor technologies that permit high bandwidth measurements of transient radiation levels, and will also discuss several low bandwidth applications. 60 refs

An implementation of sensor-based force feedback in a compact laparoscopic surgery robot.

Science.gov (United States)

Lee, Duk-Hee; Choi, Jaesoon; Park, Jun-Woo; Bach, Du-Jin; Song, Seung-Jun; Kim, Yoon-Ho; Jo, Yungho; Sun, Kyung

2009-01-01

Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.

Research of the master-slave robot surgical system with the function of force feedback.

Science.gov (United States)

Shi, Yunyong; Zhou, Chaozheng; Xie, Le; Chen, Yongjun; Jiang, Jun; Zhang, Zhenfeng; Deng, Ze

2017-12-01

Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master-slave surgical robot, which was designed with an integrated force sensor. The new structure designed for the master-slave robot employs a force feedback mechanism. A six-dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated. The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment. The surgical robot can help surgeons to complete trajectory motions with haptic sensation. Copyright © 2017 John Wiley & Sons, Ltd.

Haptic force-feedback devices for the office computer: performance and musculoskeletal loading issues.

Science.gov (United States)

Dennerlein, J T; Yang, M C

2001-01-01

Pointing devices, essential input tools for the graphical user interface (GUI) of desktop computers, require precise motor control and dexterity to use. Haptic force-feedback devices provide the human operator with tactile cues, adding the sense of touch to existing visual and auditory interfaces. However, the performance enhancements, comfort, and possible musculoskeletal loading of using a force-feedback device in an office environment are unknown. Hypothesizing that the time to perform a task and the self-reported pain and discomfort of the task improve with the addition of force feedback, 26 people ranging in age from 22 to 44 years performed a point-and-click task 540 times with and without an attractive force field surrounding the desired target. The point-and-click movements were approximately 25% faster with the addition of force feedback (paired t-tests, p user discomfort and pain, as measured through a questionnaire, were also smaller with the addition of force feedback (p device improves performance, and potentially reduces musculoskeletal loading during mouse use. Actual or potential applications of this research include human-computer interface design, specifically that of the pointing device extensively used for the graphical user interface.

Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle.

Science.gov (United States)

Elayaperumal, Santhi; Bae, Jung Hwa; Daniel, Bruce L; Cutkosky, Mark R

2014-09-01

This paper presents calibration and user test results of a 3-D tip-force sensing needle with haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil haptic display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added haptic feedback (p = 0.0024).

CO2 forcing induces semi-direct effects with consequences for climate feedback interpretations

Science.gov (United States)

Andrews, Timothy; Forster, Piers M.

2008-02-01

Climate forcing and feedbacks are diagnosed from seven slab-ocean GCMs for 2 × CO2 using a regression method. Results are compared to those using conventional methodologies to derive a semi-direct forcing due to tropospheric adjustment, analogous to the semi-direct effect of absorbing aerosols. All models show a cloud semi-direct effect, indicating a rapid cloud response to CO2; cloud typically decreases, enhancing the warming. Similarly there is evidence of semi-direct effects from water-vapour, lapse-rate, ice and snow. Previous estimates of climate feedbacks are unlikely to have taken these semi-direct effects into account and so misinterpret processes as feedbacks that depend only on the forcing, but not the global surface temperature. We show that the actual cloud feedback is smaller than what previous methods suggest and that a significant part of the cloud response and the large spread between previous model estimates of cloud feedback is due to the semi-direct forcing.

Study on real-time force feedback for a master-slave interventional surgical robotic system.

Science.gov (United States)

Guo, Shuxiang; Wang, Yuan; Xiao, Nan; Li, Youxiang; Jiang, Yuhua

2018-04-13

In robot-assisted catheterization, haptic feedback is important, but is currently lacking. In addition, conventional interventional surgical robotic systems typically employ a master-slave architecture with an open-loop force feedback, which results in inaccurate control. We develop herein a novel real-time master-slave (RTMS) interventional surgical robotic system with a closed-loop force feedback that allows a surgeon to sense the true force during remote operation, provide adequate haptic feedback, and improve control accuracy in robot-assisted catheterization. As part of this system, we also design a unique master control handle that measures the true force felt by a surgeon, providing the basis for the closed-loop control of the entire system. We use theoretical and empirical methods to demonstrate that the proposed RTMS system provides a surgeon (using the master control handle) with a more accurate and realistic force sensation, which subsequently improves the precision of the master-slave manipulation. The experimental results show a substantial increase in the control accuracy of the force feedback and an increase in operational efficiency during surgery.

Ultra-high bandwidth quantum secured data transmission

Science.gov (United States)

Dynes, James F.; Tam, Winci W.-S.; Plews, Alan; Fröhlich, Bernd; Sharpe, Andrew W.; Lucamarini, Marco; Yuan, Zhiliang; Radig, Christian; Straw, Andrew; Edwards, Tim; Shields, Andrew J.

2016-10-01

Quantum key distribution (QKD) provides an attractive means for securing communications in optical fibre networks. However, deployment of the technology has been hampered by the frequent need for dedicated dark fibres to segregate the very weak quantum signals from conventional traffic. Up until now the coexistence of QKD with data has been limited to bandwidths that are orders of magnitude below those commonly employed in fibre optic communication networks. Using an optimised wavelength divisional multiplexing scheme, we transport QKD and the prevalent 100 Gb/s data format in the forward direction over the same fibre for the first time. We show a full quantum encryption system operating with a bandwidth of 200 Gb/s over a 100 km fibre. Exploring the ultimate limits of the technology by experimental measurements of the Raman noise, we demonstrate it is feasible to combine QKD with 10 Tb/s of data over a 50 km link. These results suggest it will be possible to integrate QKD and other quantum photonic technologies into high bandwidth data communication infrastructures, thereby allowing their widespread deployment.

THz Tube Waveguides With Low Loss, Low Dispersion, and High Bandwidth

DEFF Research Database (Denmark)

Bao, Hualong; Nielsen, Kristian; Bang, Ole

2014-01-01

We propose, model and experimentally characterize a novel class of terahertz hollow-core tube waveguides with high-loss cladding material, resulting in propagation with low loss, low dispersion, and high useful bandwidth.......We propose, model and experimentally characterize a novel class of terahertz hollow-core tube waveguides with high-loss cladding material, resulting in propagation with low loss, low dispersion, and high useful bandwidth....

Humans can integrate feedback of discrete events in their sensorimotor control of a robotic hand.

Science.gov (United States)

Cipriani, Christian; Segil, Jacob L; Clemente, Francesco; ff Weir, Richard F; Edin, Benoni

2014-11-01

Providing functionally effective sensory feedback to users of prosthetics is a largely unsolved challenge. Traditional solutions require high band-widths for providing feedback for the control of manipulation and yet have been largely unsuccessful. In this study, we have explored a strategy that relies on temporally discrete sensory feedback that is technically simple to provide. According to the Discrete Event-driven Sensory feedback Control (DESC) policy, motor tasks in humans are organized in phases delimited by means of sensory encoded discrete mechanical events. To explore the applicability of DESC for control, we designed a paradigm in which healthy humans operated an artificial robot hand to lift and replace an instrumented object, a task that can readily be learned and mastered under visual control. Assuming that the central nervous system of humans naturally organizes motor tasks based on a strategy akin to DESC, we delivered short-lasting vibrotactile feedback related to events that are known to forcefully affect progression of the grasp-lift-and-hold task. After training, we determined whether the artificial feedback had been integrated with the sensorimotor control by introducing short delays and we indeed observed that the participants significantly delayed subsequent phases of the task. This study thus gives support to the DESC policy hypothesis. Moreover, it demonstrates that humans can integrate temporally discrete sensory feedback while controlling an artificial hand and invites further studies in which inexpensive, noninvasive technology could be used in clever ways to provide physiologically appropriate sensory feedback in upper limb prosthetics with much lower band-width requirements than with traditional solutions.

Tactile feedback is an effective instrument for the training of grasping with a prosthesis at low- and medium-force levels.

Science.gov (United States)

De Nunzio, Alessandro Marco; Dosen, Strahinja; Lemling, Sabrina; Markovic, Marko; Schweisfurth, Meike Annika; Ge, Nan; Graimann, Bernhard; Falla, Deborah; Farina, Dario

2017-08-01

Grasping is a complex task routinely performed in an anticipatory (feedforward) manner, where sensory feedback is responsible for learning and updating the internal model of grasp dynamics. This study aims at evaluating whether providing a proportional tactile force feedback during the myoelectric control of a prosthesis facilitates learning a stable internal model of the prosthesis force control. Ten able-bodied subjects controlled a sensorized myoelectric prosthesis performing four blocks of consecutive grasps at three levels of target force (30, 50, and 70%), repeatedly closing the fully opened hand. In the first and third block, the subjects received tactile and visual feedback, respectively, while during the second and fourth block, the feedback was removed. The subjects also performed an additional block with no feedback 1 day after the training (Retest). The median and interquartile range of the generated forces was computed to assess the accuracy and precision of force control. The results demonstrated that the feedback was indeed an effective instrument for the training of prosthesis control. After the training, the subjects were still able to accurately generate the desired force for the low and medium target (30 and 50% of maximum force available in a prosthesis), despite the feedback being removed within the session and during the retest (low target force). However, the training was substantially less successful for high forces (70% of prosthesis maximum force), where subjects exhibited a substantial loss of accuracy as soon as the feedback was removed. The precision of control decreased with higher forces and it was consistent across conditions, determined by an intrinsic variability of repeated myoelectric grasping. This study demonstrated that the subject could rely on the tactile feedback to adjust the motor command to the prosthesis across trials. The subjects adjusted the mean level of muscle activation (accuracy), whereas the precision could not

Micromachined diffraction based optical microphones and intensity probes with electrostatic force feedback

Science.gov (United States)

Bicen, Baris

Measuring acoustic pressure gradients is critical in many applications such as directional microphones for hearing aids and sound intensity probes. This measurement is especially challenging with decreasing microphone size, which reduces the sensitivity due to small spacing between the pressure ports. Novel, micromachined biomimetic microphone diaphragms are shown to provide high sensitivity to pressure gradients on one side of the diaphragm with low thermal mechanical noise. These structures have a dominant mode shape with see-saw like motion in the audio band, responding to pressure gradients as well as spurious higher order modes sensitive to pressure. In this dissertation, integration of a diffraction based optical detection method with these novel diaphragm structures to implement a low noise optical pressure gradient microphone is described and experimental characterization results are presented, showing 36 dBA noise level with 1mm port spacing, nearly an order of magnitude better than the current gradient microphones. The optical detection scheme also provides electrostatic actuation capability from both sides of the diaphragm separately which can be used for active force feedback. A 4-port electromechanical equivalent circuit model of this microphone with optical readout is developed to predict the overall response of the device to different acoustic and electrostatic excitations. The model includes the damping due to complex motion of air around the microphone diaphragm, and it calculates the detected optical signal on each side of the diaphragm as a combination of two separate dominant vibration modes. This equivalent circuit model is verified by experiments and used to predict the microphone response with different force feedback schemes. Single sided force feedback is used for active damping to improve the linearity and the frequency response of the microphone. Furthermore, it is shown that using two sided force feedback one can significantly suppress

Improving training of laparoscopic tissue manipulation skills using various visual force feedback types

NARCIS (Netherlands)

Smit, Daan; Spruit, Edward; Dankelman, J.; Tuijthof, G.J.M.; Hamming, J; Horeman, T.

2017-01-01

Background Visual force feedback allows trainees to learn laparoscopic tissue manipulation skills. The aim of this experimental study was to find the most efficient visual force feedback method to acquire these skills. Retention and transfer validity to an untrained task were assessed. Methods

Forcings and feedbacks by land ecosystem changes on climate change

Science.gov (United States)

Betts, R. A.

2006-12-01

Vegetation change is involved in climate change through both forcing and feedback processes. Emissions of CO{2} from past net deforestation are estimated to have contributed approximately 0.22 0.51 Wm - 2 to the overall 1.46 Wm - 2 radiative forcing by anthropogenic increases in CO{2} up to the year 2000. Deforestation-induced increases in global mean surface albedo are estimated to exert a radiative forcing of 0 to -0.2 Wm - 2, and dust emissions from land use may exert a radiative forcing of between approximately +0.1 and -0.2 Wm - 2. Changes in the fluxes of latent and sensible heat due to tropical deforestation are simulated to have exerted other local warming effects which cannot be quantified in terms of a Wm - 2 radiative forcing, with the potential for remote effects through changes in atmospheric circulation. With tropical deforestation continuing rapidly, radiative forcing by surface albedo change may become less useful as a measure of the forcing of climate change by changes in the physical properties of the land surface. Although net global deforestation is continuing, future scenarios used for climate change prediction suggest that fossil fuel emissions of CO{2} may continue to increase at a greater rate than land use emissions and therefore continue to increase in dominance as the main radiative forcing. The CO{2} rise may be accelerated by up to 66% by feedbacks arising from global soil carbon loss and forest dieback in Amazonia as a consequence of climate change, and Amazon forest dieback may also exert feedbacks through changes in the local water cycle and increases in dust emissions.

Forcing, feedback and internal variability in global temperature trends.

Science.gov (United States)

Marotzke, Jochem; Forster, Piers M

2015-01-29

Most present-generation climate models simulate an increase in global-mean surface temperature (GMST) since 1998, whereas observations suggest a warming hiatus. It is unclear to what extent this mismatch is caused by incorrect model forcing, by incorrect model response to forcing or by random factors. Here we analyse simulations and observations of GMST from 1900 to 2012, and show that the distribution of simulated 15-year trends shows no systematic bias against the observations. Using a multiple regression approach that is physically motivated by surface energy balance, we isolate the impact of radiative forcing, climate feedback and ocean heat uptake on GMST--with the regression residual interpreted as internal variability--and assess all possible 15- and 62-year trends. The differences between simulated and observed trends are dominated by random internal variability over the shorter timescale and by variations in the radiative forcings used to drive models over the longer timescale. For either trend length, spread in simulated climate feedback leaves no traceable imprint on GMST trends or, consequently, on the difference between simulations and observations. The claim that climate models systematically overestimate the response to radiative forcing from increasing greenhouse gas concentrations therefore seems to be unfounded.

Managing high-bandwidth real-time data storage

Energy Technology Data Exchange (ETDEWEB)

Bigelow, David D. [Los Alamos National Laboratory; Brandt, Scott A [Los Alamos National Laboratory; Bent, John M [Los Alamos National Laboratory; Chen, Hsing-Bung [Los Alamos National Laboratory

2009-09-23

There exist certain systems which generate real-time data at high bandwidth, but do not necessarily require the long-term retention of that data in normal conditions. In some cases, the data may not actually be useful, and in others, there may be too much data to permanently retain in long-term storage whether it is useful or not. However, certain portions of the data may be identified as being vitally important from time to time, and must therefore be retained for further analysis or permanent storage without interrupting the ongoing collection of new data. We have developed a system, Mahanaxar, intended to address this problem. It provides quality of service guarantees for incoming real-time data streams and simultaneous access to already-recorded data on a best-effort basis utilizing any spare bandwidth. It has built in mechanisms for reliability and indexing, can scale upwards to meet increasing bandwidth requirements, and handles both small and large data elements equally well. We will show that a prototype version of this system provides better performance than a flat file (traditional filesystem) based version, particularly with regard to quality of service guarantees and hard real-time requirements.

Preamplifier design with wide bandwidth using InGaP/GaAs HBT for 10-Gbps photoreceiver module

International Nuclear Information System (INIS)

Hong, S. E.; Lim, J. M.; Kim, S. I.; Nam, E. S.

2004-01-01

We report a preamplifier with wide bandwidth using high-speed and reliable InGaP/GaAs HBT applicable for 10-Gbps photoreceiver modules. The three-stage preamplifier with a negative feedback resistor demonstrates an effective transimpedance gain of 43 dBΩ, a -3-dB bandwidth of 14 GHz corresponding to a very high transimpedance-bandwidth product of 2.52 THzΩ, and an output return loss of -18 dB up to -3-dB bandwidth. This compact circuit is fabricated with an area of 800 X 700 μm 2 . A photoreceiver module of surface-mountable package type, that is composed of preamplifier and photodiode of surface-illumination type, demonstrates an optical bandwidth of 7.5 GHz at λ = 1.55 μ m and a 45-psec rise/fall time for 10-Gbps. The module shows higher sensitivity for a 10-Gbps optical transmission system.

Optimization of Quantum-Dot Molecular Beam Epitaxy for Broad Spectral Bandwidth Devices

KAUST Repository

Majid, Mohammed Abdul

2012-12-01

The optimization of the key growth parameters for broad spectral bandwidth devices based on quantum dots is reported. A combination of atomic force microscopy, photoluminescence of test samples, and optoelectronic characterization of superluminescent diodes (SLDs) is used to optimize the growth conditions to obtain high-quality devices with large spectral bandwidth, radiative efficiency (due to a reduced defective-dot density), and thus output power. The defective-dot density is highlighted as being responsible for the degradation of device performance. An SLD device with 160 nm of bandwidth centered at 1230 nm is demonstrated.

Optimization of Quantum-Dot Molecular Beam Epitaxy for Broad Spectral Bandwidth Devices

KAUST Repository

Majid, Mohammed Abdul; Hugues, M.; Vézian, S.; Childs, D. T. D.; Hogg, R. A.

2012-01-01

The optimization of the key growth parameters for broad spectral bandwidth devices based on quantum dots is reported. A combination of atomic force microscopy, photoluminescence of test samples, and optoelectronic characterization of superluminescent diodes (SLDs) is used to optimize the growth conditions to obtain high-quality devices with large spectral bandwidth, radiative efficiency (due to a reduced defective-dot density), and thus output power. The defective-dot density is highlighted as being responsible for the degradation of device performance. An SLD device with 160 nm of bandwidth centered at 1230 nm is demonstrated.

Interrater reliability of quantitative ultrasound using force feedback among examiners with varied levels of experience

Directory of Open Access Journals (Sweden)

Michael O. Harris-Love

2016-06-01

Full Text Available Background. Quantitative ultrasound measures are influenced by multiple external factors including examiner scanning force. Force feedback may foster the acquisition of reliable morphometry measures under a variety of scanning conditions. The purpose of this study was to determine the reliability of force-feedback image acquisition and morphometry over a range of examiner-generated forces using a muscle tissue-mimicking ultrasound phantom. Methods. Sixty material thickness measures were acquired from a muscle tissue mimicking phantom using B-mode ultrasound scanning by six examiners with varied experience levels (i.e., experienced, intermediate, and novice. Estimates of interrater reliability and measurement error with force feedback scanning were determined for the examiners. In addition, criterion-based reliability was determined using material deformation values across a range of examiner scanning forces (1–10 Newtons via automated and manually acquired image capture methods using force feedback. Results. All examiners demonstrated acceptable interrater reliability (intraclass correlation coefficient, ICC = .98, p .90, p < .001, independent of their level of experience. The measurement error among all examiners was 1.5%–2.9% across all applied stress conditions. Conclusion. Manual image capture with force feedback may aid the reliability of morphometry measures across a range of examiner scanning forces, and allow for consistent performance among examiners with differing levels of experience.

Generation of chaotic radiation in a driven traveling wave tube amplifier with time-delayed feedback

International Nuclear Information System (INIS)

Marchewka, Chad; Larsen, Paul; Bhattacharjee, Sudeep; Booske, John; Sengele, Sean; Ryskin, Nikita; Titov, Vladimir

2006-01-01

The application of chaos in communications and radar offers new and interesting possibilities. This article describes investigations on the generation of chaos in a traveling wave tube (TWT) amplifier and the experimental parameters responsible for sustaining stable chaos. Chaos is generated in a TWT amplifier when it is made to operate in a highly nonlinear regime by recirculating a fraction of the TWT output power back to the input in a delayed feedback configuration. A driver wave provides a constant external force to the system making it behave like a forced nonlinear oscillator. The effects of the feedback bandwidth, intensity, and phase are described. The study illuminates the different transitions to chaos and the effect of parameters such as the frequency and intensity of the driver wave. The detuning frequency, i.e., difference frequency between the driver wave and the natural oscillation of the system, has been identified as being an important physical parameter for controlling evolution to chaos. Among the observed routes to chaos, besides the more common period doubling, a new route called loss of frequency locking occurs when the driving frequency is adjacent to a natural oscillation mode. The feedback bandwidth controls the nonlinear dynamics of the system, particularly the number of natural oscillation modes. A computational model has been developed to simulate the experiments and reasonably good agreement is obtained between them. Experiments are described that demonstrate the feasibility of chaotic communications using two TWTs, where one is operated as a driven chaotic oscillator and the other as a time-delayed, open-loop amplifier

Generation of chaotic radiation in a driven traveling wave tube amplifier with time-delayed feedback

Science.gov (United States)

Marchewka, Chad; Larsen, Paul; Bhattacharjee, Sudeep; Booske, John; Sengele, Sean; Ryskin, Nikita; Titov, Vladimir

2006-01-01

The application of chaos in communications and radar offers new and interesting possibilities. This article describes investigations on the generation of chaos in a traveling wave tube (TWT) amplifier and the experimental parameters responsible for sustaining stable chaos. Chaos is generated in a TWT amplifier when it is made to operate in a highly nonlinear regime by recirculating a fraction of the TWT output power back to the input in a delayed feedback configuration. A driver wave provides a constant external force to the system making it behave like a forced nonlinear oscillator. The effects of the feedback bandwidth, intensity, and phase are described. The study illuminates the different transitions to chaos and the effect of parameters such as the frequency and intensity of the driver wave. The detuning frequency, i.e., difference frequency between the driver wave and the natural oscillation of the system, has been identified as being an important physical parameter for controlling evolution to chaos. Among the observed routes to chaos, besides the more common period doubling, a new route called loss of frequency locking occurs when the driving frequency is adjacent to a natural oscillation mode. The feedback bandwidth controls the nonlinear dynamics of the system, particularly the number of natural oscillation modes. A computational model has been developed to simulate the experiments and reasonably good agreement is obtained between them. Experiments are described that demonstrate the feasibility of chaotic communications using two TWTs, where one is operated as a driven chaotic oscillator and the other as a time-delayed, open-loop amplifier.

Influence of Force and Torque Feedback on Operator Performance in a VR-Based Suturing Task

Directory of Open Access Journals (Sweden)

L. Santos-Carreras

2010-01-01

Full Text Available The introduction of Minimally Invasive Surgery (MIS has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an approach, paving the way for even less invasive surgical trends. However, the fact that haptic feedback has been progressively lost through this transition is an issue that to date has not been solved. Whereas traditional open surgery provides full haptic feedback, the introduction of MIS has eliminated the possibility of direct palpation and tactile exploration. Nevertheless, these procedures still provide a certain amount of force feedback through the rigid laparoscopic tool. Many of the current telemanipulated robotic surgical systems in return do not provide full haptic feedback, which to a certain extent can be explained by the requirement of force sensors integrated into the tools of the slave robot and actuators in the surgeon’s master console. In view of the increased complexity and cost, the benefit of haptic feedback is open to dispute. Nevertheless, studies have shown the importance of haptic feedback, especially when visual feedback is unreliable or absent. In order to explore the importance of haptic feedback for the surgeon’s master console of a novel teleoperated robotic surgical system, we have identified a typical surgical task where performance could potentially be improved by haptic feedback, and investigate performance with and without this feedback. Two rounds of experiments are performed with 10 subjects, six of them with a medical background. Results show that feedback conditions, including force feedback, significantly improve task performance independently of the operator’s suturing experience. There is, however, no further significant improvement when torque feedback is added. Consequently, it is deduced that force feedback in translations improves subject�

Effects of 3D virtual haptics force feedback on brand personality perception: the mediating role of physical presence in advergames.

Science.gov (United States)

Jin, Seung-A Annie

2010-06-01

This study gauged the effects of force feedback in the Novint Falcon haptics system on the sensory and cognitive dimensions of a virtual test-driving experience. First, in order to explore the effects of tactile stimuli with force feedback on users' sensory experience, feelings of physical presence (the extent to which virtual physical objects are experienced as actual physical objects) were measured after participants used the haptics interface. Second, to evaluate the effects of force feedback on the cognitive dimension of consumers' virtual experience, this study investigated brand personality perception. The experiment utilized the Novint Falcon haptics controller to induce immersive virtual test-driving through tactile stimuli. The author designed a two-group (haptics stimuli with force feedback versus no force feedback) comparison experiment (N = 238) by manipulating the level of force feedback. Users in the force feedback condition were exposed to tactile stimuli involving various force feedback effects (e.g., terrain effects, acceleration, and lateral forces) while test-driving a rally car. In contrast, users in the control condition test-drove the rally car using the Novint Falcon but were not given any force feedback. Results of ANOVAs indicated that (a) users exposed to force feedback felt stronger physical presence than those in the no force feedback condition, and (b) users exposed to haptics stimuli with force feedback perceived the brand personality of the car to be more rugged than those in the control condition. Managerial implications of the study for product trial in the business world are discussed.

Optical interconnect technologies for high-bandwidth ICT systems

Science.gov (United States)

Chujo, Norio; Takai, Toshiaki; Mizushima, Akiko; Arimoto, Hideo; Matsuoka, Yasunobu; Yamashita, Hiroki; Matsushima, Naoki

2016-03-01

The bandwidth of information and communication technology (ICT) systems is increasing and is predicted to reach more than 10 Tb/s. However, an electrical interconnect cannot achieve such bandwidth because of its density limits. To solve this problem, we propose two types of high-density optical fiber wiring for backplanes and circuit boards such as interface boards and switch boards. One type uses routed ribbon fiber in a circuit board because it has the ability to be formed into complex shapes to avoid interfering with the LSI and electrical components on the board. The backplane is required to exhibit high density and flexibility, so the second type uses loose fiber. We developed a 9.6-Tb/s optical interconnect demonstration system using embedded optical modules, optical backplane, and optical connector in a network apparatus chassis. We achieved 25-Gb/s transmission between FPGAs via the optical backplane.

Stereo advantage for a peg-in-hole task using a force-feedback manipulator

Science.gov (United States)

Spain, Edward H.

1990-01-01

An improved assessment methodology has been implemented at NOSC and tested using an instrumented peg-in-hole (PiH) taskboard. Several aspects of the methodology are discussed in light of their implications for future studies of manipulator performance. Using a simple (but high-fidelity) force-feedback manipulator, a group of 9 trained operators showed a consistent advantage for stereoscopic TV viewing over monoscopic TV viewing when performing the PiH task. To introduce a controlled element of spatial uncertainty into the testing procedure, taskboard orientation relative to the manipulator and remote video camera head was changed in a randomized order on a trial-by-trial basis. The stereoscopic advantage demonstrated by this study can reasonably be expected to be even more pronounced as the quality of the stereo TV interface is improved and force-feedback provided through the manipulator system is diminished and/or distorted.

The effect of force feedback delay on stiffness perception and grip force modulation during tool-mediated interaction with elastic force fields.

Science.gov (United States)

Leib, Raz; Karniel, Amir; Nisky, Ilana

2015-05-01

During interaction with objects, we form an internal representation of their mechanical properties. This representation is used for perception and for guiding actions, such as in precision grip, where grip force is modulated with the predicted load forces. In this study, we explored the relationship between grip force adjustment and perception of stiffness during interaction with linear elastic force fields. In a forced-choice paradigm, participants probed pairs of virtual force fields while grasping a force sensor that was attached to a haptic device. For each pair, they were asked which field had higher level of stiffness. In half of the pairs, the force feedback of one of the fields was delayed. Participants underestimated the stiffness of the delayed field relatively to the nondelayed, but their grip force characteristics were similar in both conditions. We analyzed the magnitude of the grip force and the lag between the grip force and the load force in the exploratory probing movements within each trial. Right before answering which force field had higher level of stiffness, both magnitude and lag were similar between delayed and nondelayed force fields. These results suggest that an accurate internal representation of environment stiffness and time delay was used for adjusting the grip force. However, this representation did not help in eliminating the bias in stiffness perception. We argue that during performance of a perceptual task that is based on proprioceptive feedback, separate neural mechanisms are responsible for perception and action-related computations in the brain. Copyright © 2015 the American Physiological Society.

A high control bandwidth design method for aalborg inverter under weak grid condition

DEFF Research Database (Denmark)

Wu, Weimin; Zhou, Cong; Wang, Houqin

2017-01-01

Aalborg Inverter is a kind of high efficient Buck-Boost inverter. Since it may work in “Buck-Boost” mode, the control bandwidth should be high enough to ensure a good performance under any grid condition. However, during the “Boost” operation, the control bandwidth depends much on the grid...

THE IMPROVEMENT OF COMPUTER NETWORK PERFORMANCE WITH BANDWIDTH MANAGEMENT IN KEMURNIAN II SENIOR HIGH SCHOOL

Directory of Open Access Journals (Sweden)

Bayu Kanigoro

2012-05-01

Full Text Available This research describes the improvement of computer network performance with bandwidth management in Kemurnian II Senior High School. The main issue of this research is the absence of bandwidth division on computer, which makes user who is downloading data, the provided bandwidth will be absorbed by the user. It leads other users do not get the bandwidth. Besides that, it has been done IP address division on each room, such as computer, teacher and administration room for supporting learning process in Kemurnian II Senior High School, so wireless network is needed. The method is location observation and interview with related parties in Kemurnian II Senior High School, the network analysis has run and designed a new topology network including the wireless network along with its configuration and separation bandwidth on microtic router and its limitation. The result is network traffic on Kemurnian II Senior High School can be shared evenly to each user; IX and IIX traffic are separated, which improve the speed on network access at school and the implementation of wireless network.Keywords: Bandwidth Management; Wireless Network

High-fidelity polarization storage in a gigahertz bandwidth quantum memory

International Nuclear Information System (INIS)

England, D G; Michelberger, P S; Champion, T F M; Reim, K F; Lee, K C; Sprague, M R; Jin, X-M; Langford, N K; Kolthammer, W S; Nunn, J; Walmsley, I A

2012-01-01

We demonstrate a dual-rail optical Raman memory inside a polarization interferometer; this enables us to store polarization-encoded information at GHz bandwidths in a room-temperature atomic ensemble. By performing full process tomography on the system, we measure up to 97 ± 1% process fidelity for the storage and retrieval process. At longer storage times, the process fidelity remains high, despite a loss of efficiency. The fidelity is 86 ± 4% for 1.5 μs storage time, which is 5000 times the pulse duration. Hence, high fidelity is combined with a large time-bandwidth product. This high performance, with an experimentally simple setup, demonstrates the suitability of the Raman memory for integration into large-scale quantum networks. (paper)

Force feedback facilitates multisensory integration during robotic tool use

NARCIS (Netherlands)

Sengül, A.; Rognini, G.; van Elk, M.; Aspell, J.E.; Bleuler, H.; Blanke, O.

2013-01-01

The present study investigated the effects of force feedback in relation to tool use on the multisensory integration of visuo-tactile information. Participants learned to control a robotic tool through a surgical robotic interface. Following tool-use training, participants performed a crossmodal

On the design of a miniature haptic ring for cutaneous force feedback using shape memory alloy actuators

Science.gov (United States)

Hwang, Donghyun; Lee, Jaemin; Kim, Keehoon

2017-10-01

This paper proposes a miniature haptic ring that can display touch/pressure and shearing force to the user’s fingerpad. For practical use and wider application of the device, it is developed with the aim of achieving high wearability and mobility/portability as well as cutaneous force feedback functionality. A main body of the device is designed as a ring-shaped lightweight structure with a simple driving mechanism, and thin shape memory alloy (SMA) wires having high energy density are applied as actuating elements. Also, based on a band-type wireless control unit including a wireless data communication module, the whole device could be realized as a wearable mobile haptic device system. These features enable the device to take diverse advantages on functional performances and to provide users with significant usability. In this work, the proposed miniature haptic ring is systematically designed, and its working performances are experimentally evaluated with a fabricated functional prototype. The experimental results obviously demonstrate that the proposed device exhibits higher force-to-weight ratio than conventional finger-wearable haptic devices for cutaneous force feedback. Also, it is investigated that operational performances of the device are strongly influenced by electro-thermomechanical behaviors of the SMA actuator. In addition to the experiments for performance evaluation, we conduct a preliminary user test to assess practical feasibility and usability based on user’s qualitative feedback.

Hybrid viscous damper with filtered integral force feedback control

DEFF Research Database (Denmark)

Høgsberg, Jan; Brodersen, Mark L.

2016-01-01

In hybrid damper systems active control devices are usually introduced to enhance the performance of otherwise passive dampers. In the present paper a hybrid damper concept is comprised of a passive viscous damper placed in series with an active actuator and a force sensor. The actuator motion...... is controlled by a filtered integral force feedback strategy, where the main feature is the filter, which is designed to render a damper force that in a phase-plane representation operates in front of the corresponding damper velocity. It is demonstrated that in the specific parameter regime where the damper...

Feedback reliability calculation for an iterative block decision feedback equalizer

OpenAIRE

Huang, G; Nix, AR; Armour, SMD

2009-01-01

A new class of iterative block decision feedback equalizer (IB-DFE) was pioneered by Chan and Benvenuto. Unlike the conventional DFE, the IB-DFE is optimized according to the reliability of the feedback (FB) symbols. Since the use of the training sequence (TS) for feedback reliability (FBR) estimation lowers the bandwidth efficiency, FBR estimation without the need for additional TS is of considerable interest. However, prior FBR estimation is limited in the literature to uncoded M-ary phases...

Can augmented force feedback facilitate virtual target acquisition tasks?

NARCIS (Netherlands)

Houtsma, A.J.M.; Keuning - van Oirschot, H.; Westwood, J.D.; Haluck, R.S.

2006-01-01

This study investigates facilitation of a manual target acquisition task by the application of appropriate force feedback through the control device (e.g., mouse, joystick, trackball). Typical manual movements with these devices were measured, and models of such movements were used to predict an

Integration of a force feedback joystick with a VR system

Energy Technology Data Exchange (ETDEWEB)

Castro, A C [ENEA, Centro Ricerche Casaccia, S. Maria di Galeria, RM (Italy). Dipt. Innovazione

1999-07-01

The report shows the result carried out at the Robotics and Information Systems Division of ENEA (National Agency for New Technology, Energy and the Environment) in the Casaccia Centre (Rome). The study presents an approach to the problem of integrating force feedback with a complete real-time virtual environment system: in particular bulky computations for graphics or simulation require a decoupling of the haptic servo loop from the main application loop if high-quality forces are to be obtained. The control system has been developed for the force-feedback joystick Impulse 2000, from Immersion Co., and the integration of it to a virtual environment is presented here. Technical issues related to the development of control architectures for Internet-based exchange of haptic information, in a stable way are discussed. [Italian] Il presente rapporto descrive il lavoro eseguito nella divisione robotica e informatica del dipartimento innovazione dell'ENEA del centro ricerche della Casaccia (Roma): il sistema di controllo del dispositivo con ritorno di forza in un sistema RV (real-time virtual environment system) ed illustra l'approccio a questa problematica ed in particolare la lentezza di esecuzione del ciclo di calcoli per la resa delle immagini da parte del sistema grafico e del ciclio per la simulazione della dinamica di sistema. Viene descritto il sistema di controllo per il joystick con ritorno di forza Impulse 2000 (Immersion Co.) e la sua integrazione ad un ambiente virtuale. Sono inoltre discusse le problematiche connesse allo sviluppo di sistemi che consentano lo scambio dell'informazione tattile attraverso Internet.

Integration of a force feedback joystick with a VR system

Energy Technology Data Exchange (ETDEWEB)

Castro, A.C. [ENEA, Centro Ricerche Casaccia, S. Maria di Galeria, RM (Italy). Dipt. Innovazione

1999-07-01

The report shows the result carried out at the Robotics and Information Systems Division of ENEA (National Agency for New Technology, Energy and the Environment) in the Casaccia Centre (Rome). The study presents an approach to the problem of integrating force feedback with a complete real-time virtual environment system: in particular bulky computations for graphics or simulation require a decoupling of the haptic servo loop from the main application loop if high-quality forces are to be obtained. The control system has been developed for the force-feedback joystick Impulse 2000, from Immersion Co., and the integration of it to a virtual environment is presented here. Technical issues related to the development of control architectures for Internet-based exchange of haptic information, in a stable way are discussed. [Italian] Il presente rapporto descrive il lavoro eseguito nella divisione robotica e informatica del dipartimento innovazione dell'ENEA del centro ricerche della Casaccia (Roma): il sistema di controllo del dispositivo con ritorno di forza in un sistema RV (real-time virtual environment system) ed illustra l'approccio a questa problematica ed in particolare la lentezza di esecuzione del ciclo di calcoli per la resa delle immagini da parte del sistema grafico e del ciclio per la simulazione della dinamica di sistema. Viene descritto il sistema di controllo per il joystick con ritorno di forza Impulse 2000 (Immersion Co.) e la sua integrazione ad un ambiente virtuale. Sono inoltre discusse le problematiche connesse allo sviluppo di sistemi che consentano lo scambio dell'informazione tattile attraverso Internet.

Simple force balance accelerometer/seismometer based on a tuning fork displacement sensor

International Nuclear Information System (INIS)

Stuart-Watson, D.; Tapson, J.

2004-01-01

Seismometers and microelectromechanical system accelerometers use the force-balance principle to obtain measurements. In these instruments the displacement of a mass object by an unknown force is sensed using a very high-resolution displacement sensor. The position of the object is then stabilized by applying an equal and opposite force to it. The magnitude of the stabilizing force is easily measured, and is assumed to be equivalent to the unknown force. These systems are critically dependent on the displacement sensor. In this article we use a resonant quartz tuning fork as the sensor. The tuning fork is operated so that its oscillation is lightly damped by the proximity of the movable mass object. Changes in the position of the mass object cause changes in the phase of the fork's resonance; this is used as the feedback variable in controlling the mass position. We have developed an acceleration sensor using this principle. The mass object is a piezoelectric bimorph diaphragm which is anchored around its perimeter, allowing direct electronic control of the displacement of its center. The tuning fork is brought very close to the diaphragm center, and is connected into a self-oscillating feedback circuit which has phase and amplitude as outputs. The diaphragm position is adjusted by a feedback loop, using phase as the feedback variable, to keep it in a constant position with respect to the tuning fork. The measured noise for this sensor is approximately 10.0 mg in a bandwidth of 100 Hz, which is substantially better than commercial systems of equivalent cost and size

Wide-bandwidth bilateral control using two-stage actuator system

International Nuclear Information System (INIS)

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

2015-01-01

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

Virtual grasping: closed-loop force control using electrotactile feedback.

Science.gov (United States)

Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario

2014-01-01

Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

Directory of Open Access Journals (Sweden)

Nikola Jorgovanovic

2014-01-01

Full Text Available Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously “unseen” objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

Closed orbit feedback with digital signal processing

International Nuclear Information System (INIS)

Chung, Y.; Kirchman, J.; Lenkszus, F.

1994-01-01

The closed orbit feedback experiment conducted on the SPEAR using the singular value decomposition (SVD) technique and digital signal processing (DSP) is presented. The beam response matrix, defined as beam motion at beam position monitor (BPM) locations per unit kick by corrector magnets, was measured and then analyzed using SVD. Ten BPMs, sixteen correctors, and the eight largest SVD eigenvalues were used for closed orbit correction. The maximum sampling frequency for the closed loop feedback was measured at 37 Hz. Using the proportional and integral (PI) control algorithm with the gains Kp = 3 and K I = 0.05 and the open-loop bandwidth corresponding to 1% of the sampling frequency, a correction bandwidth (-3 dB) of approximately 0.8 Hz was achieved. Time domain measurements showed that the response time of the closed loop feedback system for 1/e decay was approximately 0.25 second. This result implies ∼ 100 Hz correction bandwidth for the planned beam position feedback system for the Advanced Photon Source storage ring with the projected 4-kHz sampling frequency

Resonant passive–active vibration absorber with integrated force feedback control

International Nuclear Information System (INIS)

Høgsberg, Jan; Brodersen, Mark L; Krenk, Steen

2016-01-01

A general format of a two-terminal vibration absorber is constructed by placing a passive unit in series with a hybrid unit, composed of an active actuator in parallel with a second passive element. The displacement of the active actuator is controlled by an integrated feedback control with the difference in force between the two passive elements as input. This format allows passive and active contributions to be combined arbitrarily within the hybrid unit, which results in a versatile absorber format with guaranteed closed-loop stability. This is demonstrated for resonant absorbers with inertia realized passively by a mechanical inerter or actively by the integrated force feedback. Accurate calibration formulae are presented for two particular absorber configurations and the performance is subsequently demonstrated with respect to both equal modal damping and effective response reduction. (technical note)

Characterizing Feedbacks Between Environmental Forcing and Sediment Characteristics in Fluvial and Coastal Systems

Science.gov (United States)

Feehan, S.; Ruggiero, P.; Hempel, L. A.; Anderson, D. L.; Cohn, N.

2016-12-01

Characterizing Feedbacks Between Environmental Forcing and Sediment Characteristics in Fluvial and Coastal Systems American Geophysical Union, 2016 Fall Meeting: San Francisco, CA Authors: Scott Feehan, Peter Ruggiero, Laura Hempel, and Dylan Anderson Linking transport processes and sediment characteristics within different environments along the source to sink continuum provides critical insight into the dominant feedbacks between grain size distributions and morphological evolution. This research is focused on evaluating differences in sediment size distributions across both fluvial and coastal environments in the U.S. Pacific Northwest. The Cascades' high relief is characterized by diverse flow regimes with high peak/flashy flows and sub-threshold flows occurring in relative proximity and one of the most energetic wave climates in the world. Combining analyses of both fluvial and coastal environments provides a broader understanding of the dominant forces driving differences between each system's grain size distributions, sediment transport processes, and resultant evolution. We consider sediment samples taken during a large-scale flume experiment that simulated floods representative of both high/flashy peak flows analogous to runoff dominated rivers and sub-threshold flows, analogous to spring-fed rivers. High discharge flows resulted in narrower grain size distributions while low flows where less skewed. Relative sediment size showed clear dependence on distance from source and the environments' dominant fluid motion. Grain size distributions and sediment transport rates were also quantified in both wave dominated nearshore and aeolian dominated backshore portions of Long Beach Peninsula, Washington during SEDEX2, the Sandbar-aEolian-Dune EXchange Experiment of summer 2016. The distributions showed spatial patterns in mean grain size, skewness, and kurtosis dependent on the dominant sediment transport process. The feedback between these grain size

Small-angle scattering of polychromatic X-rays: effects of bandwidth, spectral shape and high harmonics

Energy Technology Data Exchange (ETDEWEB)

Chen, Sen; Luo, Sheng-Nian

2018-02-16

Polychromatic X-ray sources can be useful for photon-starved small-angle X-ray scattering given their high spectral fluxes. Their bandwidths, however, are 10–100 times larger than those using monochromators. To explore the feasibility, ideal scattering curves of homogeneous spherical particles for polychromatic X-rays are calculated and analyzed using the Guinier approach, maximum entropy and regularization methods. Monodisperse and polydisperse systems are explored. The influence of bandwidth and asymmetric spectra shape are exploredviaGaussian and half-Gaussian spectra. Synchrotron undulator spectra represented by two undulator sources of the Advanced Photon Source are examined as an example, as regards the influence of asymmetric harmonic shape, fundamental harmonic bandwidth and high harmonics. The effects of bandwidth, spectral shape and high harmonics on particle size determination are evaluated quantitatively.

Small-angle scattering of polychromatic X-rays: effects of bandwidth, spectral shape and high harmonics.

Science.gov (United States)

Chen, Sen; Luo, Sheng Nian

2018-03-01

Polychromatic X-ray sources can be useful for photon-starved small-angle X-ray scattering given their high spectral fluxes. Their bandwidths, however, are 10-100 times larger than those using monochromators. To explore the feasibility, ideal scattering curves of homogeneous spherical particles for polychromatic X-rays are calculated and analyzed using the Guinier approach, maximum entropy and regularization methods. Monodisperse and polydisperse systems are explored. The influence of bandwidth and asymmetric spectra shape are explored via Gaussian and half-Gaussian spectra. Synchrotron undulator spectra represented by two undulator sources of the Advanced Photon Source are examined as an example, as regards the influence of asymmetric harmonic shape, fundamental harmonic bandwidth and high harmonics. The effects of bandwidth, spectral shape and high harmonics on particle size determination are evaluated quantitatively.

Reducing Trunk Compensation in Stroke Survivors: A Randomized Crossover Trial Comparing Visual and Force Feedback Modalities.

Science.gov (United States)

Valdés, Bulmaro Adolfo; Schneider, Andrea Nicole; Van der Loos, H F Machiel

2017-10-01

To investigate whether the compensatory trunk movements of stroke survivors observed during reaching tasks can be decreased by force and visual feedback, and to examine whether one of these feedback modalities is more efficacious than the other in reducing this compensatory tendency. Randomized crossover trial. University research laboratory. Community-dwelling older adults (N=15; 5 women; mean age, 64±11y) with hemiplegia from nontraumatic hemorrhagic or ischemic stroke (>3mo poststroke), recruited from stroke recovery groups, the research group's website, and the community. In a single session, participants received augmented feedback about their trunk compensation during a bimanual reaching task. Visual feedback (60 trials) was delivered through a computer monitor, and force feedback (60 trials) was delivered through 2 robotic devices. Primary outcome measure included change in anterior trunk displacement measured by motion tracking camera. Secondary outcomes included trunk rotation, index of curvature (measure of straightness of hands' path toward target), root mean square error of hands' movement (differences between hand position on every iteration of the program), completion time for each trial, and posttest questionnaire to evaluate users' experience and system's usability. Both visual (-45.6% [45.8 SD] change from baseline, P=.004) and force (-41.1% [46.1 SD], P=.004) feedback were effective in reducing trunk compensation. Scores on secondary outcome measures did not improve with either feedback modality. Neither feedback condition was superior. Visual and force feedback show promise as 2 modalities that could be used to decrease trunk compensation in stroke survivors during reaching tasks. It remains to be established which one of these 2 feedback modalities is more efficacious than the other as a cue to reduce compensatory trunk movement. Copyright © 2017 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Template model inspired leg force feedback based control can assist human walking.

Science.gov (United States)

Zhao, Guoping; Sharbafi, Maziar; Vlutters, Mark; van Asseldonk, Edwin; Seyfarth, Andre

2017-07-01

We present a novel control approach for assistive lower-extremity exoskeletons. In particular, we implement a virtual pivot point (VPP) template model inspired leg force feedback based controller on a lower-extremity powered exoskeleton (LOPES II) and demonstrate that it can effectively assist humans during walking. It has been shown that the VPP template model is capable of stabilizing the trunk and reproduce a human-like hip torque during the stance phase of walking. With leg force and joint angle feedback inspired by the VPP template model, our controller provides hip and knee torque assistance during the stance phase. A pilot experiment was conducted with four healthy subjects. Joint kinematics, leg muscle electromyography (EMG), and metabolic cost were measured during walking with and without assistance. Results show that, for 0.6 m/s walking, our controller can reduce leg muscle activations, especially for the medial gastrocnemius (about 16.0%), while hip and knee joint kinematics remain similar to the condition without the controller. Besides, the controller also reduces 10% of the net metabolic cost during walking. This paper demonstrates walking assistance benefits of the VPP template model for the first time. The support of human walking is achieved by a force feedback of leg force applied to the control of hip and knee joints. It can help us to provide a framework for investigating walking assistance control in the future.

Dual-force ISOMAP: a new relevance feedback method for medical image retrieval.

Science.gov (United States)

Shen, Hualei; Tao, Dacheng; Ma, Dianfu

2013-01-01

With great potential for assisting radiological image interpretation and decision making, content-based image retrieval in the medical domain has become a hot topic in recent years. Many methods to enhance the performance of content-based medical image retrieval have been proposed, among which the relevance feedback (RF) scheme is one of the most promising. Given user feedback information, RF algorithms interactively learn a user's preferences to bridge the "semantic gap" between low-level computerized visual features and high-level human semantic perception and thus improve retrieval performance. However, most existing RF algorithms perform in the original high-dimensional feature space and ignore the manifold structure of the low-level visual features of images. In this paper, we propose a new method, termed dual-force ISOMAP (DFISOMAP), for content-based medical image retrieval. Under the assumption that medical images lie on a low-dimensional manifold embedded in a high-dimensional ambient space, DFISOMAP operates in the following three stages. First, the geometric structure of positive examples in the learned low-dimensional embedding is preserved according to the isometric feature mapping (ISOMAP) criterion. To precisely model the geometric structure, a reconstruction error constraint is also added. Second, the average distance between positive and negative examples is maximized to separate them; this margin maximization acts as a force that pushes negative examples far away from positive examples. Finally, the similarity propagation technique is utilized to provide negative examples with another force that will pull them back into the negative sample set. We evaluate the proposed method on a subset of the IRMA medical image dataset with a RF-based medical image retrieval framework. Experimental results show that DFISOMAP outperforms popular approaches for content-based medical image retrieval in terms of accuracy and stability.

Shape memory alloy resistance behaviour at high altitude for feedback control

Science.gov (United States)

Ng, W. T.; Sedan, M. F.; Abdullah, E. J.; Azrad, S.; Harithuddin, A. S. M.

2017-12-01

Many recent aerospace technologies are using smart actuators to reduce the system's complexity and increase its reliability. One such actuator is shape memory alloy (SMA) actuator, which is lightweight, produces high force and large deflection. However, some disadvantages in using SMA actuators have been identified and they include nonlinear response of the strain to input current, hysteresis characteristic that results in inaccurate control and less than optimum system performance, high operating temperatures, slow response and also high requirement of electrical power to obtain the desired actuation forces. It is still unknown if the SMA actuators can perform effectively at high altitude with low surrounding temperature. The work presented here covers the preliminary process of verifying the feasibility of using resistance as feedback control at high altitude for aerospace applications. Temperature and resistance of SMA actuator at high altitude is investigated by conducting an experiment onboard a high altitude balloon. The results from the high altitude experiment indicate that the resistance or voltage drop of the SMA wire is not significantly affected by the low surrounding temperature at high altitude as compared to the temperature of SMA. Resistance feedback control for SMA actuators may be suitable for aerospace applications.

A wide-bandwidth and high-sensitivity robust microgyroscope

International Nuclear Information System (INIS)

Sahin, Korhan; Sahin, Emre; Akin, Tayfun; Alper, Said Emre

2009-01-01

This paper reports a microgyroscope design concept with the help of a 2 degrees of freedom (DoF) sense mode to achieve a wide bandwidth without sacrificing mechanical and electronic sensitivity and to obtain robust operation against variations under ambient conditions. The design concept is demonstrated with a tuning fork microgyroscope fabricated with an in-house silicon-on-glass micromachining process. When the fabricated gyroscope is operated with a relatively wide bandwidth of 1 kHz, measurements show a relatively high raw mechanical sensitivity of 131 µV (° s −1 ) −1 . The variation in the amplified mechanical sensitivity (scale factor) of the gyroscope is measured to be less than 0.38% for large ambient pressure variations such as from 40 to 500 mTorr. The bias instability and angle random walk of the gyroscope are measured to be 131° h −1 and 1.15° h −1/2 , respectively

Fast force actuators for LSST primary/tertiary mirror

Science.gov (United States)

Hileman, Edward; Warner, Michael; Wiecha, Oliver

2010-07-01

The very short slew times and resulting high inertial loads imposed upon the Large Synoptic Survey Telescope (LSST) create new challenges to the primary mirror support actuators. Traditionally large borosilicate mirrors are supported by pneumatic systems, which is also the case for the LSST. These force based actuators bear the weight of the mirror and provide active figure correction, but do not define the mirror position. A set of six locating actuators (hardpoints) arranged in a hexapod fashion serve to locate the mirror. The stringent dynamic requirements demand that the force actuators must be able to counteract in real time for dynamic forces on the hardpoints during slewing to prevent excessive hardpoint loads. The support actuators must also maintain the prescribed forces accurately during tracking to maintain acceptable mirror figure. To meet these requirements, candidate pneumatic cylinders incorporating force feedback control and high speed servo valves are being tested using custom instrumentation with automatic data recording. Comparative charts are produced showing details of friction, hysteresis cycles, operating bandwidth, and temperature dependency. Extremely low power actuator controllers are being developed to avoid heat dissipation in critical portions of the mirror and also to allow for increased control capabilities at the actuator level, thus improving safety, performance, and the flexibility of the support system.

High-resolution distributed-feedback fiber laser dc magnetometer based on the Lorentzian force

International Nuclear Information System (INIS)

Cranch, G A; Flockhart, G M H; Kirkendall, C K

2009-01-01

A low-frequency magnetic field sensor, based on a current-carrying beam driven by the Lorentzian force, is described. The amplitude of the oscillation is measured by a distributed-feedback fiber laser strain sensor attached to the beam. The transduction mechanism of the sensor is derived analytically using conventional beam theory, which is shown to accurately predict the responsivity of a prototype sensor. Excellent linearity and negligible hysteresis are demonstrated. Noise sources in the fiber laser strain sensor are described and thermo-mechanical noise in the transducer is estimated. The prototype sensor achieves a magnetic field resolution of 5 nT Hz for 25 mA of current, which is shown to be close to the predicted thermo-mechanical noise limit of the sensor. The current is supplied optically through a separate optical fiber yielding an electrically passive sensor head

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

Directory of Open Access Journals (Sweden)

Chongjun Yang

2018-02-01

Full Text Available Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature.

Science.gov (United States)

Yang, Chongjun; Xie, Yu; Liu, Shuang; Sun, Dong

2018-02-12

Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.

Integral force feedback control with input shaping: Application to piezo-based scanning systems in ECDLs

Science.gov (United States)

Zhang, Meng; Liu, Zhigang; Zhu, Yu; Bu, Mingfan; Hong, Jun

2017-07-01

In this paper, a hybrid control system is developed by integrating the closed-loop force feedback and input shaping method to overcome the problem of the hysteresis and dynamic behavior in piezo-based scanning systems and increase the scanning speed of tunable external cavity diode lasers. The flexible hinge and piezoelectric actuators are analyzed, and a dynamic model of the scanning systems is established. A force sensor and an integral controller are utilized in integral force feedback (IFF) to directly augment the damping of the piezoelectric scanning systems. Hysteresis has been effectively eliminated, but the mechanical resonance is still evident. Noticeable residual vibration occurred after the inflection points and then gradually disappeared. For the further control of mechanical resonance, based on the theory of minimum-acceleration trajectory planning, the time-domain input shaping method was developed. The turning sections of a scanning trajectory are replaced by smooth curves, while the linear sections are retained. The IFF method is combined with the input shaping method to control the non-linearity and mechanical resonance in high-speed piezo-based scanning systems. Experiments are conducted, and the results demonstrate the effectiveness of the proposed control approach.

Integral force feedback control with input shaping: Application to piezo-based scanning systems in ECDLs.

Science.gov (United States)

Zhang, Meng; Liu, Zhigang; Zhu, Yu; Bu, Mingfan; Hong, Jun

2017-07-01

In this paper, a hybrid control system is developed by integrating the closed-loop force feedback and input shaping method to overcome the problem of the hysteresis and dynamic behavior in piezo-based scanning systems and increase the scanning speed of tunable external cavity diode lasers. The flexible hinge and piezoelectric actuators are analyzed, and a dynamic model of the scanning systems is established. A force sensor and an integral controller are utilized in integral force feedback (IFF) to directly augment the damping of the piezoelectric scanning systems. Hysteresis has been effectively eliminated, but the mechanical resonance is still evident. Noticeable residual vibration occurred after the inflection points and then gradually disappeared. For the further control of mechanical resonance, based on the theory of minimum-acceleration trajectory planning, the time-domain input shaping method was developed. The turning sections of a scanning trajectory are replaced by smooth curves, while the linear sections are retained. The IFF method is combined with the input shaping method to control the non-linearity and mechanical resonance in high-speed piezo-based scanning systems. Experiments are conducted, and the results demonstrate the effectiveness of the proposed control approach.

Forcings and feedbacks in the GeoMIP ensemble for a reduction in solar irradiance and increase in CO2

Science.gov (United States)

Huneeus, Nicolas; Boucher, Olivier; Alterskjær, Kari; Cole, Jason N. S.; Curry, Charles L.; Ji, Duoying; Jones, Andy; Kravitz, Ben; Kristjánsson, Jón Egill; Moore, John C.; Muri, Helene; Niemeier, Ulrike; Rasch, Phil; Robock, Alan; Singh, Balwinder; Schmidt, Hauke; Schulz, Michael; Tilmes, Simone; Watanabe, Shingo; Yoon, Jin-Ho

2014-05-01

The effective radiative forcings (including rapid adjustments) and feedbacks associated with an instantaneous quadrupling of the preindustrial CO2 concentration and a counterbalancing reduction of the solar constant are investigated in the context of the Geoengineering Model Intercomparison Project (GeoMIP). The forcing and feedback parameters of the net energy flux, as well as its different components at the top-of-atmosphere (TOA) and surface, were examined in 10 Earth System Models to better understand the impact of solar radiation management on the energy budget. In spite of their very different nature, the feedback parameter and its components at the TOA and surface are almost identical for the two forcing mechanisms, not only in the global mean but also in their geographical distributions. This conclusion holds for each of the individual models despite intermodel differences in how feedbacks affect the energy budget. This indicates that the climate sensitivity parameter is independent of the forcing (when measured as an effective radiative forcing). We also show the existence of a large contribution of the cloudy-sky component to the shortwave effective radiative forcing at the TOA suggesting rapid cloud adjustments to a change in solar irradiance. In addition, the models present significant diversity in the spatial distribution of the shortwave feedback parameter in cloudy regions, indicating persistent uncertainties in cloud feedback mechanisms.

Myoelectric hand prosthesis force control through servo motor current feedback.

Science.gov (United States)

Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

2009-10-01

This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.

A miniaturized, high frequency mechanical scanner for high speed atomic force microscope using suspension on dynamically determined points

Energy Technology Data Exchange (ETDEWEB)

Herfst, Rodolf; Dekker, Bert; Witvoet, Gert; Crowcombe, Will; Lange, Dorus de [Department of Optomechatronics, Netherlands Organization for Applied Scientific Research, TNO, Delft (Netherlands); Sadeghian, Hamed, E-mail: hamed.sadeghianmarnani@tno.nl, E-mail: h.sadeghianmarnani@tudelft.nl [Department of Optomechatronics, Netherlands Organization for Applied Scientific Research, TNO, Delft (Netherlands); Department of Precision and Microsystems Engineering, Delft University of Technology, Delft (Netherlands)

2015-11-15

One of the major limitations in the speed of the atomic force microscope (AFM) is the bandwidth of the mechanical scanning stage, especially in the vertical (z) direction. According to the design principles of “light and stiff” and “static determinacy,” the bandwidth of the mechanical scanner is limited by the first eigenfrequency of the AFM head in case of tip scanning and by the sample stage in terms of sample scanning. Due to stringent requirements of the system, simply pushing the first eigenfrequency to an ever higher value has reached its limitation. We have developed a miniaturized, high speed AFM scanner in which the dynamics of the z-scanning stage are made insensitive to its surrounding dynamics via suspension of it on specific dynamically determined points. This resulted in a mechanical bandwidth as high as that of the z-actuator (50 kHz) while remaining insensitive to the dynamics of its base and surroundings. The scanner allows a practical z scan range of 2.1 μm. We have demonstrated the applicability of the scanner to the high speed scanning of nanostructures.

Low-noise and high-speed photodetection system using optical feedback with a current amplification function.

Science.gov (United States)

Akiba, M

2015-09-01

A photodetection system with an optical-feedback circuit accompanied by current amplification was fabricated to minimize the drawbacks associated with a transimpedance amplifier (TIA) with a very high resistance feedback resistor. Current amplification was implemented by extracting an output light from the same light source that emitted the feedback light. The current gain corresponds to the ratio of the photocurrent created by the output light to that created by the feedback light because the feedback current value is identical to the input photocurrent value generated by an input light to be measured. The current gain has no theoretical limit. The output light was detected by a photodiode with a TIA having a small feedback resistance. The expression for the input-referred noise current of the optical-feedback photodetection system was derived, and the trade-off between sensitivity and response, which is a characteristic of TIA, was found to considerably improve. An optical-feedback photodetection system with an InGaAs pin photodiode was fabricated. The measured noise equivalent power of the system was 1.7 fW/Hz(1/2) at 10 Hz and 1.3 μm, which is consistent with the derived expression. The time response of the system was found to deteriorate with decreasing photocurrent. The 50% rise time for a light pulse input increased from 3.1 μs at a photocurrent of 10 nA to 15 μs at photocurrents below 10 pA. The bandwidth of the input-referred noise current was 7 kHz, which is consistent with rise times below 10 pA.

Development of a longitudinal feedback cavity for the beam feedback system

International Nuclear Information System (INIS)

Huang Gang; Chen Huaibi; Huang Wenhui; Tong Dechun; Lin Yuzheng; Zhao Zhentang

2003-01-01

Longitudinal beam feedback system is widely used to damp coupling bunch instability. Kicker is one of the key components of the longitudinal feedback system. A prototype cavity of longitudinal feedback kicker is developed according to the parameter of BEPC II. The usage of nose cone in the kicker design increased the shunt impedance. In order to avoid the extra tapper in the storage ring, the racetrack shape beam pipe is applied in the kicker. The impedance and the bandwidth of the kicker is measured by the coaxial line impedance measurement platform and the result achieved the design goals

Closed-loop control of grasping with a myoelectric hand prosthesis: which are the relevant feedback variables for force control?

Science.gov (United States)

Ninu, Andrei; Dosen, Strahinja; Muceli, Silvia; Rattay, Frank; Dietl, Hans; Farina, Dario

2014-09-01

In closed-loop control of grasping by hand prostheses, the feedback information sent to the user is usually the actual controlled variable, i.e., the grasp force. Although this choice is intuitive and logical, the force production is only the last step in the process of grasping. Therefore, this study evaluated the performance in controlling grasp strength using a hand prosthesis operated through a complete grasping sequence while varying the feedback variables (e.g., closing velocity, grasping force), which were provided to the user visually or through vibrotactile stimulation. The experiments were conducted on 13 volunteers who controlled the Otto Bock Sensor Hand Speed prosthesis. Results showed that vibrotactile patterns were able to replace the visual feedback. Interestingly, the experiments demonstrated that direct force feedback was not essential for the control of grasping force. The subjects were indeed able to control the grip strength, predictively, by estimating the grasping force from the prosthesis velocity of closing. Therefore, grasping without explicit force feedback is not completely blind, contrary to what is usually assumed. In our study we analyzed grasping with a specific prosthetic device, but the outcomes are also applicable for other devices, with one or more degrees-of-freedom. The necessary condition is that the electromyography (EMG) signal directly and proportionally controls the velocity/grasp force of the hand, which is a common approach among EMG controlled prosthetic devices. The results provide important indications on the design of closed-loop EMG controlled prosthetic systems.

Feedback analysis of transimpedance operational amplifier circuits

DEFF Research Database (Denmark)

Bruun, Erik

1993-01-01

The transimpedance or current feedback operational amplifier (CFB op-amp) is reviewed and compared to a conventional voltage mode op-amp using an analysis emphasizing the basic feedback characteristics of the circuit. With this approach the paradox of the constant bandwidth obtained from CFB op...

RAID Disk Arrays for High Bandwidth Applications

Science.gov (United States)

Moren, Bill

1996-01-01

High bandwidth applications require large amounts of data transferred to/from storage devices at extremely high data rates. Further, these applications often are 'real time' in which access to the storage device must take place on the schedule of the data source, not the storage. A good example is a satellite downlink - the volume of data is quite large and the data rates quite high (dozens of MB/sec). Further, a telemetry downlink must take place while the satellite is overhead. A storage technology which is ideally suited to these types of applications is redundant arrays of independent discs (RAID). Raid storage technology, while offering differing methodologies for a variety of applications, supports the performance and redundancy required in real-time applications. Of the various RAID levels, RAID-3 is the only one which provides high data transfer rates under all operating conditions, including after a drive failure.

High modulation bandwidth of a light-emitting diode with surface plasmon coupling (Conference Presentation)

Science.gov (United States)

Lin, Chun-Han; Tu, Charng-Gan; Yao, Yu-Feng; Chen, Sheng-Hung; Su, Chia-Ying; Chen, Hao-Tsung; Kiang, Yean-Woei; Yang, Chih-Chung

2017-02-01

Besides lighting, LEDs can be used for indoor data transmission. Therefore, a large modulation bandwidth becomes an important target in the development of visible LED. In this regard, enhancing the radiative recombination rate of carriers in the quantum wells of an LED is a useful method since the modulation bandwidth of an LED is related to the carrier decay rate besides the device RC time constant To increase the carrier decay rate in an LED without sacrificing its output power, the technique of surface plasmon (SP) coupling in an LED is useful. In this paper, the increases of modulation bandwidth by reducing mesa size, decreasing active layer thickness, and inducing SP coupling in blue- and green-emitting LEDs are illustrated. The results are demonstrated by comparing three different LED surface structures, including bare p-type surface, GaZnO current spreading layer, and Ag nanoparticles (NPs) for inducing SP coupling. In a single-quantum-well, blue-emitting LED with a circular mesa of 10 microns in radius, SP coupling results in a modulation bandwidth of 528.8 MHz, which is believed to be the record-high level. A smaller RC time constant can lead to a higher modulation bandwidth. However, when the RC time constant is smaller than 0.2 ns, its effect on modulation bandwidth saturates. The dependencies of modulation bandwidth on injected current density and carrier decay time confirm that the modulation bandwidth is essentially inversely proportional to a time constant, which is inversely proportional to the square-root of carrier decay rate and injected current density.

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

Science.gov (United States)

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

2017-08-01

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

Generation of synthetic surface electromyography signals under fatigue conditions for varying force inputs using feedback control algorithm.

Science.gov (United States)

Venugopal, G; Deepak, P; Ghosh, Diptasree M; Ramakrishnan, S

2017-11-01

Surface electromyography is a non-invasive technique used for recording the electrical activity of neuromuscular systems. These signals are random, complex and multi-component. There are several techniques to extract information about the force exerted by muscles during any activity. This work attempts to generate surface electromyography signals for various magnitudes of force under isometric non-fatigue and fatigue conditions using a feedback model. The model is based on existing current distribution, volume conductor relations, the feedback control algorithm for rate coding and generation of firing pattern. The result shows that synthetic surface electromyography signals are highly complex in both non-fatigue and fatigue conditions. Furthermore, surface electromyography signals have higher amplitude and lower frequency under fatigue condition. This model can be used to study the influence of various signal parameters under fatigue and non-fatigue conditions.

Ultra-low Noise, High Bandwidth, 1550nm HgCdTe APD, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — To meet the demands of future high-capacity free space optical communications links, a high bandwidth, near infrared (NIR), single photon sensitive optoelectronic...

Bandwidth-limited control and ringdown suppression in high-Q resonators.

Science.gov (United States)

Borneman, Troy W; Cory, David G

2012-12-01

We describe how the transient behavior of a tuned and matched resonator circuit and a ringdown suppression pulse may be integrated into an optimal control theory (OCT) pulse-design algorithm to derive control sequences with limited ringdown that perform a desired quantum operation in the presence of resonator distortions of the ideal waveform. Inclusion of ringdown suppression in numerical pulse optimizations significantly reduces spectrometer deadtime when using high quality factor (high-Q) resonators, leading to increased signal-to-noise ratio (SNR) and sensitivity of inductive measurements. To demonstrate the method, we experimentally measure the free-induction decay of an inhomogeneously broadened solid-state free radical spin system at high Q. The measurement is enabled by using a numerically optimized bandwidth-limited OCT pulse, including ringdown suppression, robust to variations in static and microwave field strengths. We also discuss the applications of pulse design in high-Q resonators to universal control of anisotropic-hyperfine coupled electron-nuclear spin systems via electron-only modulation even when the bandwidth of the resonator is significantly smaller than the hyperfine coupling strength. These results demonstrate how limitations imposed by linear response theory may be vastly exceeded when using a sufficiently accurate system model to optimize pulses of high complexity. Copyright © 2012 Elsevier Inc. All rights reserved.

Note: Expanding the bandwidth of the ultra-low current amplifier using an artificial negative capacitor

Energy Technology Data Exchange (ETDEWEB)

Xie, Kai, E-mail: kaixie@mail.xidian.edu.cn; Liu, Yan; Li, XiaoPing [School of Aerospace Science and Technology, Xidian University, Xi’an 710071 (China); Guo, Lixin [School of Physics and Optoelectronic Engineering, Xidian University, Xi’an 710071 (China); Zhang, Hanlu [School of Communication & Information Engineering, Xi’an University of Posts & Telecommunication, Xi’an 710121 (China)

2016-04-15

The bandwidth and low noise characteristics are often contradictory in ultra-low current amplifier, because an inevitable parasitic capacitance is paralleled with the high value feedback resistor. In order to expand the amplifier’s bandwidth, a novel approach was proposed by introducing an artificial negative capacitor to cancel the parasitic capacitance. The theory of the negative capacitance and the performance of the improved amplifier circuit with the negative capacitor are presented in this manuscript. The test was conducted by modifying an ultra-low current amplifier with a trans-impedance gain of 50 GΩ. The results show that the maximum bandwidth was expanded from 18.7 Hz to 3.3 kHz with more than 150 times of increase when the parasitic capacitance (∼0.17 pF) was cancelled. Meanwhile, the rise time decreased from 18.7 ms to 0.26 ms with no overshot. Any desired bandwidth or rise time within these ranges can be obtained by adjusting the ratio of cancellation of the parasitic and negative capacitance. This approach is especially suitable for the demand of rapid response to weak current, such as transient ion-beam detector, mass spectrometry analysis, and fast scanning microscope.

Note: Expanding the bandwidth of the ultra-low current amplifier using an artificial negative capacitor.

Science.gov (United States)

Xie, Kai; Liu, Yan; Li, XiaoPing; Guo, Lixin; Zhang, Hanlu

2016-04-01

The bandwidth and low noise characteristics are often contradictory in ultra-low current amplifier, because an inevitable parasitic capacitance is paralleled with the high value feedback resistor. In order to expand the amplifier's bandwidth, a novel approach was proposed by introducing an artificial negative capacitor to cancel the parasitic capacitance. The theory of the negative capacitance and the performance of the improved amplifier circuit with the negative capacitor are presented in this manuscript. The test was conducted by modifying an ultra-low current amplifier with a trans-impedance gain of 50 GΩ. The results show that the maximum bandwidth was expanded from 18.7 Hz to 3.3 kHz with more than 150 times of increase when the parasitic capacitance (∼0.17 pF) was cancelled. Meanwhile, the rise time decreased from 18.7 ms to 0.26 ms with no overshot. Any desired bandwidth or rise time within these ranges can be obtained by adjusting the ratio of cancellation of the parasitic and negative capacitance. This approach is especially suitable for the demand of rapid response to weak current, such as transient ion-beam detector, mass spectrometry analysis, and fast scanning microscope.

Feedback Systems for Linear Colliders

International Nuclear Information System (INIS)

1999-01-01

Feedback systems are essential for stable operation of a linear collider, providing a cost-effective method for relaxing tight tolerances. In the Stanford Linear Collider (SLC), feedback controls beam parameters such as trajectory, energy, and intensity throughout the accelerator. A novel dithering optimization system which adjusts final focus parameters to maximize luminosity contributed to achieving record performance in the 1997-98 run. Performance limitations of the steering feedback have been investigated, and improvements have been made. For the Next Linear Collider (NLC), extensive feedback systems are planned as an integral part of the design. Feedback requirements for JLC (the Japanese Linear Collider) are essentially identical to NLC; some of the TESLA requirements are similar but there are significant differences. For NLC, algorithms which incorporate improvements upon the SLC implementation are being prototyped. Specialized systems for the damping rings, rf and interaction point will operate at high bandwidth and fast response. To correct for the motion of individual bunches within a train, both feedforward and feedback systems are planned. SLC experience has shown that feedback systems are an invaluable operational tool for decoupling systems, allowing precision tuning, and providing pulse-to-pulse diagnostics. Feedback systems for the NLC will incorporate the key SLC features and the benefits of advancing technologies

High cable forces deteriorate pinch force control in voluntary-closing body-powered prostheses

NARCIS (Netherlands)

Hichert, M.; Abbink, D.A.; Kyberd, P.J.; Plettenburg, D.H.

2017-01-01

Background It is generally asserted that reliable and intuitive control of upper-limb prostheses requires adequate feedback of prosthetic finger positions and pinch forces applied to objects. Bodypowered prostheses (BPPs) provide the user with direct proprioceptive feedback. Currently available

Digitally controlled analog proportional-integral-derivative (PID) controller for high-speed scanning probe microscopy

Science.gov (United States)

Dukic, Maja; Todorov, Vencislav; Andany, Santiago; Nievergelt, Adrian P.; Yang, Chen; Hosseini, Nahid; Fantner, Georg E.

2017-12-01

Nearly all scanning probe microscopes (SPMs) contain a feedback controller, which is used to move the scanner in the direction of the z-axis in order to maintain a constant setpoint based on the tip-sample interaction. The most frequently used feedback controller in SPMs is the proportional-integral (PI) controller. The bandwidth of the PI controller presents one of the speed limiting factors in high-speed SPMs, where higher bandwidths enable faster scanning speeds and higher imaging resolution. Most SPM systems use digital signal processor-based PI feedback controllers, which require analog-to-digital and digital-to-analog converters. These converters introduce additional feedback delays which limit the achievable imaging speed and resolution. In this paper, we present a digitally controlled analog proportional-integral-derivative (PID) controller. The controller implementation allows tunability of the PID gains over a large amplification and frequency range, while also providing precise control of the system and reproducibility of the gain parameters. By using the analog PID controller, we were able to perform successful atomic force microscopy imaging of a standard silicon calibration grating at line rates up to several kHz.

Force Control and Nonlinear Master-Slave Force Profile to Manage an Admittance Type Multi-Fingered Haptic User Interface

Energy Technology Data Exchange (ETDEWEB)

Anthony L. Crawford

2012-08-01

Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in remote and/or hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space to name a few. In order to achieve this end the research presented in this paper has developed an admittance type exoskeleton like multi-fingered haptic hand user interface that secures the user’s palm and provides 3-dimensional force feedback to the user’s fingertips. Atypical to conventional haptic hand user interfaces that limit themselves to integrating the human hand’s characteristics just into the system’s mechanical design this system also perpetuates that inspiration into the designed user interface’s controller. This is achieved by manifesting the property differences of manipulation and grasping activities as they pertain to the human hand into a nonlinear master-slave force relationship. The results presented in this paper show that the admittance-type system has sufficient bandwidth that it appears nearly transparent to the user when the user is in free motion and when the system is subjected to a manipulation task, increased performance is achieved using the nonlinear force relationship compared to the traditional linear scaling techniques implemented in the vast majority of systems.

Operation of the transverse feedback system at the CERN SPS

International Nuclear Information System (INIS)

Bossart, R.; Louwerse, R.; Mourier, J.; Vos, L.

1987-01-01

To prevent transverse instabilities at high beam intensity in the SPS, the transverse feedback system for damping the betatron oscillations has been upgraded for larger damping decrements and for increased system's bandwidth. The feedback loop now contains a digital delay line cancellor, so that the damper works with a velocity feedback Δx/Δt, unaffected by the closed orbit position x at the pick-up station. The digital processing of the feedback signal facilitates nonlinear feedback techniques such as antidamping and ''band-bang'' feedback. The ''bang-bang'' feedback provides the maximum possible damping rate of the injection oscillations in the SPS-collider, in order to minimize the emittance increase caused by filamentation. The antidamping nonlinearity provides small continuous beam oscillations of 50 μm amplitude for tracking the machine tune Q with a phase locked loop

Force control tasks with pure haptic feedback promote short-term focused attention.

Science.gov (United States)

Wang, Dangxiao; Zhang, Yuru; Yang, Xiaoxiao; Yang, Gaofeng; Yang, Yi

2014-01-01

Focused attention has great impact on our quality of life. Our learning, social skills and even happiness are closely intertwined with our capacity for focused attention. Attention promotion is replete with examples of training-induced increases in attention capability, most of which rely on visual and auditory stimulation. Pure haptic stimulation to increase attention capability is rarely found. We show that accurate force control tasks with pure haptic feedback enhance short-term focused attention. Participants were trained by a force control task in which information from visual and auditory channels was blocked, and only haptic feedback was provided. The trainees were asked to exert a target force within a pre-defined force tolerance for a specific duration. The tolerance was adaptively modified to different levels of difficulty to elicit full participant engagement. Three attention tests showed significant changes in different aspects of focused attention in participants who had been trained as compared with those who had not, thereby illustrating the role of haptic-based sensory-motor tasks in the promotion of short-term focused attention. The findings highlight the potential value of haptic stimuli in brain plasticity and serve as a new tool to extend existing computer games for cognitive enhancement.

Humans can integrate force feedback to toes in their sensorimotor control of a robotic hand.

Science.gov (United States)

Panarese, Alessandro; Edin, Benoni B; Vecchi, Fabrizio; Carrozza, Maria C; Johansson, Roland S

2009-12-01

Tactile sensory feedback is essential for dexterous object manipulation. Users of hand myoelectric prostheses without tactile feedback must depend essentially on vision to control their device. Indeed, improved tactile feedback is one of their main priorities. Previous research has provided evidence that conveying tactile feedback can improve prostheses control, although additional effort is required to solve problems related to pattern recognition learning, unpleasant sensations, sensory adaptation, and low spatiotemporal resolution. Still, these studies have mainly focused on providing stimulation to hairy skin regions close to the amputation site, i.e., usually to the upper arm. Here, we explored the possibility to provide tactile feedback to the glabrous skin of toes, which have mechanical and neurophysiological properties similar to the fingertips. We explored this paradigm in a grasp-and-lift task, in which healthy participants controlled two opposing digits of a robotic hand by changing the spacing of their index finger and thumb. The normal forces applied by the robotic fingertips to a test object were fed back to the right big and second toe. We show that within a few lifting trials, all the participants incorporated the force feedback received by the foot in their sensorimotor control of the robotic hand.

Effects of age and content of augmented feedback on learning an isometric force-production task

NARCIS (Netherlands)

van Dijk, Henk; Mulder, Theo; Hermens, Hermie J.

2007-01-01

This study addressed the interaction between age and the informational content of feedback on learning an isometric force-production task. Healthy men and women (30 young adults: 20 to 35 years; 30 older adults: 55 to 70 years) were randomly assigned to a certain type of feedback: knowledge of

High-Bandwidth Dynamic Full-Field Profilometry for Nano-Scale Characterization of MEMS

International Nuclear Information System (INIS)

Chen, L-C; Huang, Y-T; Chang, P-B

2006-01-01

The article describes an innovative optical interferometric methodology to delivery dynamic surface profilometry with a measurement bandwidth up to 10MHz or higher and a vertical resolution up to 1 nm. Previous work using stroboscopic microscopic interferometry for dynamic characterization of micro (opto)electromechanical systems (M(O)EMS) has been limited in measurement bandwidth mainly within a couple of MHz. For high resonant mode analysis, the stroboscopic light pulse is insufficiently short to capture the moving fringes from dynamic motion of the detected structure. In view of this need, a microscopic prototype based on white-light stroboscopic interferometry with an innovative light superposition strategy was developed to achieve dynamic full-field profilometry with a high measurement bandwidth up to 10MHz or higher. The system primarily consists of an optical microscope, on which a Mirau interferometric objective embedded with a piezoelectric vertical translator, a high-power LED light module with dual operation modes and light synchronizing electronics unit are integrated. A micro cantilever beam used in AFM was measured to verify the system capability in accurate characterisation of dynamic behaviours of the device. The full-field seventh-mode vibration at a vibratory frequency of 3.7MHz can be fully characterized and nano-scale vertical measurement resolution as well as tens micrometers of vertical measurement range can be performed

High-Bandwidth Dynamic Full-Field Profilometry for Nano-Scale Characterization of MEMS

Energy Technology Data Exchange (ETDEWEB)

Chen, L-C [Graduate Institute of Automation Technology, National Taipei University of Technology, 1 Sec. 3 Chung-Hsiao East Rd., Taipei, 106, Taiwan (China); Huang, Y-T [Graduate Institute of Automation Technology, National Taipei University of Technology, 1 Sec. 3 Chung-Hsiao East Rd., Taipei, 106, Taiwan (China); Chang, P-B [Graduate Institute of Mechanical and Electrical Engineering, National Taipei University of Technology, 1 Sec. 3 Chung-Hsiao East Rd., Taipei, 106, Taiwan (China)

2006-10-15

The article describes an innovative optical interferometric methodology to delivery dynamic surface profilometry with a measurement bandwidth up to 10MHz or higher and a vertical resolution up to 1 nm. Previous work using stroboscopic microscopic interferometry for dynamic characterization of micro (opto)electromechanical systems (M(O)EMS) has been limited in measurement bandwidth mainly within a couple of MHz. For high resonant mode analysis, the stroboscopic light pulse is insufficiently short to capture the moving fringes from dynamic motion of the detected structure. In view of this need, a microscopic prototype based on white-light stroboscopic interferometry with an innovative light superposition strategy was developed to achieve dynamic full-field profilometry with a high measurement bandwidth up to 10MHz or higher. The system primarily consists of an optical microscope, on which a Mirau interferometric objective embedded with a piezoelectric vertical translator, a high-power LED light module with dual operation modes and light synchronizing electronics unit are integrated. A micro cantilever beam used in AFM was measured to verify the system capability in accurate characterisation of dynamic behaviours of the device. The full-field seventh-mode vibration at a vibratory frequency of 3.7MHz can be fully characterized and nano-scale vertical measurement resolution as well as tens micrometers of vertical measurement range can be performed.

Fast Faraday Cup With High Bandwidth

Science.gov (United States)

Deibele, Craig E [Knoxville, TN

2006-03-14

A circuit card stripline Fast Faraday cup quantitatively measures the picosecond time structure of a charged particle beam. The stripline configuration maintains signal integrity, and stitching of the stripline increases the bandwidth. A calibration procedure ensures the measurement of the absolute charge and time structure of the charged particle beam.

The effect of cognitive load on adaptation to differences in steering wheel force feedback level

NARCIS (Netherlands)

Anand, S.; Terken, J.; Hogema, J.

2013-01-01

In an earlier study it was found that drivers can adjust quickly to different force feedback levels on the steering wheel, even for such extreme levels as zero feedback. It was hypothesized that, due to lack of cognitive load, participants could easily and quickly learn how to deal with extreme

High bandwidth second-harmonic generation in partially deuterated KDP

International Nuclear Information System (INIS)

Webb, M.S.; Eimerl, D.; Velsko, S.P.

1992-01-01

We have experimentally determined the spectrally noncritical phasematching behavior of Type I frequency doubling in KDP and its dependence on deuteration level in partially deuterated KDP. The first order wavelength sensitivity parameter∂Δk/∂γ for Type I doubling of 1.053 μm light vanishes for a KD*P crystal with a deuteration level between 10 and 14%. Very high bandwidth frequency doubling of Nd:glass lasers is possible with such a crystal

A 10 MHz Bandwidth Continuous-Time Delta-Sigma Modulator for Portable Ultrasound Scanners

DEFF Research Database (Denmark)

Llimos Muntal, Pere; Jørgensen, Ivan Harald Holger; Bruun, Erik

2016-01-01

comparator and a pull-down clocked latch. The feedback signal is generated with voltage DACs based on transmission gates. Using this implementation, a small and low-power solution required for portable ultrasound scanner applications is achieved. The modulator has a bandwidth of 10 MHz with an oversampling......A fourth-order 1-bit continuous-time delta-sigma modulator designed in a 65 nm process for portable ultrasound scanners is presented in this paper. The loop filter consists of RCintegrators, with programmable capacitor arrays and resistors, and the quantizer is implemented with a high-speed clocked...

Nonlinear force feedback control of piezoelectric-hydraulic pump actuator for automotive transmission shift control

Science.gov (United States)

Kim, Gi-Woo; Wang, K. W.

2008-03-01

In recent years, researchers have investigated the feasibility of utilizing piezoelectric-hydraulic pump based actuation systems for automotive transmission controls. This new concept could eventually reduce the complexity, weight, and fuel consumption of the current transmissions. In this research, we focus on how to utilize this new approach on the shift control of automatic transmissions (AT), which generally requires pressure profiling for friction elements during the operation. To illustrate the concept, we will consider the 1--> 2 up shift control using band brake friction elements. In order to perform the actuation force tracking for AT shift control, nonlinear force feedback control laws are designed based on the sliding mode theory for the given nonlinear system. This paper will describe the modeling of the band brake actuation system, the design of the nonlinear force feedback controller, and simulation and experimental results for demonstration of the new concept.

High efficiency and broad bandwidth grating coupler between nanophotonic waveguide and fibre

International Nuclear Information System (INIS)

Yu, Zhu; Xue-Jun, Xu; Zhi-Yong, Li; Liang, Zhou; Yu-De, Yu; Jin-Zhong, Yu; Wei-Hua, Han; Zhong-Chao, Fan

2010-01-01

A high efficiency and broad bandwidth grating coupler between a silicon-on-insulator (SOI) nanophotonic waveguide and fibre is designed and fabricated. Coupling efficiencies of 46% and 25% at a wavelength of 1.55 μm are achieved by simulation and experiment, respectively. An optical 3 dB bandwidth of 45 nm from 1530 nm to 1575 nm is also obtained in experiment. Numerical calculation shows that a tolerance to fabrication error of 10 nm in etch depth is achievable. The measurement results indicate that the alignment error of ±2 μm results in less than 1 dB additional coupling loss. (classical areas of phenomenology)

A Study on the Bandwidth Characteristics of Pleated Pneumatic Artificial Muscles

Directory of Open Access Journals (Sweden)

Rino Versluys

2009-01-01

Full Text Available Pleated pneumatic artificial muscles have interesting properties that can be of considerable significance in robotics and automation. With a view to the potential use of pleated pneumatic artificial muscles as actuators for a fatigue test bench (high forces and small displacements, the bandwidth characteristics of a muscle-valve system were investigated. Bandwidth is commonly used for linear systems, as the Bode plot is independent of the amplitude of the input signal. However, due to the non-linear behaviour of pleated pneumatic artificial muscles, the system's gain becomes dependent on the amplitude of the input sine wave. As a result, only one Bode plot is insufficient to clearly describe or identify a non-linear system. In this study, the bandwidth of a muscle-valve system was assessed from two perspectives: a varying amplitude and a varying offset of the input sine wave. A brief introduction to pneumatic artificial muscles is given. The concept of pleated pneumatic artificial muscles is explained. Furthermore, the different test methods and experimental results are presented.

High-Q Variable Bandwidth Passive Filters for Software Defined Radio

NARCIS (Netherlands)

Arkesteijn, V.J.; Klumperink, Eric A.M.; Nauta, Bram

2001-01-01

An important aspect of Software Defined Radio is the ability to define the bandwidth of the filter that selects the desired channel. This paper describes a technique for channel filtering, in which two passive filters are combined to obtain a variable bandwidth. Passive filters have the advantage of

High-Q variable bandwidth passive filters for Software Defined Radio

NARCIS (Netherlands)

Arkesteijn, V.J.; Klumperink, Eric A.M.; Nauta, Bram

An important aspect of Software Defined Radio is the ability to define the bandwidth of the filter that selects the desired channel. This paper describes a technique for channel filtering, in which two passive filters are combined to obtain a variable bandwidth. Passive filters have the advantage of

End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

Directory of Open Access Journals (Sweden)

Shuhuan Wen

2012-12-01

Full Text Available Robot force control is an important issue for intelligent mobile robotics. The end-point stiffness of a robot is a key and open problem in the research community. The control strategies are mostly dependent on both the specifications of the task and the environment of the robot. Due to the limited stiffness of the end-effector, we may adopt inherent torque to feedback the oscillations of the controlled force. This paper proposes an effective control strategy which contains a controller using quantitative feedback theory. The nested loop controllers take into account the physical limitation of the system's inner variables and harmful interference. The biggest advantage of the method is its simplicity in both the design process and the implementation of the control algorithm in engineering practice. Taking the one-link manipulator as an example, numerical experiments are carried out to verify the proposed control method. The results show the satisfactory performance.

Vibrotactile Compliance Feedback for Tangential Force Interaction.

Science.gov (United States)

Heo, Seongkook; Lee, Geehyuk

2017-01-01

This paper presents a method to generate a haptic illusion of compliance using a vibrotactile actuator when a tangential force is applied to a rigid surface. The novel method builds on a conceptual compliance model where a physical object moves on a textured surface in response to a tangential force. The method plays vibration patterns simulating friction-induced vibrations as an applied tangential force changes. We built a prototype consisting of a two-dimensional tangential force sensor and a surface transducer to test the effectiveness of the model. Participants in user experiments with the prototype perceived the rigid surface of the prototype as a moving, rubber-like plate. The main findings of the experiments are: 1) the perceived stiffness of a simulated material can be controlled by controlling the force-playback transfer function, 2) its perceptual properties such as softness and pleasantness can be controlled by changing friction grain parameters, and 3) the use of the vibrotactile compliance feedback reduces participants' workload including physical demand and frustration while performing a force repetition task.

Providing haptic feedback in robot-assisted minimally invasive surgery: a direct optical force-sensing solution for haptic rendering of deformable bodies.

Science.gov (United States)

Ehrampoosh, Shervin; Dave, Mohit; Kia, Michael A; Rablau, Corneliu; Zadeh, Mehrdad H

2013-01-01

This paper presents an enhanced haptic-enabled master-slave teleoperation system which can be used to provide force feedback to surgeons in minimally invasive surgery (MIS). One of the research goals was to develop a combined-control architecture framework that included both direct force reflection (DFR) and position-error-based (PEB) control strategies. To achieve this goal, it was essential to measure accurately the direct contact forces between deformable bodies and a robotic tool tip. To measure the forces at a surgical tool tip and enhance the performance of the teleoperation system, an optical force sensor was designed, prototyped, and added to a robot manipulator. The enhanced teleoperation architecture was formulated by developing mathematical models for the optical force sensor, the extended slave robot manipulator, and the combined-control strategy. Human factor studies were also conducted to (a) examine experimentally the performance of the enhanced teleoperation system with the optical force sensor, and (b) study human haptic perception during the identification of remote object deformability. The first experiment was carried out to discriminate deformability of objects when human subjects were in direct contact with deformable objects by means of a laparoscopic tool. The control parameters were then tuned based on the results of this experiment using a gain-scheduling method. The second experiment was conducted to study the effectiveness of the force feedback provided through the enhanced teleoperation system. The results show that the force feedback increased the ability of subjects to correctly identify materials of different deformable types. In addition, the virtual force feedback provided by the teleoperation system comes close to the real force feedback experienced in direct MIS. The experimental results provide design guidelines for choosing and validating the control architecture and the optical force sensor.

Digital Detection and feedback Fluxgate Magnetometer

DEFF Research Database (Denmark)

Piil-Henriksen, J.; Merayo, José M.G.; Nielsen, Otto V

1996-01-01

A new full Earth's field dynamic feedback fluxgate magnetometer is described. It is based entirely on digital signal processing and digital feedback control, thereby replacing the classical second harmonic tuned analogue electronics by processor algorithms. Discrete mathematical cross......-correlation routines and substantial oversampling reduce the noise to 71 pT root-mean-square in a 0.25-10 Hz bandwidth for a full Earth's field range instrument....

Implementation of a three degree of freedom, motor/brake hybrid force output device for virtual environment control tasks

Science.gov (United States)

Russo, Massimo; Tadros, Alfred; Flowers, Woodie; Zeltzer, David

1991-01-01

The advent of high resolution, physical model based computer graphics has left a gap in the design of input/output technology appropriate for interacting with such complex virtual world models. Since virtual worlds consist of physical models, it is appropriate to output the inherent force information necessary for the simulation to the user. The detailed design, construction, and control of a three degree freedom force output joystick will be presented. A novel kinematic design allows all three axes to be uncoupled, so that the system inertia matrix is diagonal. The two planar axes are actuated through an offset gimbal, and the third through a sleeved cable. To compensate for friction and inertia effects, this transmission is controlled by a force feedforward and a closed force feedback proportional loop. Workspace volume is a cone of 512 cubic inches, and the device bandwidth is maximized at 60 Hz for the two planar and 30 Hz for the third axis. Each axis is controlled by a motor/proportional magnetic particle brake combination fixed to the base. The innovative use of motors and brakes allows objects with high resistive torque requirements to be simulated without the stability and related safety issues involved with high torque, energy storing motors alone. Position, velocity, and applied endpoint force are sensed directly. Different control strategies are discussed and implemented, with an emphasis on how virtual environment force information, generated by the MIT Media Lab Computer Graphics and Animation Group BOLIO system, is transmitted to the device controller. The design constraints for a kinesthetic force feedback device can be summarized as: How can the symbiosis between the sense of presence in the virtual environment be maximized without compromising the interaction task under the constraints of the mechanical device limitations? Research in this field will yield insights to the optimal human sensory feedback mix for a wide spectrum of control and

Performance Analysis of Simple Channel Feedback Schemes for a Practical OFDMA System

DEFF Research Database (Denmark)

Pedersen, Klaus, I.; Kolding, Troels; Kovacs, Istvan

2009-01-01

In this paper, we evaluate the tradeoff between the amount of uplink channel feedback information and the orthogonal frequency-division multiple access (OFDMA) downlink performance with opportunistic frequency-domain packet scheduling. Three candidate channel feedback schemes are investigated......, including practical aspects, such as the effects of terminal measurement errors, bandwidth measurement granularity, quantization, and uplink signaling delays. The performance is evaluated by means of system-level simulations with detailed modeling of various radio resource-management algorithms, etc. Our...... results show that the optimal tradeoff between the channel feedback and the downlink OFDMA system performance depends on the radio channel frequency coherence bandwidth. We conclude that the so-called average best-M scheme is the most attractive channel feedback solution, where only the average channel...

Hydrostatic force sensor

International Nuclear Information System (INIS)

Evans, M.S.; Stoughton, R.S.; Kazerooni, H.

1994-08-01

This paper presents a theoretical and experimental investigation of a new kind of force sensor which detects forces by measuring an induced pressure change in a material of large Poisson's ratio. In this investigation we develop mathematical expressions for the sensor's sensitivity and bandwidth, and show that its sensitivity can be much larger and its bandwidth is usually smaller than those of existing strain-gage-type sensors. This force sensor is well-suited for measuring large but slowly varying forces. It can be installed in a space smaller than that required by existing sensors

Development of a High Precision Displacement Measurement System by Fusing a Low Cost RTK-GPS Sensor and a Force Feedback Accelerometer for Infrastructure Monitoring.

Science.gov (United States)

Koo, Gunhee; Kim, Kiyoung; Chung, Jun Yeon; Choi, Jaemook; Kwon, Nam-Yeol; Kang, Doo-Young; Sohn, Hoon

2017-11-28

A displacement measurement system fusing a low cost real-time kinematic global positioning system (RTK-GPS) receiver and a force feedback accelerometer is proposed for infrastructure monitoring. The proposed system is composed of a sensor module, a base module and a computation module. The sensor module consists of a RTK-GPS rover and a force feedback accelerometer, and is installed on a target structure like conventional RTK-GPS sensors. The base module is placed on a rigid ground away from the target structure similar to conventional RTK-GPS bases, and transmits observation messages to the sensor module. Then, the initial acceleration, velocity and displacement responses measured by the sensor module are transmitted to the computation module located at a central monitoring facility. Finally, high precision and high sampling rate displacement, velocity, and acceleration are estimated by fusing the acceleration from the accelerometer, the velocity from the GPS rover, and the displacement from RTK-GPS. Note that the proposed displacement measurement system can measure 3-axis acceleration, velocity as well as displacement in real time. In terms of displacement, the proposed measurement system can estimate dynamic and pseudo-static displacement with a root-mean-square error of 2 mm and a sampling rate of up to 100 Hz. The performance of the proposed system is validated under sinusoidal, random and steady-state vibrations. Field tests were performed on the Yeongjong Grand Bridge and Yi Sun-sin Bridge in Korea, and the Xihoumen Bridge in China to compare the performance of the proposed system with a commercial RTK-GPS sensor and other data fusion techniques.

A High Gain-Bandwidth Product Distributed Transimpedance Amplifier IC for High-Speed Optical Transmission Using Low-Cost GaAs Technology.

OpenAIRE

Giannini, F.; Limiti, E.; Orengo, G.; Serino, A.; De Dominicis, M.

2002-01-01

This paper reports a distributed baseband transimpedance amplifier for optical links up to 10 Gb/s. The amplifier operates as a baseband amplifier with a transimpedance gain of 48 dB Ω and a DC-to-9 GHz bandwidth. Some innovative design techniques to improve gain-bandwidth performance at low and high frequency with an available low-cost GaAs MESFET technology have been developed.

Dynamic Intelligent Feedback Scheduling in Networked Control Systems

Directory of Open Access Journals (Sweden)

Hui-ying Chen

2013-01-01

Full Text Available For the networked control system with limited bandwidth and flexible workload, a dynamic intelligent feedback scheduling strategy is proposed. Firstly, a monitor is used to acquire the current available network bandwidth. Then, the new available bandwidth in the next interval is predicted by using LS_SVM approach. At the same time, the dynamic performance indices of all control loops are obtained with a two-dimensional fuzzy logic modulator. Finally, the predicted network bandwidth is dynamically allocated by the bandwidth manager and the priority allocator in terms of the loops' dynamic performance indices. Simulation results show that the sampling periods and priorities of control loops are adjusted timely according to the network workload condition and the dynamic performance of control loops, which make the system running in the optimal state all the time.

Preliminarily measurement and analysis of sawing forces in fresh cadaver mandible using reciprocating saw for reality-based haptic feedback.

Science.gov (United States)

Yua, Dedong; Zhengb, Xiaohu; Chenc, Ming; Shend, Steve G F

2012-05-01

The aim of the study was to preliminarily measure and analyze the cutting forces in fresh Chinese cadaver mandible using a clinically widely used reciprocating saw for reality-based haptic feedback. Eight mandibles were taken from fresh Chinese cadavers, 4 females and 4 males, aged between 59 and 95 years. A set of sawing experiments, using a surgery Stryker micro-reciprocating saw and Kistler piezoelectric dynamometer, was carried out by a CNC machining center. Under different vibration frequencies of saw and feeding rates measured from orthognathic surgery, sawing forces were recorded by a signal acquisition system. Remarkably different sawing forces were measured from different cadavers. Feed and vibration frequency of the reciprocating saw could determine the cutting forces only on 1 body. To reduce the impact of bone thickness changes on the cutting force measurements, all the cutting force data should be converted to the force of unit cutting length. The vibration frequency of haptic feedback system is determined by main cutting forces. Fast Fourier transform method can be used to calculate the frequency of this system. To simulate surgery in higher fidelity, all the sawing forces from the experiment should be amended by experienced surgeons before use in virtual reality surgery simulator. Sawing force signals of different ages for force feedback were measured successfully, and more factors related to the bone mechanical properties, such as bone density, should be concerned in the future.

Three-Axis Attitude Estimation With a High-Bandwidth Angular Rate Sensor

Science.gov (United States)

Bayard, David S.; Green, Joseph J.

2013-01-01

A continuing challenge for modern instrument pointing control systems is to meet the increasingly stringent pointing performance requirements imposed by emerging advanced scientific, defense, and civilian payloads. Instruments such as adaptive optics telescopes, space interferometers, and optical communications make unprecedented demands on precision pointing capabilities. A cost-effective method was developed for increasing the pointing performance for this class of NASA applications. The solution was to develop an attitude estimator that fuses star tracker and gyro measurements with a high-bandwidth angular rotation sensor (ARS). An ARS is a rate sensor whose bandwidth extends well beyond that of the gyro, typically up to 1,000 Hz or higher. The most promising ARS sensor technology is based on a magnetohydrodynamic concept, and has recently become available commercially. The key idea is that the sensor fusion of the star tracker, gyro, and ARS provides a high-bandwidth attitude estimate suitable for supporting pointing control with a fast-steering mirror or other type of tip/tilt correction for increased performance. The ARS is relatively inexpensive and can be bolted directly next to the gyro and star tracker on the spacecraft bus. The high-bandwidth attitude estimator fuses an ARS sensor with a standard three-axis suite comprised of a gyro and star tracker. The estimation architecture is based on a dual-complementary filter (DCF) structure. The DCF takes a frequency- weighted combination of the sensors such that each sensor is most heavily weighted in a frequency region where it has the lowest noise. An important property of the DCF is that it avoids the need to model disturbance torques in the filter mechanization. This is important because the disturbance torques are generally not known in applications. This property represents an advantage over the prior art because it overcomes a weakness of the Kalman filter that arises when fusing more than one rate

High-speed 405-nm superluminescent diode (SLD) with 807-MHz modulation bandwidth

KAUST Repository

Shen, Chao

2016-08-25

III-nitride LEDs are fundamental components for visible-light communication (VLC). However, the modulation bandwidth is inherently limited by the relatively long carrier lifetime. In this letter, we present the 405 nm emitting superluminescent diode (SLD) with tilted facet design on semipolar GaN substrate, showing a broad emission of ∼9 nm at 20 mW optical power. Owing to the fast recombination (τ<0.35 ns) through the amplified spontaneous emission, the SLD exhibits a significantly large 3-dB bandwidth of 807 MHz. A data rate of 1.3 Gbps with a bit-error rate of 2.9 × 10 was obtained using on-off keying modulation scheme, suggesting the SLD being a high-speed transmitter for VLC applications.

High-speed 405-nm superluminescent diode (SLD) with 807-MHz modulation bandwidth

KAUST Repository

Shen, Chao; Lee, Changmin; Ng, Tien Khee; Nakamura, Shuji; Speck, James S.; DenBaars, Steven P.; Alyamani, Ahmed Y.; El-Desouki, Munir M.; Ooi, Boon S.

2016-01-01

III-nitride LEDs are fundamental components for visible-light communication (VLC). However, the modulation bandwidth is inherently limited by the relatively long carrier lifetime. In this letter, we present the 405 nm emitting superluminescent diode (SLD) with tilted facet design on semipolar GaN substrate, showing a broad emission of ∼9 nm at 20 mW optical power. Owing to the fast recombination (τ<0.35 ns) through the amplified spontaneous emission, the SLD exhibits a significantly large 3-dB bandwidth of 807 MHz. A data rate of 1.3 Gbps with a bit-error rate of 2.9 × 10 was obtained using on-off keying modulation scheme, suggesting the SLD being a high-speed transmitter for VLC applications.

Design, construction, and first operational results of a 5 megawatt feedback controlled amplifier system for disruption control on the Columbia University HBT-EP tokamak

International Nuclear Information System (INIS)

Reass, W.A.; Alvestad, H.A.; Bartsch, R.R.; Wurden, G.A.; Ivers, T.H.; Nadle, D.L.

1995-01-01

This paper presents the electrical design and first operational results of a 5 Megawatt feedback controlled amplifier system designed to drive a 300 uH saddle coil set on the ''HBT-EP'' tokamak. It will be used to develop various plasma feedback techniques to control and inhibit the onset of plasma disruptions that are observed in high ''B'' plasmas. To provide a well characterized system, a high fidelity, high power closed loop amplifier system has been refurbished from the Los Alamos ''ZT-P'' equilibrium feedback system. In it's configuration developed for the Columbia HBT-EP tokamak, any desired waveform may be generated within a I 100 ampere and 16 kV peak to peak dynamic range. An energy storage capacitor bank presently limits the effective full power pulse width to 10 mS. The full power bandwidth driving the saddle coil set is ∼12 kHz, with bandwidth at reduced powers exceeding 30 kHz. The system is designed similar to a grounded cathode, push-pull, transformer coupled, tube type amplifier system. 'Me push pull amplifier consists of 6 each Machlett ML8618 magnetically beamed triodes, 3 on each end of the (center tapped) coupling transformer. The transformer has .I volt-seconds of core and a 1:1 turns ratio. The transformer is specially designed for high power, low leakage inductance, and high bandwidth. Each array of ML8618's is (grid) driven with a fiber optic controlled hotdeck with a 3CXI0,000A7 (triode) output. To linearize the ML8618 grid drive, a minor feedback loop in the hotdeck is utilized. Overall system response is controlled by active feedback of the saddle coil current, derived from a coaxial current viewing resistor. The detailed electrical design of the power amplifier, transformer, and feedback system will be provided in addition to recent HBT-EP operational results

Pickup design for high bandwidth bunch arrival-time monitors in free-electron lasers

Energy Technology Data Exchange (ETDEWEB)

Angelovski, Aleksandar; Penirschke, Andreas; Jakoby, Rolf [TU Darmstadt (Germany). Institut fuer Mikrowellentechnik und Photonik; Kuhl, Alexander; Schnepp, Sascha [TU Darmstadt (Germany). Graduate School of Computational Engineering; Bock, Marie Kristin; Bousonville, Michael; Schlarb, Holger [Deutsches Elektronen-Synchrotron DESY, Hamburg (Germany); Weiland, Thomas [TU Darmstadt (Germany). Institut fuer Theorie Elektromagnetischer Felder

2012-07-01

The increased demands for low bunch charge operation mode in the free-electron lasers (FELs) require an upgrade of the existing synchronization equipment. As a part of the laser-based synchronization system, the bunch arrival-time monitors (BAMs) should have a sub-10 femtosecond precision for high and low bunch charge operation. In order to fulfill the resolution demands for both modes of operation, the bandwidth of such a BAM should be increased up to a cutoff frequency of 40 GHz. In this talk, we present the design and the realization of high bandwidth cone-shaped pickup electrodes as a part of the BAM for the FEL in Hamburg (FLASH) and the European X-ray free-electron laser (European XFEL). The proposed pickup was simulated with CST STUDIO SUITE, and a non-hermetic model was built up for radio frequency (rf) measurements.

High Bandwidth Optical Links for Micro-Satellite Support

Science.gov (United States)

Chao, Tien-Hsin (Inventor); Wilson, Keith E. (Inventor); Coste, Keith (Inventor)

2016-01-01

A method, systems, apparatus and device enable high bandwidth satellite communications. An onboard tracking detector, installed in a low-earth orbit satellite, detects a position of an incoming optical beam received/transmitted from a first ground station of one or more ground stations. Tracker electronics determine orientation information of the incoming optical beam based on the position. Control electronics receive the orientation information from the tracker electronics, and control a waveguide drive electronics. The waveguide drive electronics control a voltage that is provided to an electro-optic waveguide beam steering device. The electro-optic waveguide beam steering device steers an outgoing optical beam to one of the one or more ground stations based on the voltage.

Instabilities simulations with wideband feedback systems: CMAD, HEADTAIL, WARP

CERN Document Server

Li, Kevin; Fox, J D; Pivi, M; Rivetta, C; Rumolo, G

2013-01-01

Transverse mode coupling (TMCI) and electron cloud instabilities (ECI) pose fundamental limitations on the acceptable beam intensities in the SPS at CERN. This in turn limits the ultimate achievable luminosity in the LHC. Therefore, future luminosity upgrades foresee methods for evading TMCI as well as ECI. Proposed approaches within the LHC Injector Upgrade (LIU) project include new optics with reduced transition energy as well as vacuum chamber coating techniques. As a complementary option, high bandwidth feedback systems may provide instability mitigation by actively damping the intra-bunch motion of unstable modes. In an effort to evaluate the potentials and limitations of such feedback systems and to characterise some of the specifications, a numerical model of a realistic feedback system has been developed and integrated into available instabilities simulation codes. Together with the implementation of this new feedback system model, CMAD and HEADTAIL have been used to investigate the impact of differen...

Development of a High Precision Displacement Measurement System by Fusing a Low Cost RTK-GPS Sensor and a Force Feedback Accelerometer for Infrastructure Monitoring

Directory of Open Access Journals (Sweden)

Gunhee Koo

2017-11-01

Full Text Available A displacement measurement system fusing a low cost real-time kinematic global positioning system (RTK-GPS receiver and a force feedback accelerometer is proposed for infrastructure monitoring. The proposed system is composed of a sensor module, a base module and a computation module. The sensor module consists of a RTK-GPS rover and a force feedback accelerometer, and is installed on a target structure like conventional RTK-GPS sensors. The base module is placed on a rigid ground away from the target structure similar to conventional RTK-GPS bases, and transmits observation messages to the sensor module. Then, the initial acceleration, velocity and displacement responses measured by the sensor module are transmitted to the computation module located at a central monitoring facility. Finally, high precision and high sampling rate displacement, velocity, and acceleration are estimated by fusing the acceleration from the accelerometer, the velocity from the GPS rover, and the displacement from RTK-GPS. Note that the proposed displacement measurement system can measure 3-axis acceleration, velocity as well as displacement in real time. In terms of displacement, the proposed measurement system can estimate dynamic and pseudo-static displacement with a root-mean-square error of 2 mm and a sampling rate of up to 100 Hz. The performance of the proposed system is validated under sinusoidal, random and steady-state vibrations. Field tests were performed on the Yeongjong Grand Bridge and Yi Sun-sin Bridge in Korea, and the Xihoumen Bridge in China to compare the performance of the proposed system with a commercial RTK-GPS sensor and other data fusion techniques.

Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation

Directory of Open Access Journals (Sweden)

R. Vertechy

2013-01-01

Full Text Available Thanks to their large power densities, low costs and shock-insensitivity, Dielectric Elastomers (DE seem to be a promising technology for the implementation of light and compact force-feedback devices such as, for instance, haptic interfaces. Nonetheless, the development of these kinds of DE-based systems is not trivial owing to the relevant dissipative phenomena that affect the DE when subjected to rapidly changing deformations. In this context, the present paper addresses the development of a force feedback controller for an agonist-antagonist linear actuator composed of a couple of conically-shaped DE films and a compliant mechanism behaving as a negative-rate bias spring. The actuator is firstly modeled accounting for the visco-hyperelastic nature of the DE material. The model is then linearized and employed for the design of a force controller. The controller employs a position sensor, which determines the actuator configuration, and a force sensor, which measures the interaction force that the actuator exchanges with the environment. In addition, an optimum full-state observer is also implemented, which enables both accurate estimation of the time-dependent behavior of the elastomeric material and adequate suppression of the sensor measurement noise. Preliminary experimental results are provided to validate the proposed actuator-controller architecture.

A New Scale Factor Adjustment Method for Magnetic Force Feedback Accelerometer

Directory of Open Access Journals (Sweden)

Xiangqing Huang

2017-10-01

Full Text Available A new and simple method to adjust the scale factor of a magnetic force feedback accelerometer is presented, which could be used in developing a rotating accelerometer gravity gradient instrument (GGI. Adjusting and matching the acceleration-to-current transfer function of the four accelerometers automatically is one of the basic and necessary technologies for rejecting the common mode accelerations in the development of GGI. In order to adjust the scale factor of the magnetic force rebalance accelerometer, an external current is injected and combined with the normal feedback current; they are then applied together to the torque coil of the magnetic actuator. The injected current could be varied proportionally according to the external adjustment needs, and the change in the acceleration-to-current transfer function then realized dynamically. The new adjustment method has the advantages of no extra assembly and ease of operation. Changes in the scale factors range from 33% smaller to 100% larger are verified experimentally by adjusting the different external coefficients. The static noise of the used accelerometer is compared under conditions with and without the injecting current, and the experimental results find no change at the current noise level, which further confirms the validity of the presented method.

A New Scale Factor Adjustment Method for Magnetic Force Feedback Accelerometer.

Science.gov (United States)

Huang, Xiangqing; Deng, Zhongguang; Xie, Yafei; Li, Zhu; Fan, Ji; Tu, Liangcheng

2017-10-27

A new and simple method to adjust the scale factor of a magnetic force feedback accelerometer is presented, which could be used in developing a rotating accelerometer gravity gradient instrument (GGI). Adjusting and matching the acceleration-to-current transfer function of the four accelerometers automatically is one of the basic and necessary technologies for rejecting the common mode accelerations in the development of GGI. In order to adjust the scale factor of the magnetic force rebalance accelerometer, an external current is injected and combined with the normal feedback current; they are then applied together to the torque coil of the magnetic actuator. The injected current could be varied proportionally according to the external adjustment needs, and the change in the acceleration-to-current transfer function then realized dynamically. The new adjustment method has the advantages of no extra assembly and ease of operation. Changes in the scale factors range from 33% smaller to 100% larger are verified experimentally by adjusting the different external coefficients. The static noise of the used accelerometer is compared under conditions with and without the injecting current, and the experimental results find no change at the current noise level, which further confirms the validity of the presented method.

Longitudinal feedback system for PEP

International Nuclear Information System (INIS)

Allen, M.A.; Cornacchia, M.; Millich, A.

1979-02-01

Whether the wide bandwidth longitudinal feedback system described in this paper is made to act on the individual modes in frequency domain or on the individual bunches in time domain, it represents a clean and efficient way of damping the longitudinal oscillations without influencing other beam parameters such as bunch shape or synchrotron frequency distribution. The frequency domain feedback presents the advantage of providing information on which modes are unstable and on their risetimes, which may be helpful in locating dangerous resonators in the ring

Large bandwidth RGC transimpedance preamplifier design in SCA

International Nuclear Information System (INIS)

Wang Ke; Wang Zheng; Liu Zhen'an; Wei Wei; Lu Weiguo; Gary Varner

2009-01-01

A Large Bandwidth RGC Transimpedance Preamplifier is designed for amplifying the high-fidelity timing signal in Switch Capacitance Array chip application. This amplifier have characteristics of low input impedance, large bandwidth, high transimpedance. It will be made under TSMC 0.25μm CMOS technology, and the supply voltage is single 2.5 V. Simulation results indicate: the transimpedance is 5000 ohm, -3dB BW is 953 MHz, and the detector output capacitance have litter effect on the bandwidth in some range. (authors)

Applied techniques for high bandwidth data transfers across wide area networks

International Nuclear Information System (INIS)

Lee, J.; Gunter, D.; Tierney, B.; Allcock, B.; Bester, J.; Bresnahan, J.; Tuecke, S.

2001-01-01

Large distributed systems such as Computational/Data Grids require large amounts of data to be co-located with the computing facilities for processing. From their work developing a scalable distributed network cache, the authors have gained experience with techniques necessary to achieve high data throughput over high bandwidth Wide Area Networks (WAN). The authors discuss several hardware and software design techniques, and then describe their application to an implementation of an enhanced FTP protocol called GridFTP. The authors describe results from the Supercomputing 2000 conference

Discrete- and finite-bandwidth-frequency distributions in nonlinear stability applications

Science.gov (United States)

Kuehl, Joseph J.

2017-02-01

A new "wave packet" formulation of the parabolized stability equations method is presented. This method accounts for the influence of finite-bandwidth-frequency distributions on nonlinear stability calculations. The methodology is motivated by convolution integrals and is found to appropriately represent nonlinear energy transfer between primary modes and harmonics, in particular nonlinear feedback, via a "nonlinear coupling coefficient." It is found that traditional discrete mode formulations overestimate nonlinear feedback by approximately 70%. This results in smaller maximum disturbance amplitudes than those observed experimentally. The new formulation corrects this overestimation, accounts for the generation of side lobes responsible for spectral broadening, and results in disturbance representation more consistent with the experiment than traditional formulations. A Mach 6 flared-cone example is presented.

Continuous-wave dual-wavelength operation of a distributed feedback laser diode with an external cavity using a volume Bragg grating

Science.gov (United States)

Zheng, Yujin; Sekine, Takashi; Kurita, Takashi; Kato, Yoshinori; Kawashima, Toshiyuki

2018-03-01

We demonstrate continuous-wave dual-wavelength operation of a broad-area distributed feedback (DFB) laser diode with a single external-cavity configuration. This high-power DFB laser has a narrow bandwidth (current and temperature ranges.

The effect of extending high-frequency bandwidth on the acceptable noise level (ANL) of hearing-impaired listeners.

Science.gov (United States)

Johnson, Earl; Ricketts, Todd; Hornsby, Benjamin

2009-01-01

This study examined the effects of extending high-frequency bandwidth, for both a speech signal and a background noise, on the acceptable signal-to-noise ratio (SNR) of listeners with mild sensorineural hearing loss through utilization of the Acceptable Noise Level (ANL) procedure. In addition to extending high-frequency bandwidth, the effects of reverberation time and background noise type and shape were also examined. The study results showed a significant increase in the mean ANL (i.e. participants requested a better SNR for an acceptable listening situation) when high-frequency bandwidth was extended from 3 to 9 kHz and from 6 to 9 kHz. No change in the ANL of study participants was observed as a result of isolated modification to reverberation time or background noise stimulus. An interaction effect, however, of reverberation time and background noise stimulus was demonstrated. These findings may have implications for future design of hearing aid memory programs for listening to speech in the presence of broadband background noise.

Visual feedback alters force control and functional activity in the visuomotor network after stroke

Directory of Open Access Journals (Sweden)

Derek B. Archer

2018-01-01

Full Text Available Modulating visual feedback may be a viable option to improve motor function after stroke, but the neurophysiological basis for this improvement is not clear. Visual gain can be manipulated by increasing or decreasing the spatial amplitude of an error signal. Here, we combined a unilateral visually guided grip force task with functional MRI to understand how changes in the gain of visual feedback alter brain activity in the chronic phase after stroke. Analyses focused on brain activation when force was produced by the most impaired hand of the stroke group as compared to the non-dominant hand of the control group. Our experiment produced three novel results. First, gain-related improvements in force control were associated with an increase in activity in many regions within the visuomotor network in both the stroke and control groups. These regions include the extrastriate visual cortex, inferior parietal lobule, ventral premotor cortex, cerebellum, and supplementary motor area. Second, the stroke group showed gain-related increases in activity in additional regions of lobules VI and VIIb of the ipsilateral cerebellum. Third, relative to the control group, the stroke group showed increased activity in the ipsilateral primary motor cortex, and activity in this region did not vary as a function of visual feedback gain. The visuomotor network, cerebellum, and ipsilateral primary motor cortex have each been targeted in rehabilitation interventions after stroke. Our observations provide new insight into the role these regions play in processing visual gain during a precisely controlled visuomotor task in the chronic phase after stroke.

Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control.

Science.gov (United States)

Shen, Gang; Zhu, Zhencai; Zhao, Jinsong; Zhu, Weidong; Tang, Yu; Li, Xiang

2017-03-01

This paper focuses on an application of an electro-hydraulic force tracking controller combined with an offline designed feedback controller (ODFC) and an online adaptive compensator in order to improve force tracking performance of an electro-hydraulic force servo system (EHFS). A proportional-integral controller has been employed and a parameter-based force closed-loop transfer function of the EHFS is identified by a continuous system identification algorithm. By taking the identified system model as a nominal plant model, an H ∞ offline design method is employed to establish an optimized feedback controller with consideration of the performance, control efforts, and robustness of the EHFS. In order to overcome the disadvantage of the offline designed controller and cope with the varying dynamics of the EHFS, an online adaptive compensator with a normalized least-mean-square algorithm is cascaded to the force closed-loop system of the EHFS compensated by the ODFC. Some comparative experiments are carried out on a real-time EHFS using an xPC rapid prototype technology, and the proposed controller yields a better force tracking performance improvement. Copyright © 2016. Published by Elsevier Ltd.

Bandwidth Optimization in Centralized WLANs for Different Traffic Types

Directory of Open Access Journals (Sweden)

Haines RJ

2007-01-01

Full Text Available Allocating bandwidth between different forms of coexisting traffic (such as web-browsing, streaming, and telephony within a wireless LAN is a challenging and interesting problem. Centralized coordination functions in wireless LANs offer several advantages over distributed approaches, having the benefit of a system overview at the controller, but obtaining a stable configuration of bandwidth allocation for the system is nontrivial. We present, review, and compare different mechanisms to achieve this end, and a number of different means of obtaining the configurations themselves. We describe an analytical model of the system under consideration and present two mathematical approaches to derive solutions for any system configuration and deployment, along with an adaptive feedback-based solution. We also describe a comprehensive simulation-based model for the problem, and a prototype that allows comparison of these approaches. Our investigations demonstrate that a self-adaptive dynamic approach far outperforms any static scheme, and that using a mathematical model to produce the configurations themselves confers several advantages.

Bandwidth extension of speech using perceptual criteria

CERN Document Server

Berisha, Visar; Liss, Julie

2013-01-01

Bandwidth extension of speech is used in the International Telecommunication Union G.729.1 standard in which the narrowband bitstream is combined with quantized high-band parameters. Although this system produces high-quality wideband speech, the additional bits used to represent the high band can be further reduced. In addition to the algorithm used in the G.729.1 standard, bandwidth extension methods based on spectrum prediction have also been proposed. Although these algorithms do not require additional bits, they perform poorly when the correlation between the low and the high band is weak. In this book, two wideband speech coding algorithms that rely on bandwidth extension are developed. The algorithms operate as wrappers around existing narrowband compression schemes. More specifically, in these algorithms, the low band is encoded using an existing toll-quality narrowband system, whereas the high band is generated using the proposed extension techniques. The first method relies only on transmitted high-...

High Dielectric Low Loss Transparent Glass Material Based Dielectric Resonator Antenna with Wide Bandwidth Operation

Science.gov (United States)

Mehmood, Arshad; Zheng, Yuliang; Braun, Hubertus; Hovhannisyan, Martun; Letz, Martin; Jakoby, Rolf

2015-01-01

This paper presents the application of new high permittivity and low loss glass material for antennas. This glass material is transparent. A very simple rectangular dielectric resonator antenna is designed first with a simple microstrip feeding line. In order to widen the bandwidth, the feed of the design is modified by forming a T-shaped feeding. This new design enhanced the bandwidth range to cover the WLAN 5 GHz band completely. The dielectric resonator antenna cut into precise dimensions is placed on the modified microstrip feed line. The design is simple and easy to manufacture and also very compact in size of only 36 × 28 mm. A -10 dB impedance bandwidth of 18% has been achieved, which covers the frequency range from 5.15 GHz to 5.95 GHz. Simulations of the measured return loss and radiation patterns are presented and discussed.

Bandwidth efficient coding

CERN Document Server

Anderson, John B

2017-01-01

Bandwidth Efficient Coding addresses the major challenge in communication engineering today: how to communicate more bits of information in the same radio spectrum. Energy and bandwidth are needed to transmit bits, and bandwidth affects capacity the most. Methods have been developed that are ten times as energy efficient at a given bandwidth consumption as simple methods. These employ signals with very complex patterns and are called "coding" solutions. The book begins with classical theory before introducing new techniques that combine older methods of error correction coding and radio transmission in order to create narrowband methods that are as efficient in both spectrum and energy as nature allows. Other topics covered include modulation techniques such as CPM, coded QAM and pulse design.

Bimanual elbow robotic orthoses: preliminary investigations on an impairment force feedback rehabilitation method

Directory of Open Access Journals (Sweden)

Gil eHerrnstadt

2015-03-01

Full Text Available Modern rehabilitation practices have begun integrating robots, recognizing their significant role in recovery. New and alternative stroke rehabilitation treatments are essential to enhance efficacy and mitigate associated health costs. Today’s robotic interventions can play a significant role in advancing rehabilitation. In addition, robots have an inherent ability to perform tasks accurately and reliably and are typically well suited to measure and quantify performance.Most rehabilitation strategies predominantly target activation of the paretic arm. However, bimanual upper limb rehabilitation research suggests potential in enhancing functional recovery. Moreover studies suggest limb coordination and synchronization can improve treatment efficacy.In this preliminary study, we aimed to investigate and validate our user-driven bimanual system in a reduced intensity rehab practice. A Bimanual Wearable Robotic Device (BWRD with a Master-Slave configuration for the elbow joint was developed to carry out the investigation. The BWRD incorporates position and force sensors for which respective control loops are implemented, and offers varying modes of operation ranging from passive to active training. The proposed system enables the perception of the movements, as well as the forces applied by the hemiparetic arm, with the non-hemiparetic arm. Eight participants with chronic unilateral stroke were recruited to participate in a total of three one-hour sessions per participant, delivered in a week. Participants underwent pre and post training functional assessments along with proprioceptive measures. The post assessment was performed at the end of the last training session.The protocol was designed to engage the user in an assortment of static and dynamic arm matching and opposing tasks. The training incorporates force feedback movements, force feedback positioning, and force matching tasks with same and opposite direction movements. We are able to

Instabilities simulations with wideband feedback systems: CMAD, HEADTAIL, WARP

International Nuclear Information System (INIS)

Li, Kevin; Cesaratto, J; Fox, J D; Pivi, M; Rivetta, C; Rumolo, G

2013-01-01

Transverse mode coupling (TMCI) and electron cloud instabilities (ECI) pose fundamental limitations on the acceptable beam intensities in the SPS at CERN. This in turn limits the ultimate achievable luminosity in the LHC. Therefore, future luminosity upgrades foresee methods for evading TMCI as well as ECI. Proposed approaches within the LHC Injector Upgrade (LIU) project include new optics with reduced transition energy as well as vacuum chamber coating techniques. As a complementary option, high bandwidth feedback systems may provide instability mitigation by actively damping the intra-bunch motion of unstable modes. In an effort to evaluate the potentials and limitations of such feedback systems and to characterise some of the specifications, a numerical model of a realistic feedback system has been developed and integrated into available instabilities simulation codes. Together with the implementation of this new feedback system model, CMAD and HEADTAIL have been used to investigate the impact of different wideband feedback systems on ECI in the SPS. In this paper, we present some details on the numerical model of the realistic feedback system and its implementation as well as the results obtained from the simulation study using this model together with the instability codes. (author)

Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove.

Science.gov (United States)

Ben-Tzvi, Pinhas; Ma, Zhou

2015-11-01

This paper presents the design, implementation and experimental validation of a novel robotic haptic exoskeleton device to measure the user's hand motion and assist hand motion while remaining portable and lightweight. The device consists of a five-finger mechanism actuated with miniature DC motors through antagonistically routed cables at each finger, which act as both active and passive force actuators. The SAFE Glove is a wireless and self-contained mechatronic system that mounts over the dorsum of a bare hand and provides haptic force feedback to each finger. The glove is adaptable to a wide variety of finger sizes without constraining the range of motion. This makes it possible to accurately and comfortably track the complex motion of the finger and thumb joints associated with common movements of hand functions, including grip and release patterns. The glove can be wirelessly linked to a computer for displaying and recording the hand status through 3D Graphical User Interface (GUI) in real-time. The experimental results demonstrate that the SAFE Glove is capable of reliably modeling hand kinematics, measuring finger motion and assisting hand grasping motion. Simulation and experimental results show the potential of the proposed system in rehabilitation therapy and virtual reality applications.

An 11 μ w, two-electrode transimpedance biosignal amplifier with active current feedback stabilization.

Science.gov (United States)

Inan, O T; Kovacs, G T A

2010-04-01

A novel two-electrode biosignal amplifier circuit is demonstrated by using a composite transimpedance amplifier input stage with active current feedback. Micropower, low gain-bandwidth product operational amplifiers can be used, leading to the lowest reported overall power consumption in the literature for a design implemented with off-the-shelf commercial integrated circuits (11 μW). Active current feedback forces the common-mode input voltage to stay within the supply rails, reducing baseline drift and amplifier saturation problems that can be present in two-electrode systems. The bandwidth of the amplifier extends from 0.05-200 Hz and the midband voltage gain (assuming an electrode-to-skin resistance of 100 kΩ) is 48 dB. The measured output noise level is 1.2 mV pp, corresponding to a voltage signal-to-noise ratio approaching 50 dB for a typical electrocardiogram (ECG) level input of 1 mVpp. Recordings were taken from a subject by using the proposed two-electrode circuit and, simultaneously, a three-electrode standard ECG circuit. The residual of the normalized ensemble averages for both measurements was computed, and the power of this residual was 0.54% of the power of the standard ECG measurement output. While this paper primarily focuses on ECG applications, the circuit can also be used for amplifying other biosignals, such as the electroencephalogram.

Optical Characteristics of a Multichannel Hybrid Integrated Light Source for Ultra-High-Bandwidth Optical Interconnections

Directory of Open Access Journals (Sweden)

Takanori Shimizu

2015-11-01

Full Text Available The optical characteristics of a multi-channel hybrid integrated light source were described for an optical interconnection with a bandwidth of over 10 Tbit/s. The power uniformity of the relative intensity of a 1000-channel light source was shown, and the minimum standard deviation s of the optical power of the 200 output ports at each 25-channel laser diode (LD array was estimated to be 0.49 dB. This hybrid integrated light source is expected to be easily adaptable to a photonics-electronics convergence system for ultra-high-bandwidth interchip interconnections.

Physically Connected Stacked Patch Antenna Design with 100% Bandwidth

KAUST Repository

Klionovski, Kirill; Shamim, Atif

2017-01-01

Typically, stacked patch antennas are parasitically coupled and provide larger bandwidth than a single patch antenna. Here, we show a stacked patch antenna design where square patches with semi-circular cutouts are physically connected to each other. This arrangement provides 100% bandwidth from 23.9–72.2 GHz with consistent high gain (5 dBi or more) across the entire bandwidth. In another variation, a single patch loaded with a superstrate provides 83.5% bandwidth from 25.6–62.3 GHz. The mechanism of bandwidth enhancement is explained through electromagnetic simulations. Measured reflection coefficient, radiation patterns and gain results confirm the extremely wideband performance of the design.

Physically Connected Stacked Patch Antenna Design with 100% Bandwidth

KAUST Repository

Klionovski, Kirill

2017-11-01

Typically, stacked patch antennas are parasitically coupled and provide larger bandwidth than a single patch antenna. Here, we show a stacked patch antenna design where square patches with semi-circular cutouts are physically connected to each other. This arrangement provides 100% bandwidth from 23.9–72.2 GHz with consistent high gain (5 dBi or more) across the entire bandwidth. In another variation, a single patch loaded with a superstrate provides 83.5% bandwidth from 25.6–62.3 GHz. The mechanism of bandwidth enhancement is explained through electromagnetic simulations. Measured reflection coefficient, radiation patterns and gain results confirm the extremely wideband performance of the design.

Using mixed reality, force feedback and tactile augmentation to improve the realism of medical simulation.

Science.gov (United States)

Fisher, J Brian; Porter, Susan M

2002-01-01

This paper describes an application of a display approach which uses chromakey techniques to composite real and computer-generated images allowing a user to see his hands and medical instruments collocated with the display of virtual objects during a medical training simulation. Haptic feedback is provided through the use of a PHANTOM force feedback device in addition to tactile augmentation, which allows the user to touch virtual objects by introducing corresponding real objects in the workspace. A simplified catheter introducer insertion simulation was developed to demonstrate the capabilities of this approach.

Cavity resonance absorption in ultra-high bandwidth CRT deflection structure by a resistive load

Science.gov (United States)

Dunham, M.E.; Hudson, C.L.

1993-05-11

An improved ultra-high bandwidth helical coil deflection structure for a cathode ray tube is described comprising a first metal member having a bore therein, the metal walls of which form a first ground plane; a second metal member coaxially mounted in the bore of the first metal member and forming a second ground plane; a helical deflection coil coaxially mounted within the bore between the two ground planes; and a resistive load disposed in one end of the bore and electrically connected to the first and second ground planes, the resistive load having an impedance substantially equal to the characteristic impedance of the coaxial line formed by the two coaxial ground planes to inhibit cavity resonance in the structure within the ultra-high bandwidth of operation. Preferably, the resistive load comprises a carbon film on a surface of an end plug in one end of the bore.

Impact of online visual feedback on motor acquisition and retention when learning to reach in a force field.

Science.gov (United States)

Batcho, C S; Gagné, M; Bouyer, L J; Roy, J S; Mercier, C

2016-11-19

When subjects learn a novel motor task, several sources of feedback (proprioceptive, visual or auditory) contribute to the performance. Over the past few years, several studies have investigated the role of visual feedback in motor learning, yet evidence remains conflicting. The aim of this study was therefore to investigate the role of online visual feedback (VFb) on the acquisition and retention stages of motor learning associated with training in a reaching task. Thirty healthy subjects made ballistic reaching movements with their dominant arm toward two targets, on 2 consecutive days using a robotized exoskeleton (KINARM). They were randomly assigned to a group with (VFb) or without (NoVFb) VFb of index position during movement. On day 1, the task was performed before (baseline) and during the application of a velocity-dependent resistive force field (adaptation). To assess retention, participants repeated the task with the force field on day 2. Motor learning was characterized by: (1) the final endpoint error (movement accuracy) and (2) the initial angle (iANG) of deviation (motor planning). Even though both groups showed motor adaptation, the NoVFb-group exhibited slower learning and higher final endpoint error than the VFb-group. In some condition, subjects trained without visual feedback used more curved initial trajectories to anticipate for the perturbation. This observation suggests that learning to reach targets in a velocity-dependent resistive force field is possible even when feedback is limited. However, the absence of VFb leads to different strategies that were only apparent when reaching toward the most challenging target. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Alterations in Neural Control of Constant Isometric Contraction with the Size of Error Feedback.

Directory of Open Access Journals (Sweden)

Ing-Shiou Hwang

Full Text Available Discharge patterns from a population of motor units (MUs were estimated with multi-channel surface electromyogram and signal processing techniques to investigate parametric differences in low-frequency force fluctuations, MU discharges, and force-discharge relation during static force-tracking with varying sizes of execution error presented via visual feedback. Fourteen healthy adults produced isometric force at 10% of maximal voluntary contraction through index abduction under three visual conditions that scaled execution errors with different amplification factors. Error-augmentation feedback that used a high amplification factor (HAF to potentiate visualized error size resulted in higher sample entropy, mean frequency, ratio of high-frequency components, and spectral dispersion of force fluctuations than those of error-reducing feedback using a low amplification factor (LAF. In the HAF condition, MUs with relatively high recruitment thresholds in the dorsal interosseous muscle exhibited a larger coefficient of variation for inter-spike intervals and a greater spectral peak of the pooled MU coherence at 13-35 Hz than did those in the LAF condition. Manipulation of the size of error feedback altered the force-discharge relation, which was characterized with non-linear approaches such as mutual information and cross sample entropy. The association of force fluctuations and global discharge trace decreased with increasing error amplification factor. Our findings provide direct neurophysiological evidence that favors motor training using error-augmentation feedback. Amplification of the visualized error size of visual feedback could enrich force gradation strategies during static force-tracking, pertaining to selective increases in the discharge variability of higher-threshold MUs that receive greater common oscillatory inputs in the β-band.

Development of high frequency and wide bandwidth Johnson noise thermometry

International Nuclear Information System (INIS)

Crossno, Jesse; Liu, Xiaomeng; Kim, Philip; Ohki, Thomas A.; Fong, Kin Chung

2015-01-01

We develop a high frequency, wide bandwidth radiometer operating at room temperature, which augments the traditional technique of Johnson noise thermometry for nanoscale thermal transport studies. Employing low noise amplifiers and an analog multiplier operating at 2 GHz, auto- and cross-correlated Johnson noise measurements are performed in the temperature range of 3 to 300 K, achieving a sensitivity of 5.5 mK (110 ppm) in 1 s of integration time. This setup allows us to measure the thermal conductance of a boron nitride encapsulated monolayer graphene device over a wide temperature range. Our data show a high power law (T ∼ 4) deviation from the Wiedemann-Franz law above T ∼ 100 K

Single-Phase LLCL-Filter-based Grid-Tied Inverter with Low-Pass Filter Based Capacitor Current Feedback Active damper

DEFF Research Database (Denmark)

Liu, Yuan; Wu, Weimin; Li, Yun

2016-01-01

The capacitor-current-feedback active damping method is attractive for high-order-filter-based high power grid-tied inverter when the grid impedance varies within a wide range. In order to improve the system control bandwidth and attenuate the high order grid background harmonics by using the quasi....... In this paper, a low pass filter is proposed to be inserted in the capacitor current feedback loop op LLCL-filter based grid-tied inverter together with a digital proportional and differential compensator. The detailed theoretical analysis is given. For verification, simulations on a 2kW/220V/10kHz LLCL...

Length-extension resonator as a force sensor for high-resolution frequency-modulation atomic force microscopy in air.

Science.gov (United States)

Beyer, Hannes; Wagner, Tino; Stemmer, Andreas

2016-01-01

Frequency-modulation atomic force microscopy has turned into a well-established method to obtain atomic resolution on flat surfaces, but is often limited to ultra-high vacuum conditions and cryogenic temperatures. Measurements under ambient conditions are influenced by variations of the dew point and thin water layers present on practically every surface, complicating stable imaging with high resolution. We demonstrate high-resolution imaging in air using a length-extension resonator operating at small amplitudes. An additional slow feedback compensates for changes in the free resonance frequency, allowing stable imaging over a long period of time with changing environmental conditions.

Re-use of Low Bandwidth Equipment for High Bit Rate Transmission Using Signal Slicing Technique

DEFF Research Database (Denmark)

Wagner, Christoph; Spolitis, S.; Vegas Olmos, Juan José

: Massive fiber-to-the-home network deployment requires never ending equipment upgrades operating at higher bandwidth. We show effective signal slicing method, which can reuse low bandwidth opto-electronical components for optical communications at higher bit rates.......: Massive fiber-to-the-home network deployment requires never ending equipment upgrades operating at higher bandwidth. We show effective signal slicing method, which can reuse low bandwidth opto-electronical components for optical communications at higher bit rates....

The vertical distribution of climate forcings and feedbacks from the surface to top of atmosphere

Energy Technology Data Exchange (ETDEWEB)

Previdi, Michael [Columbia University, Lamont-Doherty Earth Observatory, Palisades, NY (United States); Liepert, Beate G. [NorthWest Research Associates, Redmond, WA (United States)

2012-08-15

The radiative forcings and feedbacks that determine Earth's climate sensitivity are typically defined at the top-of-atmosphere (TOA) or tropopause, yet climate sensitivity itself refers to a change in temperature at the surface. In this paper, we describe how TOA radiative perturbations translate into surface temperature changes. It is shown using first principles that radiation changes at the TOA can be equated with the change in energy stored by the oceans and land surface. This ocean and land heat uptake in turn involves an adjustment of the surface radiative and non-radiative energy fluxes, with the latter being comprised of the turbulent exchange of latent and sensible heat between the surface and atmosphere. We employ the radiative kernel technique to decompose TOA radiative feedbacks in the IPCC Fourth Assessment Report climate models into components associated with changes in radiative heating of the atmosphere and of the surface. (We consider the equilibrium response of atmosphere-mixed layer ocean models subjected to an instantaneous doubling of atmospheric CO{sub 2}). It is shown that most feedbacks, i.e., the temperature, water vapor and cloud feedbacks, (as well as CO{sub 2} forcing) affect primarily the turbulent energy exchange at the surface rather than the radiative energy exchange. Specifically, the temperature feedback increases the surface turbulent (radiative) energy loss by 2.87 W m{sup -2} K{sup -1} (0.60 W m{sup -2} K{sup -1}) in the multimodel mean; the water vapor feedback decreases the surface turbulent energy loss by 1.07 W m{sup -2} K{sup -1} and increases the surface radiative heating by 0.89 W m{sup -2} K{sup -1}; and the cloud feedback decreases both the turbulent energy loss and the radiative heating at the surface by 0.43 and 0.24 W m{sup -2} K{sup -1}, respectively. Since changes to the surface turbulent energy exchange are dominated in the global mean sense by changes in surface evaporation, these results serve to highlight

Practical continuous-variable quantum key distribution without finite sampling bandwidth effects.

Science.gov (United States)

Li, Huasheng; Wang, Chao; Huang, Peng; Huang, Duan; Wang, Tao; Zeng, Guihua

2016-09-05

In a practical continuous-variable quantum key distribution system, finite sampling bandwidth of the employed analog-to-digital converter at the receiver's side may lead to inaccurate results of pulse peak sampling. Then, errors in the parameters estimation resulted. Subsequently, the system performance decreases and security loopholes are exposed to eavesdroppers. In this paper, we propose a novel data acquisition scheme which consists of two parts, i.e., a dynamic delay adjusting module and a statistical power feedback-control algorithm. The proposed scheme may improve dramatically the data acquisition precision of pulse peak sampling and remove the finite sampling bandwidth effects. Moreover, the optimal peak sampling position of a pulse signal can be dynamically calibrated through monitoring the change of the statistical power of the sampled data in the proposed scheme. This helps to resist against some practical attacks, such as the well-known local oscillator calibration attack.

Piezoresistive cantilever force-clamp system

Energy Technology Data Exchange (ETDEWEB)

Park, Sung-Jin; Petzold, Bryan C.; Pruitt, Beth L. [Department of Mechanical Engineering, Stanford University, Stanford, California 94305 (United States); Goodman, Miriam B. [Department of Molecular and Cellular Physiology, Stanford University, Stanford, California 94305 (United States)

2011-04-15

We present a microelectromechanical device-based tool, namely, a force-clamp system that sets or ''clamps'' the scaled force and can apply designed loading profiles (e.g., constant, sinusoidal) of a desired magnitude. The system implements a piezoresistive cantilever as a force sensor and the built-in capacitive sensor of a piezoelectric actuator as a displacement sensor, such that sample indentation depth can be directly calculated from the force and displacement signals. A programmable real-time controller operating at 100 kHz feedback calculates the driving voltage of the actuator. The system has two distinct modes: a force-clamp mode that controls the force applied to a sample and a displacement-clamp mode that controls the moving distance of the actuator. We demonstrate that the system has a large dynamic range (sub-nN up to tens of {mu}N force and nm up to tens of {mu}m displacement) in both air and water, and excellent dynamic response (fast response time, <2 ms and large bandwidth, 1 Hz up to 1 kHz). In addition, the system has been specifically designed to be integrated with other instruments such as a microscope with patch-clamp electronics. We demonstrate the capabilities of the system by using it to calibrate the stiffness and sensitivity of an electrostatic actuator and to measure the mechanics of a living, freely moving Caenorhabditis elegans nematode.

Inverter-Current-Feedback Resonance-Suppression Method for LCL-Type DG System to Reduce Resonance-Frequency Offset and Grid-Inductance Effect

DEFF Research Database (Denmark)

Zhou, Leming; Zhou, Xiaoping; Chen, Yandong

2018-01-01

For the LCL-type grid-connected distributed generation system, the grid-current-feedback active damping (GCFAD) methods have a conflict between the resonance-suppression ability and harmonic-currents amplification. For this, an inverter-current-feedback reso-nance-suppression (ICFRS) method without...... additional sensors is proposed to reduce resonance-frequency offset and grid-inductance effect due to its unattenuated damping characteristic under high-frequency bandwidth. By analyzing two types of equivalent impedance models of ICFRS and GCFAD with a high-pass filter (HPF), GCFAD can suppress...

Feedforward and feedback motor control abnormalities implicate cerebellar dysfunctions in autism spectrum disorder.

Science.gov (United States)

Mosconi, Matthew W; Mohanty, Suman; Greene, Rachel K; Cook, Edwin H; Vaillancourt, David E; Sweeney, John A

2015-02-04

Sensorimotor abnormalities are common in autism spectrum disorder (ASD) and among the earliest manifestations of the disorder. They have been studied far less than the social-communication and cognitive deficits that define ASD, but a mechanistic understanding of sensorimotor abnormalities in ASD may provide key insights into the neural underpinnings of the disorder. In this human study, we examined rapid, precision grip force contractions to determine whether feedforward mechanisms supporting initial motor output before sensory feedback can be processed are disrupted in ASD. Sustained force contractions also were examined to determine whether reactive adjustments to ongoing motor behavior based on visual feedback are altered. Sustained force was studied across multiple force levels and visual gains to assess motor and visuomotor mechanisms, respectively. Primary force contractions of individuals with ASD showed greater peak rate of force increases and large transient overshoots. Individuals with ASD also showed increased sustained force variability that scaled with force level and was more severe when visual gain was highly amplified or highly degraded. When sustaining a constant force level, their reactive adjustments were more periodic than controls, and they showed increased reliance on slower feedback mechanisms. Feedforward and feedback mechanism alterations each were associated with more severe social-communication impairments in ASD. These findings implicate anterior cerebellar circuits involved in feedforward motor control and posterior cerebellar circuits involved in transforming visual feedback into precise motor adjustments in ASD. Copyright © 2015 the authors 0270-6474/15/352015-11$15.00/0.

Representing delayed force feedback as a combination of current and delayed states.

Science.gov (United States)

Avraham, Guy; Mawase, Firas; Karniel, Amir; Shmuelof, Lior; Donchin, Opher; Mussa-Ivaldi, Ferdinando A; Nisky, Ilana

2017-10-01

To adapt to deterministic force perturbations that depend on the current state of the hand, internal representations are formed to capture the relationships between forces experienced and motion. However, information from multiple modalities travels at different rates, resulting in intermodal delays that require compensation for these internal representations to develop. To understand how these delays are represented by the brain, we presented participants with delayed velocity-dependent force fields, i.e., forces that depend on hand velocity either 70 or 100 ms beforehand. We probed the internal representation of these delayed forces by examining the forces the participants applied to cope with the perturbations. The findings showed that for both delayed forces, the best model of internal representation consisted of a delayed velocity and current position and velocity. We show that participants relied initially on the current state, but with adaptation, the contribution of the delayed representation to adaptation increased. After adaptation, when the participants were asked to make movements with a higher velocity for which they had not previously experienced with the delayed force field, they applied forces that were consistent with current position and velocity as well as delayed velocity representations. This suggests that the sensorimotor system represents delayed force feedback using current and delayed state information and that it uses this representation when generalizing to faster movements. NEW & NOTEWORTHY The brain compensates for forces in the body and the environment to control movements, but it is unclear how it does so given the inherent delays in information transmission and processing. We examined how participants cope with delayed forces that depend on their arm velocity 70 or 100 ms beforehand. After adaptation, participants applied opposing forces that revealed a partially correct representation of the perturbation using the current and the

Rehabilitation of activities of daily living in virtual environments with intuitive user interface and force feedback.

Science.gov (United States)

Chiang, Vico Chung-Lim; Lo, King-Hung; Choi, Kup-Sze

2017-10-01

To investigate the feasibility of using a virtual rehabilitation system with intuitive user interface and force feedback to improve the skills in activities of daily living (ADL). A virtual training system equipped with haptic devices was developed for the rehabilitation of three ADL tasks - door unlocking, water pouring and meat cutting. Twenty subjects with upper limb disabilities, supervised by two occupational therapists, received a four-session training using the system. The task completion time and the amount of water poured into a virtual glass were recorded. The performance of the three tasks in reality was assessed before and after the virtual training. Feedback of the participants was collected with questionnaires after the study. The completion time of the virtual tasks decreased during the training (p water successfully poured increased (p = 0.051). The score of the Borg scale of perceived exertion was 1.05 (SD = 1.85; 95% CI =  0.18-1.92) and that of the task specific feedback questionnaire was 31 (SD =  4.85; 95% CI =  28.66-33.34). The feedback of the therapists suggested a positive rehabilitation effect. The participants had positive perception towards the system. The system can potentially be used as a tool to complement conventional rehabilitation approaches of ADL. Implications for rehabilitation Rehabilitation of activities of daily living can be facilitated using computer-assisted approaches. The existing approaches focus on cognitive training rather than the manual skills. A virtual training system with intuitive user interface and force feedback was designed to improve the learning of the manual skills. The study shows that system could be used as a training tool to complement conventional rehabilitation approaches.

GLIMPSE: Google Glass interface for sensory feedback in myoelectric hand prostheses

Science.gov (United States)

Markovic, Marko; Karnal, Hemanth; Graimann, Bernhard; Farina, Dario; Dosen, Strahinja

2017-06-01

Objective. Providing sensory feedback to the user of the prosthesis is an important challenge. The common approach is to use tactile stimulation, which is easy to implement but requires training and has limited information bandwidth. In this study, we propose an alternative approach based on augmented reality. Approach. We have developed the GLIMPSE, a Google Glass application which connects to the prosthesis via a Bluetooth interface and renders the prosthesis states (EMG signals, aperture, force and contact) using augmented reality (see-through display) and sound (bone conduction transducer). The interface was tested in healthy subjects that used the prosthesis with (FB group) and without (NFB group) feedback during a modified clothespins test that allowed us to vary the difficulty of the task. The outcome measures were the number of unsuccessful trials, the time to accomplish the task, and the subjective ratings of the relevance of the feedback. Main results. There was no difference in performance between FB and NFB groups in the case of a simple task (basic, same-color clothespins test), but the feedback significantly improved the performance in a more complex task (pins of different resistances). Importantly, the GLIMPSE feedback did not increase the time to accomplish the task. Therefore, the supplemental feedback might be useful in the tasks which are more demanding, and thereby less likely to benefit from learning and feedforward control. The subjects integrated the supplemental feedback with the intrinsic sources (vision and muscle proprioception), developing their own idiosyncratic strategies to accomplish the task. Significance. The present study demonstrates a novel self-contained, ready-to-deploy, wearable feedback interface. The interface was successfully tested and was proven to be feasible and functionally beneficial. The GLIMPSE can be used as a practical solution but also as a general and flexible instrument to investigate closed-loop prosthesis

Hardware design and implementation of the closed-orbit feedback system at APS

International Nuclear Information System (INIS)

Barr, D.; Chung, Youngjoo.

1996-01-01

The Advanced Photon Source (APS) storage ring will utilize a closed-orbit feedback system in order to produce a more stable beam. The specified orbit measurement resolution is 25 microns for global feedback and 1 micron for local feedback. The system will sample at 4 kHz and provide a correction bandwidth of 100 Hz. At this bandwidth, standard rf BPMs will provide a resolution of 0.7 micron, while specialized miniature BPMs positioned on either side of the insertion devices for local feedback will provide a resolution of 0.2 micron (1). The measured BPM noise floor for standard BPMs is 0.06 micron per root hertz mA. Such a system has been designed, simulated, and tested on a small scale (2). This paper covers the actual hardware design and layout of the entire closed-loop system. This includes commercial hardware components, in addition to many components designed and built in-house. The paper will investigate the large-scale workings of all these devices, as well as an overall view of each piece of hardware used

Assessing the quality of force feedback in soft tissue simulation.

Science.gov (United States)

Basafa, Ehsan; Sefati, Shahin; Okamura, Allison M

2011-01-01

Many types of deformable models have been proposed for simulation of soft tissue in surgical simulators, but their realism in comparison to actual tissue is rarely assessed. In this paper, a nonlinear mass-spring model is used for realtime simulation of deformable soft tissues and providing force feedback to a human operator. Force-deformation curves of real soft tissue samples were obtained experimentally, and the model was tuned accordingly. To test the realism of the model, we conducted two human-user experiments involving palpation with a rigid probe. First, in a discrimination test, users identified the correct category of real and virtual tissue better than chance, and tended to identify the tissues as real more often than virtual. Second, users identified real and virtual tissues by name, after training on only real tissues. The sorting accuracy was the same for both real and virtual tissues. These results indicate that, despite model limitations, the simulation could convey the feel of touching real tissues. This evaluation approach could be used to compare and validate various soft-tissue simulators.

Characterization of silver-gallium nanowires for force and mass sensing applications

International Nuclear Information System (INIS)

Biedermann, Laura B; Reifenberger, Ronald G; Tung, Ryan C; Raman, Arvind; Yazdanpanah, Mehdi M; Cohn, Robert W

2010-01-01

We investigate the mechanical properties of cantilevered silver-gallium (Ag 2 Ga) nanowires using laser Doppler vibrometry. From measurements of the resonant frequencies and associated operating deflection shapes, we demonstrate that these Ag 2 Ga nanowires behave as ideal Euler-Bernoulli beams. Furthermore, radial asymmetries in these nanowires are detected through high resolution measurements of the vibration spectra. These crystalline nanowires possess many ideal characteristics for nanoscale force and mass sensing, including small spring constants (as low as 10 -4 N m -1 ), high frequency bandwidth with resonance frequencies in the 0.02-10 MHz range, small suspended mass (picograms), and relatively high Q-factors (∼2-50) under ambient conditions. We evaluate the utility of Ag 2 Ga nanowires for nanocantilever applications, including ultrasmall mass and high frequency bandwidth piconewton force detection.

Kinesthetic Force Feedback and Belt Control for the Treadport Locomotion Interface.

Science.gov (United States)

Hejrati, Babak; Crandall, Kyle L; Hollerbach, John M; Abbott, Jake J

2015-01-01

This paper describes an improved control system for the Treadport immersive locomotion interface, with results that generalize to any treadmill that utilizes an actuated tether to enable self-selected walking speed. A new belt controller is implemented to regulate the user's position; when combined with the user's own volition, this controller also enables the user to naturally self-select their walking speed as they would when walking over ground. A new kinesthetic-force-feedback controller is designed for the tether that applies forces to the user's torso. This new controller is derived based on maintaining the user's sense of balance during belt acceleration, rather than by rendering an inertial force as was done in our prior work. Based on the results of a human-subjects study, the improvements in both controllers significantly contribute to an improved perception of realistic walking on the Treadport. The improved control system uses intuitive dynamic-system and anatomical parameters and requires no ad hoc gain tuning. The control system simply requires three measurements to be made for a given user: the user's mass, the user's height, and the height of the tether attachment point on the user's torso.

Applied techniques for high bandwidth data transfers across wide area networks

International Nuclear Information System (INIS)

Lee, Jason; Gunter, Dan; Tierney, Brian; Allcock, Bill; Bester, Joe; Bresnahan, John; Tuecke, Steve

2001-01-01

Large distributed systems such as Computational/Data Grids require large amounts of data to be co-located with the computing facilities for processing. Ensuring that the data is there in time for the computation in today's Internet is a massive problem. From our work developing a scalable distributed network cache, we have gained experience with techniques necessary to achieve high data throughput over high bandwidth Wide Area Networks (WAN). In this paper, we discuss several hardware and software design techniques and issues, and then describe their application to an implementation of an enhanced FTP protocol called GridFTP. We also describe results from two applications using these techniques, which were obtained at the Supercomputing 2000 conference

Neural cryptography with feedback.

Science.gov (United States)

Ruttor, Andreas; Kinzel, Wolfgang; Shacham, Lanir; Kanter, Ido

2004-04-01

Neural cryptography is based on a competition between attractive and repulsive stochastic forces. A feedback mechanism is added to neural cryptography which increases the repulsive forces. Using numerical simulations and an analytic approach, the probability of a successful attack is calculated for different model parameters. Scaling laws are derived which show that feedback improves the security of the system. In addition, a network with feedback generates a pseudorandom bit sequence which can be used to encrypt and decrypt a secret message.

Mahanaxar: quality of service guarantees in high-bandwidth, real-time streaming data storage

Energy Technology Data Exchange (ETDEWEB)

Bigelow, David [Los Alamos National Laboratory; Bent, John [Los Alamos National Laboratory; Chen, Hsing-Bung [Los Alamos National Laboratory; Brandt, Scott [UCSC

2010-04-05

Large radio telescopes, cyber-security systems monitoring real-time network traffic, and others have specialized data storage needs: guaranteed capture of an ultra-high-bandwidth data stream, retention of the data long enough to determine what is 'interesting,' retention of interesting data indefinitely, and concurrent read/write access to determine what data is interesting, without interrupting the ongoing capture of incoming data. Mahanaxar addresses this problem. Mahanaxar guarantees streaming real-time data capture at (nearly) the full rate of the raw device, allows concurrent read and write access to the device on a best-effort basis without interrupting the data capture, and retains data as long as possible given the available storage. It has built in mechanisms for reliability and indexing, can scale to meet arbitrary bandwidth requirements, and handles both small and large data elements equally well. Results from our prototype implementation shows that Mahanaxar provides both better guarantees and better performance than traditional file systems.

Requirements for active resistive wall mode (RWM) feedback control

International Nuclear Information System (INIS)

In, Y; Kim, J S; Chu, M S; Jackson, G L; La Haye, R J; Strait, E J; Liu, Y Q; Marrelli, L; Okabayashi, M; Reimerdes, H

2010-01-01

The requirements for active resistive wall mode (RWM) feedback control have been systematically investigated and established using highly reproducible current-driven RWMs in ohmic discharges in DIII-D. The unambiguous evaluation of active RWM feedback control was not possible in previous RWM studies primarily due to the variability of the onset of the pressure-driven RWMs; the stability of the pressure-driven RWM is thought to be sensitive to various passive stabilization mechanisms. Both feedback control specifications and physics requirements for RWM stabilization have been clarified using the current-driven RWMs in ohmic discharges, when little or no passive stabilization effects are present. The use of derivative gain on top of proportional gain is found to be advantageous. An effective feedback control system should be equipped with a power supply with bandwidth greater than the RWM growth rate. It is beneficial to apply a feedback field that is toroidally phase-shifted from the measured RWM phase in the same direction as the plasma current. The efficacy of the RWM feedback control will ultimately be determined by the plasma fluctuations on internal diagnostics, as well as on external magnetics. The proximity of the feedback coils to the plasma appears to be an important factor in determining the effectiveness of the RWM feedback coils. It is desirable that an RWM feedback control system simultaneously handles error field correction at a low frequency, along with direct RWM feedback at a high frequency. There is an indication of the influence of a second least stable RWM, which had been theoretically predicted but never identified in experiments. A preliminary investigation based on active MHD spectroscopic measurement showed a strong plasma response around 400 Hz where the typical plasma response associated with the first least stable RWM was expected to be negligible. Present active feedback control requirements are based on a single mode assumption, so the

A HIGH BANDWIDTH BIPOLAR POWER SUPPLY FOR THE FAST CORRECTORS IN THE APS UPGRADE*

Energy Technology Data Exchange (ETDEWEB)

Wang, Ju; Sprau, Gary

2017-06-25

The APS Upgrade of a multi-bend achromat (MBA) storage ring requires a fast bipolar power supply for the fast correction magnets. The key performance requirement of the power supply includes a small-signal bandwidth of 10 kHz for the output current. This requirement presents a challenge to the design because of the high inductance of the magnet load and a limited input DC voltage. A prototype DC/DC power supply utilizing a MOSFET H-bridge circuit with a 500 kHz PWM has been developed and tested successfully. The prototype achieved a 10-kHz bandwidth with less than 3-dB attenuation for a signal 0.5% of the maximum operating current of 15 amperes. This paper presents the design of the power circuit, the PWM method, the control loop, and the test results.

A feedback control system for vibration of magnetostrictive plate subjected to follower force using sinusoidal shear

Directory of Open Access Journals (Sweden)

A. Ghorbanpour Arani

2016-03-01

Full Text Available In this research, the vibrational behavior of magnetostrictive plate (MsP as a smart component is studied. The plate is subjected to an external follower force and a magnetic field in which the vibration response of MsP has been investigated for both loading combinations. The velocity feedback gain parameter is evaluated to study the effect of magnetic field which is generated by the coil. Sinusoidal shear deformation theory is utilized due to its accuracy of polynomial function with respect to other plate theories. Equations of motion are derived using Hamilton’s principle and solved by differential quadrature method (DQM considering general boundary conditions. The effects of aspect ratio, thickness ratio, follower force and velocity feedback gain are investigated on the frequency response of MsP. Results indicate that magneto-mechanical coupling in MsM helps to control vibrational behaviors of systems such as electro-hydraulic actuator, wireless linear Motors and sensors.

Towards Bandwidth Scalable Transceiver Technology for Optical Metro-Access Networks

DEFF Research Database (Denmark)

Spolitis, Sandis; Bobrovs, Vjaceslavs; Wagner, Christoph

2015-01-01

sliceable transceiver for 1 Gbit/s non-return to zero (NRZ) signal sliced into two slices is presented. Digital signal processing (DSP) power consumption and latency values for proposed sliceable transceiver technique are also discussed. In this research post FEC with 7% overhead error free transmission has......Massive fiber-to-the-home network deployment is creating a challenge for telecommunications network operators: exponential increase of the power consumption at the central offices and a never ending quest for equipment upgrades operating at higher bandwidth. In this paper, we report on flexible...... signal slicing technique, which allows transmission of high-bandwidth signals via low bandwidth electrical and optoelectrical equipment. The presented signal slicing technique is highly scalable in terms of bandwidth which is determined by the number of slices used. In this paper performance of scalable...

Soft Pneumatic Actuator Fascicles for High Force and Reliability.

Science.gov (United States)

Robertson, Matthew A; Sadeghi, Hamed; Florez, Juan Manuel; Paik, Jamie

2017-03-01

Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they fall short of force output and bandwidth requirements for many tasks. In addition, other general problems remain open, including robustness, controllability, and repeatability. The SPA-pack architecture presented here aims to satisfy these standards of reliability crucial to the field of soft robotics, while also improving the basic performance capabilities of SPAs by borrowing advantages leveraged ubiquitously in biology; namely, the structured parallel arrangement of lower power actuators to form the basis of a larger and more powerful actuator module. An SPA-pack module consisting of a number of smaller SPAs will be studied using an analytical model and physical prototype. Experimental measurements show an SPA pack to generate over 112 N linear force, while the model indicates the benefit of parallel actuator grouping over a geometrically equivalent single SPA scale as an increasing function of the number of individual actuators in the group. For a module of four actuators, a 23% increase in force production over a volumetrically equivalent single SPA is predicted and validated, while further gains appear possible up to 50%. These findings affirm the advantage of utilizing a fascicle structure for high-performance soft robotic applications over existing monolithic SPA designs. An example of high-performance soft robotic platform will be presented to demonstrate the capability of SPA-pack modules in a complete and functional system.

Soft Pneumatic Actuator Fascicles for High Force and Reliability

Science.gov (United States)

Robertson, Matthew A.; Sadeghi, Hamed; Florez, Juan Manuel

2017-01-01

Abstract Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they fall short of force output and bandwidth requirements for many tasks. In addition, other general problems remain open, including robustness, controllability, and repeatability. The SPA-pack architecture presented here aims to satisfy these standards of reliability crucial to the field of soft robotics, while also improving the basic performance capabilities of SPAs by borrowing advantages leveraged ubiquitously in biology; namely, the structured parallel arrangement of lower power actuators to form the basis of a larger and more powerful actuator module. An SPA-pack module consisting of a number of smaller SPAs will be studied using an analytical model and physical prototype. Experimental measurements show an SPA pack to generate over 112 N linear force, while the model indicates the benefit of parallel actuator grouping over a geometrically equivalent single SPA scale as an increasing function of the number of individual actuators in the group. For a module of four actuators, a 23% increase in force production over a volumetrically equivalent single SPA is predicted and validated, while further gains appear possible up to 50%. These findings affirm the advantage of utilizing a fascicle structure for high-performance soft robotic applications over existing monolithic SPA designs. An example of high-performance soft robotic platform will be presented to demonstrate the capability of SPA-pack modules in a complete and functional system. PMID:28289573

Regional-Scale Forcing and Feedbacks from Alternative Scenarios of Global-Scale Land Use Change

Science.gov (United States)

Jones, A. D.; Chini, L. P.; Collins, W.; Janetos, A. C.; Mao, J.; Shi, X.; Thomson, A. M.; Torn, M. S.

2011-12-01

Future patterns of land use change depend critically on the degree to which terrestrial carbon management strategies, such as biological carbon sequestration and biofuels, are utilized in order to mitigate global climate change. Furthermore, land use change associated with terrestrial carbon management induces biogeophysical changes to surface energy budgets that perturb climate at regional and possibly global scales, activating different feedback processes depending on the nature and location of the land use change. As a first step in a broader effort to create an integrated earth system model, we examine two scenarios of future anthropogenic activity generated by the Global Change Assessment Model (GCAM) within the full-coupled Community Earth System Model (CESM). Each scenario stabilizes radiative forcing from greenhouse gases and aerosols at 4.5 W/m^2. In the first, stabilization is achieved through a universal carbon tax that values terrestrial carbon equally with fossil carbon, leading to modest afforestation globally and low biofuel utilization. In the second scenario, stabilization is achieved with a tax on fossil fuel and industrial carbon alone. In this case, biofuel utilization increases dramatically and crop area expands to claim approximately 50% of forest cover globally. By design, these scenarios exhibit identical climate forcing from atmospheric constituents. Thus, differences among them can be attributed to the biogeophysical effects of land use change. In addition, we utilize offline radiative transfer and offline land model simulations to identify forcing and feedback mechanisms operating in different regions. We find that boreal deforestation has a strong climatic signature due to significant albedo change coupled with a regional-scale water vapor feedback. Tropical deforestation, on the other hand, has more subtle effects on climate. Globally, the two scenarios yield warming trends over the 21st century that differ by 0.5 degrees Celsius. This

ICE-Based Custom Full-Mesh Network for the CHIME High Bandwidth Radio Astronomy Correlator

Science.gov (United States)

Bandura, K.; Cliche, J. F.; Dobbs, M. A.; Gilbert, A. J.; Ittah, D.; Mena Parra, J.; Smecher, G.

2016-03-01

New generation radio interferometers encode signals from thousands of antenna feeds across large bandwidth. Channelizing and correlating this data requires networking capabilities that can handle unprecedented data rates with reasonable cost. The Canadian Hydrogen Intensity Mapping Experiment (CHIME) correlator processes 8-bits from N=2,048 digitizer inputs across 400MHz of bandwidth. Measured in N2× bandwidth, it is the largest radio correlator that is currently commissioning. Its digital back-end must exchange and reorganize the 6.6terabit/s produced by its 128 digitizing and channelizing nodes, and feed it to the 256 graphics processing unit (GPU) node spatial correlator in a way that each node obtains data from all digitizer inputs but across a small fraction of the bandwidth (i.e. ‘corner-turn’). In order to maximize performance and reliability of the corner-turn system while minimizing cost, a custom networking solution has been implemented. The system makes use of Field Programmable Gate Array (FPGA) transceivers to implement direct, passive copper, full-mesh, high speed serial connections between sixteen circuit boards in a crate, to exchange data between crates, and to offload the data to a cluster of 256 GPU nodes using standard 10Gbit/s Ethernet links. The GPU nodes complete the corner-turn by combining data from all crates and then computing visibilities. Eye diagrams and frame error counters confirm error-free operation of the corner-turn network in both the currently operating CHIME Pathfinder telescope (a prototype for the full CHIME telescope) and a representative fraction of the full CHIME hardware providing an end-to-end system validation. An analysis of an equivalent corner-turn system built with Ethernet switches instead of custom passive data links is provided.

Kinesthetic Feedback During 2DOF Wrist Movements via a Novel MR-Compatible Robot.

Science.gov (United States)

Erwin, Andrew; O'Malley, Marcia K; Ress, David; Sergi, Fabrizio

2017-09-01

We demonstrate the interaction control capabilities of the MR-SoftWrist, a novel MR-compatible robot capable of applying accurate kinesthetic feedback to wrist pointing movements executed during fMRI. The MR-SoftWrist, based on a novel design that combines parallel piezoelectric actuation with compliant force feedback, is capable of delivering 1.5 N [Formula: see text] of torque to the wrist of an interacting subject about the flexion/extension and radial/ulnar deviation axes. The robot workspace, defined by admissible wrist rotation angles, fully includes a circle with a 20 deg radius. Via dynamic characterization, we demonstrate capability for transparent operation with low (10% of maximum torque output) backdrivability torques at nominal speeds. Moreover, we demonstrate a 5.5 Hz stiffness control bandwidth for a 14 dB range of virtual stiffness values, corresponding to 25%-125% of the device's physical reflected stiffness in the nominal configuration. We finally validate the possibility of operation during fMRI via a case study involving one healthy subject. Our validation experiment demonstrates the capability of the device to apply kinesthetic feedback to elicit distinguishable kinetic and neural responses without significant degradation of image quality or task-induced head movements. With this study, we demonstrate the feasibility of MR-compatible devices like the MR-SoftWrist to be used in support of motor control experiments investigating wrist pointing under robot-applied force fields. Such future studies may elucidate fundamental neural mechanisms enabling robot-assisted motor skill learning, which is crucial for robot-aided neurorehabilitation.

Theoretical investigation of injection-locked high modulation bandwidth quantum cascade lasers.

Science.gov (United States)

Meng, Bo; Wang, Qi Jie

2012-01-16

In this study, we report for the first time to our knowledge theoretical investigation of modulation responses of injection-locked mid-infrared quantum cascade lasers (QCLs) at wavelengths of 4.6 μm and 9 μm, respectively. It is shown through a three-level rate equations model that the direct intensity modulation of QCLs gives the maximum modulation bandwidths of ~7 GHz at 4.6 μm and ~20 GHz at 9 μm. By applying the injection locking scheme, we find that the modulation bandwidths of up to ~30 GHz and ~70 GHz can be achieved for QCLs at 4.6 μm and 9 μm, respectively, with an injection ratio of 5 dB. The result also shows that an ultrawide modulation bandwidth of more than 200 GHz is possible with a 10 dB injection ratio for QCLs at 9 μm. An important characteristic of injection-locked QCLs is the nonexistence of unstable locking region in the locking map, in contrast to their diode laser counterparts. We attribute this to the ultra-short upper laser state lifetimes of QCLs.

Engineering the CernVM-Filesystem as a High Bandwidth Distributed Filesystem for Auxiliary Physics Data

Energy Technology Data Exchange (ETDEWEB)

Dykstra, D. [Fermilab; Bockelman, B. [Nebraska U.; Blomer, J. [CERN; Herner, K. [Fermilab; Levshina, T. [Fermilab; Slyz, M. [Fermilab

2015-12-23

A common use pattern in the computing models of particle physics experiments is running many distributed applications that read from a shared set of data files. We refer to this data is auxiliary data, to distinguish it from (a) event data from the detector (which tends to be different for every job), and (b) conditions data about the detector (which tends to be the same for each job in a batch of jobs). Relatively speaking, conditions data also tends to be relatively small per job where both event data and auxiliary data are larger per job. Unlike event data, auxiliary data comes from a limited working set of shared files. Since there is spatial locality of the auxiliary data access, the use case appears to be identical to that of the CernVM- Filesystem (CVMFS). However, we show that distributing auxiliary data through CVMFS causes the existing CVMFS infrastructure to perform poorly. We utilize a CVMFS client feature called 'alien cache' to cache data on existing local high-bandwidth data servers that were engineered for storing event data. This cache is shared between the worker nodes at a site and replaces caching CVMFS files on both the worker node local disks and on the site's local squids. We have tested this alien cache with the dCache NFSv4.1 interface, Lustre, and the Hadoop Distributed File System (HDFS) FUSE interface, and measured performance. In addition, we use high-bandwidth data servers at central sites to perform the CVMFS Stratum 1 function instead of the low-bandwidth web servers deployed for the CVMFS software distribution function. We have tested this using the dCache HTTP interface. As a result, we have a design for an end-to-end high-bandwidth distributed caching read-only filesystem, using existing client software already widely deployed to grid worker nodes and existing file servers already widely installed at grid sites. Files are published in a central place and are soon available on demand throughout the grid and cached

Engineering the CernVM-Filesystem as a High Bandwidth Distributed Filesystem for Auxiliary Physics Data

Science.gov (United States)

Dykstra, D.; Bockelman, B.; Blomer, J.; Herner, K.; Levshina, T.; Slyz, M.

2015-12-01

A common use pattern in the computing models of particle physics experiments is running many distributed applications that read from a shared set of data files. We refer to this data is auxiliary data, to distinguish it from (a) event data from the detector (which tends to be different for every job), and (b) conditions data about the detector (which tends to be the same for each job in a batch of jobs). Relatively speaking, conditions data also tends to be relatively small per job where both event data and auxiliary data are larger per job. Unlike event data, auxiliary data comes from a limited working set of shared files. Since there is spatial locality of the auxiliary data access, the use case appears to be identical to that of the CernVM- Filesystem (CVMFS). However, we show that distributing auxiliary data through CVMFS causes the existing CVMFS infrastructure to perform poorly. We utilize a CVMFS client feature called "alien cache" to cache data on existing local high-bandwidth data servers that were engineered for storing event data. This cache is shared between the worker nodes at a site and replaces caching CVMFS files on both the worker node local disks and on the site's local squids. We have tested this alien cache with the dCache NFSv4.1 interface, Lustre, and the Hadoop Distributed File System (HDFS) FUSE interface, and measured performance. In addition, we use high-bandwidth data servers at central sites to perform the CVMFS Stratum 1 function instead of the low-bandwidth web servers deployed for the CVMFS software distribution function. We have tested this using the dCache HTTP interface. As a result, we have a design for an end-to-end high-bandwidth distributed caching read-only filesystem, using existing client software already widely deployed to grid worker nodes and existing file servers already widely installed at grid sites. Files are published in a central place and are soon available on demand throughout the grid and cached locally on the

High Bandwidth Communications Links Between Heterogeneous Autonomous Vehicles Using Sensor Network Modeling and Extremum Control Approaches

Science.gov (United States)

2008-12-01

In future network-centric warfare environments, teams of autonomous vehicles will be deployed in a coorperative manner to conduct wide-area...of data back to the command station, autonomous vehicles configured with high bandwidth communication system are positioned between the command

Dynamic simulation of knee-joint loading during gait using force-feedback control and surrogate contact modelling.

Science.gov (United States)

Walter, Jonathan P; Pandy, Marcus G

2017-10-01

The aim of this study was to perform multi-body, muscle-driven, forward-dynamics simulations of human gait using a 6-degree-of-freedom (6-DOF) model of the knee in tandem with a surrogate model of articular contact and force control. A forward-dynamics simulation incorporating position, velocity and contact force-feedback control (FFC) was used to track full-body motion capture data recorded for multiple trials of level walking and stair descent performed by two individuals with instrumented knee implants. Tibiofemoral contact force errors for FFC were compared against those obtained from a standard computed muscle control algorithm (CMC) with a 6-DOF knee contact model (CMC6); CMC with a 1-DOF translating hinge-knee model (CMC1); and static optimization with a 1-DOF translating hinge-knee model (SO). Tibiofemoral joint loads predicted by FFC and CMC6 were comparable for level walking, however FFC produced more accurate results for stair descent. SO yielded reasonable predictions of joint contact loading for level walking but significant differences between model and experiment were observed for stair descent. CMC1 produced the least accurate predictions of tibiofemoral contact loads for both tasks. Our findings suggest that reliable estimates of knee-joint loading may be obtained by incorporating position, velocity and force-feedback control with a multi-DOF model of joint contact in a forward-dynamics simulation of gait. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

High-resolution and large dynamic range nanomechanical mapping in tapping-mode atomic force microscopy

International Nuclear Information System (INIS)

Sahin, Ozgur; Erina, Natalia

2008-01-01

High spatial resolution imaging of material properties is an important task for the continued development of nanomaterials and studies of biological systems. Time-varying interaction forces between the vibrating tip and the sample in a tapping-mode atomic force microscope contain detailed information about the elastic, adhesive, and dissipative response of the sample. We report real-time measurement and analysis of the time-varying tip-sample interaction forces with recently introduced torsional harmonic cantilevers. With these measurements, high-resolution maps of elastic modulus, adhesion force, energy dissipation, and topography are generated simultaneously in a single scan. With peak tapping forces as low as 0.6 nN, we demonstrate measurements on blended polymers and self-assembled molecular architectures with feature sizes at 1, 10, and 500 nm. We also observed an elastic modulus measurement range of four orders of magnitude (1 MPa to 10 GPa) for a single cantilever under identical feedback conditions, which can be particularly useful for analyzing heterogeneous samples with largely different material components.

An actuated force feedback-enabled laparoscopic instrument for robotic-assisted surgery.

Science.gov (United States)

Moradi Dalvand, Mohsen; Shirinzadeh, Bijan; Shamdani, Amir Hossein; Smith, Julian; Zhong, Yongmin

2014-03-01

Robotic-assisted minimally invasive surgery systems not only have the advantages of traditional laparoscopic instruments but also have other important advantages, including restoring the surgeon's hand-eye coordination and improving the surgeon's precision by filtering hand tremors. Unfortunately, these benefits have come at the expense of the surgeon's ability to feel. Various solutions for restoring this feature have been proposed. An actuated modular force feedback-enabled laparoscopic instrument was proposed that is able to measure tip-tissue lateral interaction forces as well as normal grasping forces. The instrument has also the capability to adjust the grasping direction inside the patient body. In order to measure the interaction forces, strain gauges were employed. A series of finite element analyses were performed to gain an understanding of the actual magnitude of surface strains where gauges are applied. The strain gauge bridge configurations were calibrated. A series of experiments was conducted and the results were analysed. The modularity feature of the proposed instrument makes it interchangeable between various tip types of different functionalities (e.g. cutter, grasper, dissector). Calibration results of the strain gauges incorporated into the tube and at the base of the instrument presented the monotonic responses for these strain gauge configurations. Experimental results from tissue probing and tissue characterization experiments verified the capability of the proposed instrument in measuring lateral probing forces and characterizing artificial tissue samples of varying stiffness. The proposed instrument can improve the quality of palpation and characterization of soft tissues of varying stiffness by restoring sense of touch in robotic assisted minimally invasive surgery operations. Copyright © 2013 John Wiley & Sons, Ltd.

Effect of Feed Substrate Thickness on the Bandwidth and Radiation Characteristics of an Aperture-Coupled Microstrip Antenna with a High Permittivity Feed Substrate

Directory of Open Access Journals (Sweden)

Jae-Hyun Kim

2018-04-01

Full Text Available The impedance bandwidth and radiation characteristics of an aperture-coupled microstrip line-fed patch antenna (ACMPA with a high permittivity (ɛr = 10 feed substrate suitable for integration with a monolithic microwave integrated circuit (MMIC are investigated for various feed substrate thicknesses through an experiment and computer simulation. The impedance bandwidth of an ACMPA with a high permittivity feed substrate increases as the feed substrate thickness decreases. Furthermore, the front-to-back ratio of an ACMPA with a high permittivity feed substrate increases and the cross-polarization level decreases as the feed substrate thickness decreases. As the impedance bandwidth of an ACMPA with a high permittivity feed substrate increases and its radiation characteristics improve as the feed substrate thickness decreases, the ACMPA configuration becomes suitable for integration with an MMIC.

Sensitivity-Bandwidth Limit in a Multimode Optoelectromechanical Transducer

Science.gov (United States)

Moaddel Haghighi, I.; Malossi, N.; Natali, R.; Di Giuseppe, G.; Vitali, D.

2018-03-01

An optoelectromechanical system formed by a nanomembrane capacitively coupled to an L C resonator and to an optical interferometer has recently been employed for the highly sensitive optical readout of rf signals [T. Bagci et al., Nature (London) 507, 81 (2013), 10.1038/nature13029]. We propose and experimentally demonstrate how the bandwidth of such a transducer can be increased by controlling the interference between two electromechanical interaction pathways of a two-mode mechanical system. With a proof-of-principle device operating at room temperature, we achieve a sensitivity of 300 nV /√{Hz } over a bandwidth of 15 kHz in the presence of radio-frequency noise, and an optimal shot-noise-limited sensitivity of 10 nV /√{Hz } over a bandwidth of 5 kHz. We discuss strategies for improving the performance of the device, showing that, for the same given sensitivity, a mechanical multimode transducer can achieve a bandwidth significantly larger than that for a single-mode one.

Electrotactile feedback improves performance and facilitates learning in the routine grasping task

Directory of Open Access Journals (Sweden)

Milica Isaković

2016-06-01

Full Text Available Aim of this study was to investigate the feasibility of electrotactile feedback in closed loop training of force control during the routine grasping task. The feedback was provided using an array electrode and a simple six-level spatial coding, and the experiment was conducted in three amputee subjects. The psychometric tests confirmed that the subjects could perceive and interpret the electrotactile feedback with a high success rate. The subjects performed the routine grasping task comprising 4 blocks of 60 grasping trials. In each trial, the subjects employed feedforward control to close the hand and produce the desired grasping force (four levels. First (baseline and the last (validation session were performed in open loop, while the second and the third session (training included electrotactile feedback. The obtained results confirmed that using the feedback improved the accuracy and precision of the force control. In addition, the subjects performed significantly better in the validation vs. baseline session, therefore suggesting that electrotactile feedback can be used for learning and training of myoelectric control.

Electrotactile Feedback Improves Performance and Facilitates Learning in the Routine Grasping Task.

Science.gov (United States)

Isaković, Milica; Belić, Minja; Štrbac, Matija; Popović, Igor; Došen, Strahinja; Farina, Dario; Keller, Thierry

2016-06-13

Aim of this study was to investigate the feasibility of electrotactile feedback in closed loop training of force control during the routine grasping task. The feedback was provided using an array electrode and a simple six-level spatial coding, and the experiment was conducted in three amputee subjects. The psychometric tests confirmed that the subjects could perceive and interpret the electrotactile feedback with a high success rate. The subjects performed the routine grasping task comprising 4 blocks of 60 grasping trials. In each trial, the subjects employed feedforward control to close the hand and produce the desired grasping force (four levels). First (baseline) and the last (validation) session were performed in open loop, while the second and the third session (training) included electrotactile feedback. The obtained results confirmed that using the feedback improved the accuracy and precision of the force control. In addition, the subjects performed significantly better in the validation vs. baseline session, therefore suggesting that electrotactile feedback can be used for learning and training of myoelectric control.

Feedback Compression Schemes for Downlink Carrier Aggregation in LTE-Advanced

DEFF Research Database (Denmark)

Nguyen, Hung Tuan; Kovac, Istvan; Wang, Yuanye

2011-01-01

With full channel state information (CSI) available, it has been shown that carrier aggregation (CA) in the downlink can significantly improve the data rate experienced at the user equipments (UE) [1], [2], [3], [4]. However, full CSI feedback in all component carriers (CCs) requires a large...... portion of the uplink bandwidth and the feedback information increases linearly with the number of CCs. Therefore, the performance gain brought by deploying CA could be easily hindered if the amount of CSI feedback is not thoroughly controlled. In this paper we analyze several feedback overhead...... compression schemes in CA systems. To avoid a major re-design of the feedback schemes, only CSI compression schemes closely related to the ones specified in LTE-Release 8 and LTE-Release 9 are considered. Extensive simulations at system level were carried out to evaluate the performance of these feedback...

Data analysis-based autonomic bandwidth adjustment in software defined multi-vendor optical transport networks.

Science.gov (United States)

Li, Yajie; Zhao, Yongli; Zhang, Jie; Yu, Xiaosong; Jing, Ruiquan

2017-11-27

Network operators generally provide dedicated lightpaths for customers to meet the demand for high-quality transmission. Considering the variation of traffic load, customers usually rent peak bandwidth that exceeds the practical average traffic requirement. In this case, bandwidth provisioning is unmetered and customers have to pay according to peak bandwidth. Supposing that network operators could keep track of traffic load and allocate bandwidth dynamically, bandwidth can be provided as a metered service and customers would pay for the bandwidth that they actually use. To achieve cost-effective bandwidth provisioning, this paper proposes an autonomic bandwidth adjustment scheme based on data analysis of traffic load. The scheme is implemented in a software defined networking (SDN) controller and is demonstrated in the field trial of multi-vendor optical transport networks. The field trial shows that the proposed scheme can track traffic load and realize autonomic bandwidth adjustment. In addition, a simulation experiment is conducted to evaluate the performance of the proposed scheme. We also investigate the impact of different parameters on autonomic bandwidth adjustment. Simulation results show that the step size and adjustment period have significant influences on bandwidth savings and packet loss. A small value of step size and adjustment period can bring more benefits by tracking traffic variation with high accuracy. For network operators, the scheme can serve as technical support of realizing bandwidth as metered service in the future.

Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors

Directory of Open Access Journals (Sweden)

Kyoko Shibata

2010-07-01

Full Text Available In human-robot cooperative control systems, force feedback is often necessary in order to achieve high precision and high stability. Usually, traditional robot assistant systems implement force feedback using force/torque sensors. However, it is difficult to directly mount a mechanical force sensor on some working terminals, such as in applications of minimally invasive robotic surgery, micromanipulation, or in working environments exposed to radiation or high temperature. We propose a novel force sensing mechanism for implementing force feedback in a master-slave robot system with no mechanical sensors. The system consists of two identical electro-motors with the master motor powering the slave motor to interact with the environment. A bimanual coordinated training platform using the new force sensing mechanism was developed and the system was verified in experiments. Results confirm that the proposed mechanism is capable of achieving bilateral force sensing and mirror-image movements of two terminals in two reverse control directions.

A Force-Feedback Exoskeleton for Upper-Limb Rehabilitation in Virtual Reality

Directory of Open Access Journals (Sweden)

Antonio Frisoli

2009-01-01

Full Text Available This paper presents the design and the clinical validation of an upper-limb force-feedback exoskeleton, the L-EXOS, for robotic-assisted rehabilitation in virtual reality (VR. The L-EXOS is a five degrees of freedom exoskeleton with a wearable structure and anthropomorphic workspace that can cover the full range of motion of human arm. A specific VR application focused on the reaching task was developed and evaluated on a group of eight post-stroke patients, to assess the efficacy of the system for the rehabilitation of upper limb. The evaluation showed a significant reduction of the performance error in the reaching task (paired t-test, p < 0.02

Bandwidth Limitations in Characterization of High Intensity Focused Ultrasound Fields in the Presence of Shocks

Science.gov (United States)

Khokhlova, V. A.; Bessonova, O. V.; Soneson, J. E.; Canney, M. S.; Bailey, M. R.; Crum, L. A.

2010-03-01

Nonlinear propagation effects result in the formation of weak shocks in high intensity focused ultrasound (HIFU) fields. When shocks are present, the wave spectrum consists of hundreds of harmonics. In practice, shock waves are modeled using a finite number of harmonics and measured with hydrophones that have limited bandwidths. The goal of this work was to determine how many harmonics are necessary to model or measure peak pressures, intensity, and heat deposition rates of the HIFU fields. Numerical solutions of the Khokhlov-Zabolotskaya-Kuznetzov-type (KZK) nonlinear parabolic equation were obtained using two independent algorithms, compared, and analyzed for nonlinear propagation in water, in gel phantom, and in tissue. Measurements were performed in the focus of the HIFU field in the same media using fiber optic probe hydrophones of various bandwidths. Experimental data were compared to the simulation results.

A force-sensing surgical tool with a proximally located force/torque sensor.

Science.gov (United States)

Schwalb, W; Shirinzadeh, B; Smith, J

2017-03-01

Robotic surgery has seen a rapid increase in popularity in the last few decades because advantages such as increased accuracy and dexterity can be realized. These systems still lack force-feedback, where such a capability is believed to be beneficial to the surgeon and can improve safety. In this paper a force-feedback enabled surgical robotic system is described in which the developed force-sensing surgical tool is discussed in detail. The developed surgical tool makes use of a proximally located force/torque sensor, which, in contrast to a distally located sensor, requires no miniaturization or sterilizability. Experimental results are presented, and indicate high force sensing accuracies with errors <0.09 N. It is shown that developing a force-sensing surgical tool utilizing a proximally located force/torque sensor is feasible, where a tool outer diameter of 12 mm can be achieved. For future work it is desired to decrease the current tool outer diameter to 10 mm. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy

Energy Technology Data Exchange (ETDEWEB)

Soltani Bozchalooi, I., E-mail: isoltani@mit.edu; Youcef-Toumi, K.

2014-11-15

High speed atomic force microscopy enables observation of dynamic nano-scale processes. However, maintaining a minimal interaction force between the sample and the probe is challenging at high speed specially when using conventional piezo-tubes. While rigid AFM scanners are operational at high speeds with the drawback of reduced tracking range, multi-actuation schemes have shown potential for high-speed and large-range imaging. Here we present a method to seamlessly incorporate additional actuators into conventional AFMs. The equivalent behavior of the resulting multi-actuated setup resembles that of a single high-speed and large-range actuator with maximally flat frequency response. To achieve this, the dynamics of the individual actuators and their couplings are treated through a simple control scheme. Upon the implementation of the proposed technique, commonly used PI controllers are able to meet the requirements of high-speed imaging. This forms an ideal platform for retroactive enhancement of existing AFMs with minimal cost and without compromise on the tracking range. A conventional AFM with tube scanner is retroactively enhanced through the proposed method and shows an order of magnitude improvement in closed loop bandwidth performance while maintaining large range. The effectiveness of the method is demonstrated on various types of samples imaged in contact and tapping modes, in air and in liquid. - Highlights: • We present a novel method to incorporate extra actuators into conventional AFMs. • A maximally flat frequency response is achieved for the out of plane piezo-motion. • Commonly used PI or PID control is enabled to handle high speed AFM imaging. • An order of magnitude improvement in closed loop bandwidth performance is obtained. • High speed imaging is achieved on a large range piezo-tube.

Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy

International Nuclear Information System (INIS)

Soltani Bozchalooi, I.; Youcef-Toumi, K.

2014-01-01

High speed atomic force microscopy enables observation of dynamic nano-scale processes. However, maintaining a minimal interaction force between the sample and the probe is challenging at high speed specially when using conventional piezo-tubes. While rigid AFM scanners are operational at high speeds with the drawback of reduced tracking range, multi-actuation schemes have shown potential for high-speed and large-range imaging. Here we present a method to seamlessly incorporate additional actuators into conventional AFMs. The equivalent behavior of the resulting multi-actuated setup resembles that of a single high-speed and large-range actuator with maximally flat frequency response. To achieve this, the dynamics of the individual actuators and their couplings are treated through a simple control scheme. Upon the implementation of the proposed technique, commonly used PI controllers are able to meet the requirements of high-speed imaging. This forms an ideal platform for retroactive enhancement of existing AFMs with minimal cost and without compromise on the tracking range. A conventional AFM with tube scanner is retroactively enhanced through the proposed method and shows an order of magnitude improvement in closed loop bandwidth performance while maintaining large range. The effectiveness of the method is demonstrated on various types of samples imaged in contact and tapping modes, in air and in liquid. - Highlights: • We present a novel method to incorporate extra actuators into conventional AFMs. • A maximally flat frequency response is achieved for the out of plane piezo-motion. • Commonly used PI or PID control is enabled to handle high speed AFM imaging. • An order of magnitude improvement in closed loop bandwidth performance is obtained. • High speed imaging is achieved on a large range piezo-tube

Klystron equalization for RF feedback

International Nuclear Information System (INIS)

Corredoura, P.

1993-01-01

The next generation of colliding beam storage rings support higher luminosities by significantly increasing the number of bunches and decreasing the spacing between respective bunches. The heavy beam loading requires large RF cavity detuning which drives several lower coupled bunch modes very strongly. One technique which has proven to be very successful in reducing the coupled bunch mode driving impedance is RF feedback around the klystron-cavity combination. The gain and bandwidth of the feedback loop is limited by the group delay around the feedback loop. Existing klystrons on the world market have not been optimized for this application and contribute a large portion of the total loop group delay. This paper describes a technique to reduce klystron group delay by adding an equalizing filter to the klystron RF drive. Such a filter was built and tested on a 500 kill klystron as part of the on going PEP-II R ampersand D effort here at SLAC

Multi-granularity Bandwidth Allocation for Large-Scale WDM/TDM PON

Science.gov (United States)

Gao, Ziyue; Gan, Chaoqin; Ni, Cuiping; Shi, Qiongling

2017-12-01

WDM (wavelength-division multiplexing)/TDM (time-division multiplexing) PON (passive optical network) is being viewed as a promising solution for delivering multiple services and applications, such as high-definition video, video conference and data traffic. Considering the real-time transmission, QoS (quality of services) requirements and differentiated services model, a multi-granularity dynamic bandwidth allocation (DBA) in both domains of wavelengths and time for large-scale hybrid WDM/TDM PON is proposed in this paper. The proposed scheme achieves load balance by using the bandwidth prediction. Based on the bandwidth prediction, the wavelength assignment can be realized fairly and effectively to satisfy the different demands of various classes. Specially, the allocation of residual bandwidth further augments the DBA and makes full use of bandwidth resources in the network. To further improve the network performance, two schemes named extending the cycle of one free wavelength (ECoFW) and large bandwidth shrinkage (LBS) are proposed, which can prevent transmission from interruption when the user employs more than one wavelength. The simulation results show the effectiveness of the proposed scheme.

On Bandwidth Efficient Modulation for High-Data-Rate Wireless LAN Systems

Directory of Open Access Journals (Sweden)

Stolpman Victor

2002-01-01

Full Text Available We address the problem of high-data-rate orthogonal frequency division multiplexed (OFDM systems under restrictive bandwidth constraints. Based on recent theoretic results, multiple-input multiple-output (MIMO configurations are best suited for this problem. In this paper, we examine several MIMO configurations suitable for high rate transmission. In all scenarios considered, perfect channel state information (CSI is assumed at the receiver. In constrast, availability of CSI at the transmitter is addressed separately. We show that powerful space-time codes can be developed by combining some simple well-known techniques. In fact, we show that for certain configurations, these space-time MIMO configurations are near optimum in terms of outage capacity as compared to previously published codes. Performance evaluation of these techniques is demonstrated within the IEEE 802.11a framework via Monte Carlo simulations.

Theoretical treatment of transverse feedback systems with memory

International Nuclear Information System (INIS)

Cornacchia, M.; Wang, J.M.

1981-01-01

The differential equation of the dipole moment of coherent oscillations in the presence of a feedback system is derived. The analysis, which starts in the time domain, is extended to the frequency domain; this allows a straightforward derivation of the damping rate for both coasting and bunched beams. The damping rate is expressed in terms of the transfer function of the feedback system and in a general form which takes into account the β-function and betatron phase modulation along the beam trajectory, the effect of memory arising from the finiteness of the system bandwidth, the effect of the time delay and of the betatron phase advance between detector and kicker. Some examples of the dependence of the damping rate on the feedback parameters are given

High-power random distributed feedback fiber laser: From science to application

Energy Technology Data Exchange (ETDEWEB)

Du, Xueyuan [College of Optoelectronic Science and Engineering, National University of Defense Technology, Changsha 410073 (China); Naval Academy of Armament, Beijing 100161 (China); Zhang, Hanwei; Xiao, Hu; Ma, Pengfei; Wang, Xiaolin; Zhou, Pu; Liu, Zejin [College of Optoelectronic Science and Engineering, National University of Defense Technology, Changsha 410073 (China)

2016-10-15

A fiber laser based on random distributed feedback has attracted increasing attention in recent years, as it has become an important photonic device and has found wide applications in fiber communications or sensing. In this article, recent advances in high-power random distributed feedback fiber laser are reviewed, including the theoretical analyses, experimental approaches, discussion on the practical applications and outlook. It is found that a random distributed feedback fiber laser can not only act as an information photonics device, but also has the feasibility for high-efficiency/high-power generation, which makes it competitive with conventional high-power laser sources. In addition, high-power random distributed feedback fiber laser has been successfully applied for midinfrared lasing, frequency doubling to the visible and high-quality imaging. It is believed that the high-power random distributed feedback fiber laser could become a promising light source with simple and economic configurations. (copyright 2016 by WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim)

Forcings and feedbacks on convection in the 2010 Pakistan flood: Modeling extreme precipitation with interactive large-scale ascent

Science.gov (United States)

Nie, Ji; Shaevitz, Daniel A.; Sobel, Adam H.

2016-09-01

Extratropical extreme precipitation events are usually associated with large-scale flow disturbances, strong ascent, and large latent heat release. The causal relationships between these factors are often not obvious, however, the roles of different physical processes in producing the extreme precipitation event can be difficult to disentangle. Here we examine the large-scale forcings and convective heating feedback in the precipitation events, which caused the 2010 Pakistan flood within the Column Quasi-Geostrophic framework. A cloud-revolving model (CRM) is forced with large-scale forcings (other than large-scale vertical motion) computed from the quasi-geostrophic omega equation using input data from a reanalysis data set, and the large-scale vertical motion is diagnosed interactively with the simulated convection. Numerical results show that the positive feedback of convective heating to large-scale dynamics is essential in amplifying the precipitation intensity to the observed values. Orographic lifting is the most important dynamic forcing in both events, while differential potential vorticity advection also contributes to the triggering of the first event. Horizontal moisture advection modulates the extreme events mainly by setting the environmental humidity, which modulates the amplitude of the convection's response to the dynamic forcings. When the CRM is replaced by either a single-column model (SCM) with parameterized convection or a dry model with a reduced effective static stability, the model results show substantial discrepancies compared with reanalysis data. The reasons for these discrepancies are examined, and the implications for global models and theoretical models are discussed.

The fast correction coil feedback control system

International Nuclear Information System (INIS)

Coffield, F.; Caporaso, G.; Zentler, J.M.

1989-01-01

A model-based feedback control system has been developed to correct beam displacement errors in the Advanced Test Accelerator (ATA) electron beam accelerator. The feedback control system drives an X/Y dipole steering system that has a 40-MHz bandwidth and can produce ±300-Gauss-cm dipole fields. A simulator was used to develop the control algorithm and to quantify the expected performance in the presence of beam position measurement noise and accelerator timing jitter. The major problem to date has been protecting the amplifiers from the voltage that is inductively coupled to the steering bars by the beam. 3 refs., 8 figs

Structural learning in feedforward and feedback control.

Science.gov (United States)

Yousif, Nada; Diedrichsen, Jörn

2012-11-01

For smooth and efficient motor control, the brain needs to make fast corrections during the movement to resist possible perturbations. It also needs to adapt subsequent movements to improve future performance. It is important that both feedback corrections and feedforward adaptation need to be made based on noisy and often ambiguous sensory data. Therefore, the initial response of the motor system, both for online corrections and adaptive responses, is guided by prior assumptions about the likely structure of perturbations. In the context of correcting and adapting movements perturbed by a force field, we asked whether these priors are hard wired or whether they can be modified through repeated exposure to differently shaped force fields. We found that both feedback corrections to unexpected perturbations and feedforward adaptation to a new force field changed, such that they were appropriate to counteract the type of force field that participants had experienced previously. We then investigated whether these changes were driven by a common mechanism or by two separate mechanisms. Participants experienced force fields that were either temporally consistent, causing sustained adaptation, or temporally inconsistent, causing little overall adaptation. We found that the consistent force fields modified both feedback and feedforward responses. In contrast, the inconsistent force field modified the temporal shape of feedback corrections but not of the feedforward adaptive response. These results indicate that responses to force perturbations can be modified in a structural manner and that these modifications are at least partly dissociable for feedback and feedforward control.

Phase loop bandwidth measurements on the advanced photon source 352 MHz rf systems

International Nuclear Information System (INIS)

Horan, D.; Nassiri, A.; Schwartz, C.

1997-01-01

Phase loop bandwidth tests were performed on the Advanced Photon Source storage ring 352-MHz rf systems. These measurements were made using the HP3563A Control Systems Analyzer, with the rf systems running at 30 kilowatts into each of the storage ring cavities, without stored beam. An electronic phase shifter was used to inject approximately 14 degrees of stimulated phase shift into the low-level rf system, which produced measureable response voltage in the feedback loops without upsetting normal rf system operation. With the PID (proportional-integral-differential) amplifier settings at the values used during accelerator operation, the measurement data revealed that the 3-dB response for the cavity sum and klystron power-phase loops is approximately 7 kHz and 45 kHz, respectively, with the cavities the primary bandwidth-limiting factor in the cavity-sum loop. Data were taken at various PID settings until the loops became unstable. Crosstalk between the two phase loops was measured

Efficient Bandwidth Management for Ethernet Passive Optical Networks

KAUST Repository

Elrasad, Amr Elsayed M.

2016-05-15

The increasing bandwidth demands in access networks motivates network operators, networking devices manufacturers, and standardization institutions to search for new approaches for access networks. These approaches should support higher bandwidth, longer distance between end user and network operator, and less energy consumption. Ethernet Passive Optical Network (EPON) is a favorable choice for broadband access networks. EPONs support transmission rates up to 10 Gbps. EPONs also support distance between end users and central office up to 20 Km. Moreover, optical networks have the least energy consumption among all types of networks. In this dissertation, we focus on reducing delay and saving energy in EPONs. Reducing delay is essential for delay-sensitive traffic, while minimizing energy consumption is an environmental necessity and also reduces the network operating costs. We identify five challenges, namely excess bandwidth allocation, frame delineation, congestion resolution, large round trip time delay in long-reach EPONs (LR-EPONs), and energy saving. We provide a Dynamic Bandwidth Allocation (DBA) approach for each challenge. We also propose a novel scheme that combines the features of the proposed approaches in one highly performing scheme. Our approach is to design novel DBA protocols that can further reduce the delay and be simultaneously simple and fair. We also present a dynamic bandwidth allocation scheme for Green EPONs taking into consideration maximizing energy saving under target delay constraints. Regarding excess bandwidth allocation, we develop an effective DBA scheme called Delayed Excess Scheduling (DES). DES achieves significant delay and jitter reduction and is more suitable for industrial deployment due to its simplicity. Utilizing DES in hybrid TDM/WDM EPONs (TWDM-EPONs) is also investigated. We also study eliminating the wasted bandwidth due to frame delineation. We develop an interactive DBA scheme, Efficient Grant Sizing Interleaved

Design of bandwidth tunable HTS filter using H-shaped waveguides

Energy Technology Data Exchange (ETDEWEB)

Koike, Y. [Department of Electrical Engineering, University of Yamanashi, Nakagawa-Sekiya Laboratory, 4-3-11 Takeda, Kofu 400-8511 (Japan); Sekiya, N., E-mail: nsekiya@yamanashi.ac.j [Department of Electrical Engineering, University of Yamanashi, Nakagawa-Sekiya Laboratory, 4-3-11 Takeda, Kofu 400-8511 (Japan); Nakagawa, Y. [Department of Electrical Engineering, University of Yamanashi, Nakagawa-Sekiya Laboratory, 4-3-11 Takeda, Kofu 400-8511 (Japan); Ohshima, S. [Yamagata University, 4-3-16 Johnan, Yonezawa 992-8510 (Japan)

2009-10-15

We have developed a bandwidth tuning method for use in high-temperature superconducting (HTS) microstrip filters. Several H-shaped waveguides are placed between the resonators, and the bandwidth is adjusted by changing the switch states of the waveguides. The coupling coefficients between the resonators are controlled by switching the connection or isolation of the center gaps of the waveguides so as to tune the bandwidth. The effects of using this method were evaluated by simulation using a filter composed of 3-pole half-wavelength straight-line resonators with an H-shaped waveguide between each pair and additional electric pads for post-tuning trimming. The filter was designed to have a center frequency of 5 GHz and a bandwidth of 100 MHz by using an electromagnetic simulator based on the moment method. The simulation showed that bandwidth tuning of 150 MHz can be obtained by using H-shaped waveguides to adjust the coupling coefficients. It also showed that using additional electric pads around the feed lines, which was previously shown to be useful for trimming to improve insertion loss after center-frequency tuning, is also useful for bandwidth tuning.

Fidelity imaging for atomic force microscopy

Energy Technology Data Exchange (ETDEWEB)

Ghosal, Sayan, E-mail: ghos0087@umn.edu; Salapaka, Murti, E-mail: murtis@umn.edu [Nanodynamics Systems Laboratory, Department of Electrical and Computer Engineering, University of Minnesota, Minneapolis, Minnesota 55455 (United States)

2015-01-05

Atomic force microscopy is widely employed for imaging material at the nanoscale. However, real-time measures on image reliability are lacking in contemporary atomic force microscopy literature. In this article, we present a real-time technique that provides an image of fidelity for a high bandwidth dynamic mode imaging scheme. The fidelity images define channels that allow the user to have additional authority over the choice of decision threshold that facilitates where the emphasis is desired, on discovering most true features on the sample with the possible detection of high number of false features, or emphasizing minimizing instances of false detections. Simulation and experimental results demonstrate the effectiveness of fidelity imaging.

Fast digital transverse feedback system for bunch train operation in CESR

International Nuclear Information System (INIS)

Rogers, J.T.; Billing, M.G.; Dobbins, J.A.

1996-01-01

We have developed a time domain transverse feedback system with the high bandwidth needed to control transverse instabilities when the CESR e + e - collider is filled with trains of closely spaced bunches. This system is based on parallel digital processors and a stripline driver. It is capable of acting on arbitrary patterns of bunches having a minimum spacing of 14 ns. Several simplifying features have been introduced. A single shorted stripline kicker driven by one power amplifier is used to control both counter-rotating beams. The desired feedback phase is achieved by sampling the bunch position at a single location on two independently selectable beam revolutions. The system adapts to changes in the betatron tune, bunch pattern, or desired damping rate through the loading of new parameters into the digital processors via the CESR control system. The feedback system also functions as a fast gated bunch current monitor. Both vertical and horizontal loops are now used in CESR operation. The measured betatron damping rates with the transverse feedback system in operation are in agreement with the analytical prediction and a computer simulation developed in connection with this work. (author)

Fast digital transverse feedback system for bunch train operation in CESR

Energy Technology Data Exchange (ETDEWEB)

Rogers, J T; Billing, M G; Dobbins, J A [Cornell Univ., Ithaca, NY (United States). Lab. of Nuclear Studies; and others

1996-08-01

We have developed a time domain transverse feedback system with the high bandwidth needed to control transverse instabilities when the CESR e{sup +}e{sup -} collider is filled with trains of closely spaced bunches. This system is based on parallel digital processors and a stripline driver. It is capable of acting on arbitrary patterns of bunches having a minimum spacing of 14 ns. Several simplifying features have been introduced. A single shorted stripline kicker driven by one power amplifier is used to control both counter-rotating beams. The desired feedback phase is achieved by sampling the bunch position at a single location on two independently selectable beam revolutions. The system adapts to changes in the betatron tune, bunch pattern, or desired damping rate through the loading of new parameters into the digital processors via the CESR control system. The feedback system also functions as a fast gated bunch current monitor. Both vertical and horizontal loops are now used in CESR operation. The measured betatron damping rates with the transverse feedback system in operation are in agreement with the analytical prediction and a computer simulation developed in connection with this work. (author)

Reconstitution of Low Bandwidth Reaction History

International Nuclear Information System (INIS)

May, M.; Clancy, T.; Fittinghoff, D.; Gennaro, P.; Hagans, K.; Halvorson, G.; Lowry, M.; Perry, T.; Roberson, P.; Smith, D.; Teruya, A.; Blair, J.; Davis, B.; Hunt, E.; Emkeit, B.; Galbraith, J.; Kelly, B.; Montoya, R.; Nickel, G.; Ogle, J.; Wilson, K.; Wood, M.

2004-01-01

The goal of the Test Readiness Program is to transition to a 24 month test readiness posture and if approved move to an 18-month posture. One of the key components of the Test Readiness Program necessary to meet this goal is the reconstitution of the important diagnostics. Since the end of nuclear testing, the ability to field diagnostics on a nuclear test has deteriorated. Reconstitution of diagnostics before those who had experience in nuclear testing either retire or leave is essential to achieving a shorter test readiness posture. Also, the data recording systems have not been used since the end of testing. This report documents the reconstitution of one vital diagnostic: the low bandwidth reaction history diagnostic for FY04. Reaction history is one of the major diagnostics that has been used on all LLNL and LANL tests since the early days of nuclear testing. Reaction history refers to measuring the time history of the gamma and neutron output from a nuclear test. This gives direct information on the nuclear reactions taking place in the device. The reaction history measurements are one of the prime measurements the nuclear weapon scientists use to validate their models of device performance. All tests currently under consideration require the reaction history diagnostic. Thus moving to a shorter test readiness posture requires the reconstitution of the ability to make reaction history measurements. Reconstitution of reaction history was planned to be in two steps. Reaction history measurements that have been used in the past can be broadly placed into two categories. The most common type of reaction history and the one that has been performed on virtually all nuclear tests is termed low bandwidth reaction history. This measurement has a time response that is limited by the bandpass of kilometer length coaxial cables. When higher bandwidth has been required for specific measurements, fiber optic techniques have been used. This is referred to as high-bandwidth

Noise performance of frequency modulation Kelvin force microscopy

Directory of Open Access Journals (Sweden)

Heinrich Diesinger

2014-01-01

Full Text Available Noise performance of a phase-locked loop (PLL based frequency modulation Kelvin force microscope (FM-KFM is assessed. Noise propagation is modeled step by step throughout the setup using both exact closed loop noise gains and an approximation known as “noise gain” from operational amplifier (OpAmp design that offers the advantage of decoupling the noise performance study from considerations of stability and ideal loop response. The bandwidth can be chosen depending on how much noise is acceptable and it is shown that stability is not an issue up to a limit that will be discussed. With thermal and detector noise as the only sources, both approaches yield PLL frequency noise expressions equal to the theoretical value for self-oscillating circuits and in agreement with measurement, demonstrating that the PLL components neither modify nor contribute noise. Kelvin output noise is then investigated by modeling the surrounding bias feedback loop. A design rule is proposed that allows choosing the AC modulation frequency for optimized sharing of the PLL bandwidth between Kelvin and topography loops. A crossover criterion determines as a function of bandwidth, temperature and probe parameters whether thermal or detector noise is the dominating noise source. Probe merit factors for both cases are then established, suggesting how to tackle noise performance by probe design. Typical merit factors of common probe types are compared. This comprehensive study is an encouraging step toward a more integral performance assessment and a remedy against focusing on single aspects and optimizing around randomly chosen key values.

Efficient phase locking of two dual-wavelength fiber amplifiers by an all-optical self-feedback loop

Science.gov (United States)

Lei, Bing; Chen, Keshan; Yao, Tianfu; Shi, Jianhua; Hu, Haojun

2017-10-01

Efficient phase locking of two dual-wavelength fiber amplifiers has been demonstrated by using a self-feedback coupling and intracavity filtering configuration, and the effect of bandwidth and wavelength spacing on their phase locking performances have been investigated in experiment. Two independent fiber lasers with different operating wavelength were combined incoherently by a 3 dB fiber coupler to form a dual-wavelength seed source laser, which was injected into the fiber amplifiers' coupling array through the self-feedback loop. The effect of bandwidth and wavelength spacing was researched by altering the seed laser's pump power and operating wavelengths respectively. As long as the feedback loop and the single-mode fiber filtering configuration were well constructed in the unidirectional ring laser cavity, stable phase locking states and high fringe visibility interference patterns could always be obtained in our experiment. When the spacing of two operating wavelength was varied from 1.6 nm to 19.6 nm, the fringe visibility decreased slightly with the increase of wavelength spacing, and the corresponding fringe visibility was always larger than 0.6. In conclusion, we believe that efficient phase locking of several multi-wavelength laser sources is also feasible by passive self-adjusting methods, and keeping the component laser beams' phase relationship stable and fixed is more important than controlling their operating wavelengths.

APEnet+: high bandwidth 3D torus direct network for petaflops scale commodity clusters

International Nuclear Information System (INIS)

Ammendola, R; Salamon, A; Salina, G; Biagioni, A; Prezza, O; Cicero, F Lo; Lonardo, A; Paolucci, P S; Rossetti, D; Tosoratto, L; Vicini, P; Simula, F

2011-01-01

We describe herein the APElink+ board, a PCIe interconnect adapter featuring the latest advances in wire speed and interface technology plus hardware support for a RDMA programming model and experimental acceleration of GPU networking; this design allows us to build a low latency, high bandwidth PC cluster, the APEnet+ network, the new generation of our cost-effective, tens-of-thousands-scalable cluster network architecture. Some test results and characterization of data transmission of a complete testbench, based on a commercial development card mounting an Altera ® FPGA, are provided.

APEnet+: high bandwidth 3D torus direct network for petaflops scale commodity clusters

Energy Technology Data Exchange (ETDEWEB)

Ammendola, R; Salamon, A; Salina, G [INFN Tor Vergata, Roma (Italy); Biagioni, A; Prezza, O; Cicero, F Lo; Lonardo, A; Paolucci, P S; Rossetti, D; Tosoratto, L; Vicini, P [INFN Roma, Roma (Italy); Simula, F [Sapienza Universita di Roma, Roma (Italy)

2011-12-23

We describe herein the APElink+ board, a PCIe interconnect adapter featuring the latest advances in wire speed and interface technology plus hardware support for a RDMA programming model and experimental acceleration of GPU networking; this design allows us to build a low latency, high bandwidth PC cluster, the APEnet+ network, the new generation of our cost-effective, tens-of-thousands-scalable cluster network architecture. Some test results and characterization of data transmission of a complete testbench, based on a commercial development card mounting an Altera{sup Registered-Sign} FPGA, are provided.

Object discrimination using optimized multi-frequency auditory cross-modal haptic feedback.

Science.gov (United States)

Gibson, Alison; Artemiadis, Panagiotis

2014-01-01

As the field of brain-machine interfaces and neuro-prosthetics continues to grow, there is a high need for sensor and actuation mechanisms that can provide haptic feedback to the user. Current technologies employ expensive, invasive and often inefficient force feedback methods, resulting in an unrealistic solution for individuals who rely on these devices. This paper responds through the development, integration and analysis of a novel feedback architecture where haptic information during the neural control of a prosthetic hand is perceived through multi-frequency auditory signals. Through representing force magnitude with volume and force location with frequency, the feedback architecture can translate the haptic experiences of a robotic end effector into the alternative sensory modality of sound. Previous research with the proposed cross-modal feedback method confirmed its learnability, so the current work aimed to investigate which frequency map (i.e. frequency-specific locations on the hand) is optimal in helping users distinguish between hand-held objects and tasks associated with them. After short use with the cross-modal feedback during the electromyographic (EMG) control of a prosthetic hand, testing results show that users are able to use audial feedback alone to discriminate between everyday objects. While users showed adaptation to three different frequency maps, the simplest map containing only two frequencies was found to be the most useful in discriminating between objects. This outcome provides support for the feasibility and practicality of the cross-modal feedback method during the neural control of prosthetics.

SQUID multiplexing using baseband feedback for space application of transition-edge sensor microcalorimeters

Energy Technology Data Exchange (ETDEWEB)

Takei, Y; Yamasaki, N Y; Hirakoso, W; Kimura, S; Mitsuda, K, E-mail: takei@astro.isas.jaxa.j [Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, 3-1-1 Yoshinodai, Sagamihara, 229-8510 (Japan)

2009-11-15

A microcalorimeter array based on a transition-edge sensor (TES) thermometer is a promising imaging spectrometer for use in future x-ray astronomy missions. A TES microcalorimeter achieves {approx}<5 eV energy resolution and an array of >100 pixels also provides a moderate imaging capability. For a large format array, signal multiplexing at the low temperature stage is mandatory in order to reduce heat loads from cold stage preamplifiers and through wirings. We are developing frequency division multiplexing (FDM). In FDM, each TES is ac-biased with a different carrier frequency. Signals from several pixels are summed and then read out by one dc SQUID (superconducting quantum interference device). The maximum number of multiplexed pixels is limited by the bandwidth of a SQUID in a flux-locked loop. Assuming 1 m cable length between the room temperature and the cold stage, the bandwidth is only <1 MHz with a standard flux-locked loop, due to the delay and phase shift of wirings. We report our development of baseband feedback, a new feedback scheme that overcomes the bandwidth limitation. In baseband feedback, the signal ({approx}<10 kHz) from the TES is sent back to the SQUID after the phase of carrier frequency ({approx}1 MHz) has been adjusted. We demonstrated open-loop gain of 8 for 10 kHz signal at 5 MHz carrier frequency, which indicates the possibility of {approx}40-pixel multiplexing of the TES signal.

Delayed feedback control in quantum transport.

Science.gov (United States)

Emary, Clive

2013-09-28

Feedback control in quantum transport has been predicted to give rise to several interesting effects, among them quantum state stabilization and the realization of a mesoscopic Maxwell's daemon. These results were derived under the assumption that control operations on the system are affected instantaneously after the measurement of electronic jumps through it. In this contribution, I describe how to include a delay between detection and control operation in the master equation theory of feedback-controlled quantum transport. I investigate the consequences of delay for the state stabilization and Maxwell's daemon schemes. Furthermore, I describe how delay can be used as a tool to probe coherent oscillations of electrons within a transport system and how this formalism can be used to model finite detector bandwidth.

Feedback control and adaptive synchronization of chaotic forced Bonhoeffer-van der Pol oscillators

Energy Technology Data Exchange (ETDEWEB)

Kontchou, E W Chimi; Fotsin, H B [Laboratoire d' Electronique, Departement de Physique, Faculte des Sciences, Universite de Dschang, B P 67 Dschang (Cameroon); Woafo, P [Laboratory of Modelling and Simulation in Engineering and Biological Physics, Faculty of Science, University of Yaounde I, Box 812, Yaounde (Cameroon)], E-mail: hbfotsin@yahoo.fr

2008-04-15

This paper deals with chaos control and synchronization in forced Bonhoeffer-van der Pol (FBVP) oscillators. The state equations of the model are first established and the stability is analysed. A feedback control strategy for stabilizing the chaotic dynamics on a periodic orbit of the phase space is investigated. Adaptive synchronization of two FBVP oscillators, based on parameter estimation and a nonlinear observer approach, is also investigated. It appears that a particular unknown parameter of the model can be estimated, which gives the possibility of recovering information through chaotic masking. An application in secure communications is presented.

Feedback control and adaptive synchronization of chaotic forced Bonhoeffer-van der Pol oscillators

International Nuclear Information System (INIS)

Kontchou, E W Chimi; Fotsin, H B; Woafo, P

2008-01-01

This paper deals with chaos control and synchronization in forced Bonhoeffer-van der Pol (FBVP) oscillators. The state equations of the model are first established and the stability is analysed. A feedback control strategy for stabilizing the chaotic dynamics on a periodic orbit of the phase space is investigated. Adaptive synchronization of two FBVP oscillators, based on parameter estimation and a nonlinear observer approach, is also investigated. It appears that a particular unknown parameter of the model can be estimated, which gives the possibility of recovering information through chaotic masking. An application in secure communications is presented

ICC Experiment Performance Improvement through Advanced Feedback Controllers for High-Power Low-Cost Switching Power Amplifiers

International Nuclear Information System (INIS)

Nelson, Brian A.

2006-01-01

Limited resources force most smaller fusion energy research experiments to have little or no feedback control of their operational parameters, preventing achievement of their full operational potential. Recent breakthroughs in high-power switching technologies have greatly reduced feedback-controlled power supply costs, primarily those classified as switching power amplifiers. However, inexpensive and flexible controllers for these power supplies have not been developed. A uClinux-based micro-controller (Analog Devices Blackfin BF537) was identified as having the capabilities to form the base of a digital control system for switching power amplifiers. A control algorithm was created, and a Linux character device driver was written to realize the algorithm. The software and algorithm were successfully tested on a switching power amplifier and magnetic field coil using University of Washington (subcontractor) resources

Feedback System Theory

Science.gov (United States)

1978-11-01

R 2. GOVT A $ SION NO. 3 RIEqLPýIVT’S.;TALOG NUMBER r/ 4. TITLE (and wbiFflT, -L M4 1 , FEEDBACK SYSTEM THEORY ~r Inter in- 6. PERFORMING ORG. REPORT...ANNUAL REPORT FEEDBACK SYSTEM THEORY AFOSR GRANT NO. 76-2946B Air Force Office of Scientific Research for year ending October 31, 1978 79 02 08 L|I...re less stringent than in other synthesis techniques which cannot handle significant parameter uncertainty. _I FEEDBACK SYSTEM THEORY 1. Introduction

Improving tapping mode atomic force microscopy with piezoelectric cantilevers

International Nuclear Information System (INIS)

Rogers, B.; Manning, L.; Sulchek, T.; Adams, J.D.

2004-01-01

This article summarizes improvements to the speed, simplicity and versatility of tapping mode atomic force microscopy (AFM). Improvements are enabled by a piezoelectric microcantilever with a sharp silicon tip and a thin, low-stress zinc oxide (ZnO) film to both actuate and sense deflection. First, we demonstrate self-sensing tapping mode without laser detection. Similar previous work has been limited by unoptimized probe tips, cantilever thicknesses, and stress in the piezoelectric films. Tests indicate self-sensing amplitude resolution is as good or better than optical detection, with double the sensitivity, using the same type of cantilever. Second, we demonstrate self-oscillating tapping mode AFM. The cantilever's integrated piezoelectric film serves as the frequency-determining component of an oscillator circuit. The circuit oscillates the cantilever near its resonant frequency by applying positive feedback to the film. We present images and force-distance curves using both self-sensing and self-oscillating techniques. Finally, high-speed tapping mode imaging in liquid, where electric components of the cantilever require insulation, is demonstrated. Three cantilever coating schemes are tested. The insulated microactuator is used to simultaneously vibrate and actuate the cantilever over topographical features. Preliminary images in water and saline are presented, including one taken at 75.5 μm/s - a threefold improvement in bandwidth versus conventional piezotube actuators

Effects of optical feedback in a birefringence-Zeeman dual frequency laser at high optical feedback levels

International Nuclear Information System (INIS)

Mao Wei; Zhang Shulian

2007-01-01

Optical feedback effects are studied in a birefringence-Zeeman dual frequency laser at high optical feedback levels. The intensity modulation features of the two orthogonally polarized lights are investigated in both isotropic optical feedback (IOF) and polarized optical feedback (POF). In IOF, the intensities of both beams are modulated simultaneously, and four zones, i.e., the e-light zone, the o-light and e-light zone, the o-light zone, and the no-light zone, are formed in a period corresponding to a half laser wavelength displacement of the feedback mirror. In POF, the two orthogonally polarized lights will oscillate alternately. Strong mode competition can be observed, and it affects the phase difference between the two beams greatly. The theoretical analysis is presented, which is in good agreement with the experimental results. The potential use of the experimental results is also discussed

Glass Industry Bandwidth Analysis

Energy Technology Data Exchange (ETDEWEB)

Rue, David M. [Gas Technology Inst., Des Plaines, IL (United States)

2006-07-01

This is a study on energy use and potential savings, or "bandwidth" study, for several glassmaking processes. Intended to provide a realistic estimate of the potential amount of energy that can be saved in an industrial process, the "bandwidth" refers to the difference between the amount of energy that would be consumed in a process using commercially available technology versus the minimum amount of energy needed to achieve those same results.

Industrial Glass Bandwidth Analysis

Energy Technology Data Exchange (ETDEWEB)

Rue, David M. [Gas Technology Inst., Des Plaines, IL (United States); Servaites, James [Gas Technology Inst., Des Plaines, IL (United States); Wolf, Warren [Gas Technology Inst., Des Plaines, IL (United States)

2007-08-01

This is a study on energy use and potential savings, or "bandwidth" study, for several glassmaking processes. Intended to provide a realistic estimate of the potential amount of energy that can be saved in an industrial process, the "bandwidth" refers to the difference between the amount of energy that would be consumed in a process using commercially available technology versus the minimum amount of energy needed to achieve those same results.

Vibrotactile Feedback Alters Dynamics Of Static Postural Control In Persons With Parkinson's Disease But Not Older Adults At High Fall Risk.

Science.gov (United States)

High, Carleigh M; McHugh, Hannah F; Mills, Stephen C; Amano, Shinichi; Freund, Jane E; Vallabhajosula, Srikant

2018-06-01

Aging and Parkinson's disease are often associated with impaired postural control. Providing extrinsic feedback via vibrotactile sensation could supplement intrinsic feedback to maintain postural control. We investigated the postural control response to vibrotactile feedback provided at the trunk during challenging stance conditions in older adults at high fall risk and individuals with Parkinson's disease compared to healthy older adults. Nine older adults at high fall risk, 9 persons with Parkinson's disease and 10 healthy older adults performed 30s quiet standing on a force platform under five challenging stance conditions with eyes open/closed and standing on firm/foam surface with feet together, each with and without vibrotactile feedback. During vibrotactile feedback trials, feedback was provided when participants swayed >10% over the center of their base of support. Participants were instructed vibrations would be in response to their movement. Magnitude of postural sway was estimated using center of pressure path length, velocity, and sway area. Dynamics of individuals' postural control was evaluated using detrended fluctuation analysis. Results showed that vibrotactile feedback induced a change in postural control dynamics among persons with Parkinson's disease when standing with intact intrinsic visual input and altered intrinsic somatosensory input, but there was no change in sway magnitude. However, use of vibrotactile feedback did not significantly alter dynamics of postural control in older adults with high risk of falling or reduce the magnitude of sway. Considering the effects of vibrotactile feedback were dependent on the population and stance condition, designing an optimal therapeutic regimen for balance training should be carefully considered and be specific to a target population. Furthermore, our results suggest that explicit instructions on how to respond to the vibrotactile feedback could affect training outcome. Copyright © 2018 The

Sonification and haptic feedback in addition to visual feedback enhances complex motor task learning.

Science.gov (United States)

Sigrist, Roland; Rauter, Georg; Marchal-Crespo, Laura; Riener, Robert; Wolf, Peter

2015-03-01

Concurrent augmented feedback has been shown to be less effective for learning simple motor tasks than for complex tasks. However, as mostly artificial tasks have been investigated, transfer of results to tasks in sports and rehabilitation remains unknown. Therefore, in this study, the effect of different concurrent feedback was evaluated in trunk-arm rowing. It was then investigated whether multimodal audiovisual and visuohaptic feedback are more effective for learning than visual feedback only. Naïve subjects (N = 24) trained in three groups on a highly realistic virtual reality-based rowing simulator. In the visual feedback group, the subject's oar was superimposed to the target oar, which continuously became more transparent when the deviation between the oars decreased. Moreover, a trace of the subject's trajectory emerged if deviations exceeded a threshold. The audiovisual feedback group trained with oar movement sonification in addition to visual feedback to facilitate learning of the velocity profile. In the visuohaptic group, the oar movement was inhibited by path deviation-dependent braking forces to enhance learning of spatial aspects. All groups significantly decreased the spatial error (tendency in visual group) and velocity error from baseline to the retention tests. Audiovisual feedback fostered learning of the velocity profile significantly more than visuohaptic feedback. The study revealed that well-designed concurrent feedback fosters complex task learning, especially if the advantages of different modalities are exploited. Further studies should analyze the impact of within-feedback design parameters and the transferability of the results to other tasks in sports and rehabilitation.

Implementing Molecular Dynamics for Hybrid High Performance Computers - 1. Short Range Forces

International Nuclear Information System (INIS)

Brown, W. Michael; Wang, Peng; Plimpton, Steven J.; Tharrington, Arnold N.

2011-01-01

The use of accelerators such as general-purpose graphics processing units (GPGPUs) have become popular in scientific computing applications due to their low cost, impressive floating-point capabilities, high memory bandwidth, and low electrical power requirements. Hybrid high performance computers, machines with more than one type of floating-point processor, are now becoming more prevalent due to these advantages. In this work, we discuss several important issues in porting a large molecular dynamics code for use on parallel hybrid machines - (1) choosing a hybrid parallel decomposition that works on central processing units (CPUs) with distributed memory and accelerator cores with shared memory, (2) minimizing the amount of code that must be ported for efficient acceleration, (3) utilizing the available processing power from both many-core CPUs and accelerators, and (4) choosing a programming model for acceleration. We present our solution to each of these issues for short-range force calculation in the molecular dynamics package LAMMPS. We describe algorithms for efficient short range force calculation on hybrid high performance machines. We describe a new approach for dynamic load balancing of work between CPU and accelerator cores. We describe the Geryon library that allows a single code to compile with both CUDA and OpenCL for use on a variety of accelerators. Finally, we present results on a parallel test cluster containing 32 Fermi GPGPUs and 180 CPU cores.

Optimal Bandwidth Selection for Kernel Density Functionals Estimation

Directory of Open Access Journals (Sweden)

Su Chen

2015-01-01

Full Text Available The choice of bandwidth is crucial to the kernel density estimation (KDE and kernel based regression. Various bandwidth selection methods for KDE and local least square regression have been developed in the past decade. It has been known that scale and location parameters are proportional to density functionals ∫γ(xf2(xdx with appropriate choice of γ(x and furthermore equality of scale and location tests can be transformed to comparisons of the density functionals among populations. ∫γ(xf2(xdx can be estimated nonparametrically via kernel density functionals estimation (KDFE. However, the optimal bandwidth selection for KDFE of ∫γ(xf2(xdx has not been examined. We propose a method to select the optimal bandwidth for the KDFE. The idea underlying this method is to search for the optimal bandwidth by minimizing the mean square error (MSE of the KDFE. Two main practical bandwidth selection techniques for the KDFE of ∫γ(xf2(xdx are provided: Normal scale bandwidth selection (namely, “Rule of Thumb” and direct plug-in bandwidth selection. Simulation studies display that our proposed bandwidth selection methods are superior to existing density estimation bandwidth selection methods in estimating density functionals.

Novel Reduced-Feedback Wireless Communication Systems

KAUST Repository

Shaqfeh, Mohammad Obaidah

2011-11-20

Modern communication systems apply channel-aware adaptive transmission techniques and dynamic resource allocation in order to exploit the peak conditions of the fading wireless links and to enable significant performance gains. However, conveying the channel state information among the users’ mobile terminals into the access points of the network consumes a significant portion of the scarce air-link resources and depletes the battery resources of the mobile terminals rapidly. Despite its evident drawbacks, the channel information feedback cannot be eliminated in modern wireless networks because blind communication technologies cannot support the ever-increasing transmission rates and high quality of experience demands of current ubiquitous services. Developing new transmission technologies with reduced-feedback requirements is sought. Network operators will benefit from releasing the bandwidth resources reserved for the feedback communications and the clients will enjoy the extended battery life of their mobile devices. The main technical challenge is to preserve the prospected transmission rates over the network despite decreasing the channel information feedback significantly. This is a noteworthy research theme especially that there is no mature theory for feedback communication in the existing literature despite the growing number of publications about the topic in the last few years. More research efforts are needed to characterize the trade-off between the achievable rate and the required channel information and to design new reduced-feedback schemes that can be flexibly controlled based on the operator preferences. Such schemes can be then introduced into the standardization bodies for consideration in next generation broadband systems. We have recently contributed to this field and published several journal and conference papers. We are the pioneers to propose a novel reduced-feedback opportunistic scheduling scheme that combines many desired features

Integrated dynamic and static tactile sensor: focus on static force sensing

Science.gov (United States)

Wettels, Nicholas; Pletner, Baruch

2012-04-01

Object grasping by robotic hands in unstructured environments demands a sensor that is durable, compliant, and responsive to static and dynamic force conditions. In order for a tactile sensor to be useful for grasp control in these, it should have the following properties: tri-axial force sensing (two shear plus normal component), dynamic event sensing across slip frequencies, compliant surface for grip, wide dynamic range (depending on application), insensitivity to environmental conditions, ability to withstand abuse and good sensing behavior (e.g. low hysteresis, high repeatability). These features can be combined in a novel multimodal tactile sensor. This sensor combines commercial-off-the-shelf MEMS technology with two proprietary force sensors: a high bandwidth device based on PZT technology and low bandwidth device based on elastomers and optics. In this study, we focus on the latter transduction mechanism and the proposed architecture of the completed device. In this study, an embedded LED was utilized to produce a constant light source throughout a layer of silicon rubber which covered a plastic mandrel containing a set of sensitive phototransistors. Features about the contacted object such as center of pressure and force vectors can be extracted from the information in the changing patterns of light. The voltage versus force relationship obtained with this molded humanlike finger had a wide dynamic range that coincided with forces relevant for most human grip tasks.

Development of nanomanipulator using a high-speed atomic force microscope coupled with a haptic device

International Nuclear Information System (INIS)

Iwata, F.; Ohashi, Y.; Ishisaki, I.; Picco, L.M.; Ushiki, T.

2013-01-01

The atomic force microscope (AFM) has been widely used for surface fabrication and manipulation. However, nanomanipulation using a conventional AFM is inefficient because of the sequential nature of the scan-manipulation scan cycle, which makes it difficult for the operator to observe the region of interest and perform the manipulation simultaneously. In this paper, a nanomanipulation technique using a high-speed atomic force microscope (HS-AFM) is described. During manipulation using the AFM probe, the operation is periodically interrupted for a fraction of a second for high-speed imaging that allows the topographical image of the manipulated surface to be periodically updated. With the use of high-speed imaging, the interrupting time for imaging can be greatly reduced, and as a result, the operator almost does not notice the blink time of the interruption for imaging during the manipulation. This creates a more intuitive interface with greater feedback and finesse to the operator. Nanofabrication under real-time monitoring was performed to demonstrate the utility of this arrangement for real-time nanomanipulation of sample surfaces under ambient conditions. Furthermore, the HS-AFM is coupled with a haptic device for the human interface, enabling the operator to move the HS-AFM probe to any position on the surface while feeling the response from the surface during the manipulation. - Highlights: • A nanomanipulater based on a high-speed atomic force microscope was developped. • High-speed imaging provides a valuable feedback during the manipulation operation. • Operator can feel the response from the surface via a haptic device during manipulation. • Nanofabrications under real-time monitoring were successfully performed

Ultra-short laser pulse ablation using shear-force feedback: Femtosecond laser induced breakdown spectroscopy feasibility study

International Nuclear Information System (INIS)

Samek, Ota; Kurowski, Andre; Kittel, Silke; Kukhlevsky, Sergei; Hergenroeder, Roland

2005-01-01

This work reports on a feasibility study of proximity ablation using femtosecond pulses. Ultra-short pulses were launched to a bare tapered optical fiber and delivered to the sample. The tip-sample distance was controlled by means of shear-force feedback. Consequently, ablation craters with submicrometer dimensions were obtained. Potential analytical applications for Laser Induced Breakdown Spectroscopy (LIBS) technique, such as e.g. inclusions in steel or bio cells, are suggested

Note: A high dynamic range, linear response transimpedance amplifier.

Science.gov (United States)

Eckel, S; Sushkov, A O; Lamoreaux, S K

2012-02-01

We have built a high dynamic range (nine decade) transimpedance amplifier with a linear response. The amplifier uses junction-gate field effect transistors (JFETs) to switch between three different resistors in the feedback of a low input bias current operational amplifier. This allows for the creation of multiple outputs, each with a linear response and a different transimpedance gain. The overall bandwidth of the transimpedance amplifier is set by the bandwidth of the most sensitive range. For our application, we demonstrate a three-stage amplifier with transimpedance gains of approximately 10(9)Ω, 3 × 10(7)Ω, and 10(4)Ω with a bandwidth of 100 Hz.

Role of combined tactile and kinesthetic feedback in minimally invasive surgery.

Science.gov (United States)

Lim, Soo-Chul; Lee, Hyung-Kew; Park, Joonah

2014-10-18

Haptic feedback is of critical importance in surgical tasks. However, conventional surgical robots do not provide haptic feedback to surgeons during surgery. Thus, in this study, a combined tactile and kinesthetic feedback system was developed to provide haptic feedback to surgeons during robotic surgery. To assess haptic feasibility, the effects of two types of haptic feedback were examined empirically - kinesthetic and tactile feedback - to measure object-pulling force with a telesurgery robotics system at two desired pulling forces (1 N and 2 N). Participants answered a set of questionnaires after experiments. The experimental results reveal reductions in force error (39.1% and 40.9%) when using haptic feedback during 1 N and 2 N pulling tasks. Moreover, survey analyses show the effectiveness of the haptic feedback during teleoperation. The combined tactile and kinesthetic feedback of the master device in robotic surgery improves the surgeon's ability to control the interaction force applied to the tissue. Copyright © 2014 John Wiley & Sons, Ltd. Copyright © 2014 John Wiley & Sons, Ltd.

Bandwidth Reservation Using Velocity and Handoff Statistics for Cellular Networks

Institute of Scientific and Technical Information of China (English)

Chuan-Lin Zhang; Kam Yiu Lam; Wei-Jia Jia

2006-01-01

The percentages of blocking and forced termination rates as parameters representing quality of services (QoS)requirements are presented. The relation between the connection statistics of mobile users in a cell and the handoff number and new call number in next duration in each cell is explored. Based on the relation, statistic reservation tactics are raised.The amount of bandwidth for new calls and handoffs of each cell in next period is determined by using the strategy. Using this method can guarantee the communication system suits mobile connection request dynamic. The QoS parameters:forced termination rate and blocking rate can be maintained steadily though they may change with the offered load. Some numerical experiments demonstrate this is a practical method with affordable overhead.

High-accuracy self-mixing interferometer based on single high-order orthogonally polarized feedback effects.

Science.gov (United States)

Zeng, Zhaoli; Qu, Xueming; Tan, Yidong; Tan, Runtao; Zhang, Shulian

2015-06-29

A simple and high-accuracy self-mixing interferometer based on single high-order orthogonally polarized feedback effects is presented. The single high-order feedback effect is realized when dual-frequency laser reflects numerous times in a Fabry-Perot cavity and then goes back to the laser resonator along the same route. In this case, two orthogonally polarized feedback fringes with nanoscale resolution are obtained. This self-mixing interferometer has the advantages of higher sensitivity to weak signal than that of conventional interferometer. In addition, two orthogonally polarized fringes are useful for discriminating the moving direction of measured object. The experiment of measuring 2.5nm step is conducted, which shows a great potential in nanometrology.

Force feedback delay affects perception of stiffness but not action, and the effect depends on the hand used but not on the handedness.

Science.gov (United States)

Leib, Raz; Rubin, Inbar; Nisky, Ilana

2018-05-16

Interaction with an object often requires the estimation of its mechanical properties. We examined whether the hand that is used to interact with the object and their handedness affected people's estimation of these properties using stiffness estimation as a test case. We recorded participants' responses on a stiffness discrimination of a virtual elastic force field and the grip force applied on the robotic device during the interaction. In half of the trials, the robotic device delayed the participants' force feedback. Consistent with previous studies, delayed force feedback biased the perceived stiffness of the force field. Interestingly, in both left-handed and right-handed participants, for the delayed force field, there was even less perceived stiffness when participants used their left hand than their right hand. This result supports the idea that haptic processing is affected by laterality in the brain, not by handedness. Consistent with previous studies, participants adjusted their applied grip force according to the correct size and timing of the load force regardless of the hand that was used, the handedness, or the delay. This suggests that in all these conditions, participants were able to form an accurate internal representation of the anticipated trajectory of the load force (size and timing) and that this representation was used for accurate control of grip force independently of the perceptual bias. Thus, these results provide additional evidence for the dissociation between action and perception in the processing of delayed information.

High quality flux control system for electron gun evaporation

International Nuclear Information System (INIS)

Appelbloom, A.M.; Hadley, P.; van der Marel, D.; Mooij, J.E.

1991-01-01

This paper reports on a high quality flux control system for electron gun evaporation developed and tested for the MBE growth of high temperature superconductors. The system can be applied to any electron gun without altering the electron gun itself. Essential elements of the system are a high bandwidth mass spectrometer, control electronics and a high voltage modulator to sweep the electron beam over the melt at high frequencies. the sweep amplitude of the electron beam is used to control the evaporation flux at high frequencies. The feedback loop of the system has a bandwidth of over 100 Hz, which makes it possible to grow superlattices and layered structures in a fast and precisely controlled manner

Improving the Bandwidth Selection in Kernel Equating

Science.gov (United States)

Andersson, Björn; von Davier, Alina A.

2014-01-01

We investigate the current bandwidth selection methods in kernel equating and propose a method based on Silverman's rule of thumb for selecting the bandwidth parameters. In kernel equating, the bandwidth parameters have previously been obtained by minimizing a penalty function. This minimization process has been criticized by practitioners…

The role of feedbacks in Antarctic sea ice change

Science.gov (United States)

Feltham, D. L.; Frew, R. C.; Holland, P.

2017-12-01

The changes in Antarctic sea ice over the last thirty years have a strong seasonal dependence, and the way these changes grow in spring and decay in autumn suggests that feedbacks are strongly involved. The changes may ultimately be caused by atmospheric warming, the winds, snowfall changes, etc., but we cannot understand these forcings without first untangling the feedbacks. A highly simplified coupled sea ice -mixed layer model has been developed to investigate the importance of feedbacks on the evolution of sea ice in two contrasting regions in the Southern Ocean; the Amundsen Sea where sea ice extent has been decreasing, and the Weddell Sea where it has been expanding. The change in mixed layer depth in response to changes in the atmosphere to ocean energy flux is implicit in a strong negative feedback on ice cover changes in the Amundsen Sea, with atmospheric cooling leading to a deeper mixed layer resulting in greater entrainment of warm Circumpolar Deep Water, causing increased basal melting of sea ice. This strong negative feedback produces counter intuitive responses to changes in forcings in the Amundsen Sea. This feedback is absent in the Weddell due to the complete destratification and strong water column cooling that occurs each winter in simulations. The impact of other feedbacks, including the albedo feedback, changes in insulation due to ice thickness and changes in the freezing temperature of the mixed layer, were found to be of secondary importance compared to changes in the mixed layer depth.

The statistical bandwidth of Butterworth filters

Science.gov (United States)

Davy, J. L.; Dunn, I. P.

1987-06-01

The precision of standard architectural acoustic measurements is a function of the statistical bandwidth of the band pass filters used in the measurements. The International and United States Standards on octave and fractional octave-band filters which specify the band pass filters used in architectural acoustics measurements give the effective bandwidth, but unfortunately not the statistical bandwidth of the filters. Both these Standards are currently being revised and both revisions require the use of Butterworth filter characteristics. In this paper it is shown theoretically that the ratio of statistical bandwidth to effective bandwidth for an nth order Butterworth band pass filter is {2n}/{(2n-1)}. This is verified experimentally for third-octave third-order Butterworth band pass filters. It is also shown experimentally that this formula is approximately correct for some non-Butterworth third-octave third-order band pass filters. Because of the importance of Butterworth filters in the revised Standards, the theory of Butterworth filters is reviewed and the formulae for Butterworth filters given in both revised Standards are derived.

Autopilot for frequency-modulation atomic force microscopy.

Science.gov (United States)

Kuchuk, Kfir; Schlesinger, Itai; Sivan, Uri

2015-10-01

One of the most challenging aspects of operating an atomic force microscope (AFM) is finding optimal feedback parameters. This statement applies particularly to frequency-modulation AFM (FM-AFM), which utilizes three feedback loops to control the cantilever excitation amplitude, cantilever excitation frequency, and z-piezo extension. These loops are regulated by a set of feedback parameters, tuned by the user to optimize stability, sensitivity, and noise in the imaging process. Optimization of these parameters is difficult due to the coupling between the frequency and z-piezo feedback loops by the non-linear tip-sample interaction. Four proportional-integral (PI) parameters and two lock-in parameters regulating these loops require simultaneous optimization in the presence of a varying unknown tip-sample coupling. Presently, this optimization is done manually in a tedious process of trial and error. Here, we report on the development and implementation of an algorithm that computes the control parameters automatically. The algorithm reads the unperturbed cantilever resonance frequency, its quality factor, and the z-piezo driving signal power spectral density. It analyzes the poles and zeros of the total closed loop transfer function, extracts the unknown tip-sample transfer function, and finds four PI parameters and two lock-in parameters for the frequency and z-piezo control loops that optimize the bandwidth and step response of the total system. Implementation of the algorithm in a home-built AFM shows that the calculated parameters are consistently excellent and rarely require further tweaking by the user. The new algorithm saves the precious time of experienced users, facilitates utilization of FM-AFM by casual users, and removes the main hurdle on the way to fully automated FM-AFM.

Autopilot for frequency-modulation atomic force microscopy

Energy Technology Data Exchange (ETDEWEB)

Kuchuk, Kfir; Schlesinger, Itai; Sivan, Uri, E-mail: phsivan@tx.technion.ac.il [Department of Physics and the Russell Berrie Nanotechnology Institute, Technion - Israel Institute of Technology, Haifa 32000 (Israel)

2015-10-15

One of the most challenging aspects of operating an atomic force microscope (AFM) is finding optimal feedback parameters. This statement applies particularly to frequency-modulation AFM (FM-AFM), which utilizes three feedback loops to control the cantilever excitation amplitude, cantilever excitation frequency, and z-piezo extension. These loops are regulated by a set of feedback parameters, tuned by the user to optimize stability, sensitivity, and noise in the imaging process. Optimization of these parameters is difficult due to the coupling between the frequency and z-piezo feedback loops by the non-linear tip-sample interaction. Four proportional-integral (PI) parameters and two lock-in parameters regulating these loops require simultaneous optimization in the presence of a varying unknown tip-sample coupling. Presently, this optimization is done manually in a tedious process of trial and error. Here, we report on the development and implementation of an algorithm that computes the control parameters automatically. The algorithm reads the unperturbed cantilever resonance frequency, its quality factor, and the z-piezo driving signal power spectral density. It analyzes the poles and zeros of the total closed loop transfer function, extracts the unknown tip-sample transfer function, and finds four PI parameters and two lock-in parameters for the frequency and z-piezo control loops that optimize the bandwidth and step response of the total system. Implementation of the algorithm in a home-built AFM shows that the calculated parameters are consistently excellent and rarely require further tweaking by the user. The new algorithm saves the precious time of experienced users, facilitates utilization of FM-AFM by casual users, and removes the main hurdle on the way to fully automated FM-AFM.

Anomalous feedback and negative domain wall resistance

International Nuclear Information System (INIS)

Cheng, Ran; Xiao, Di; Zhu, Jian-Gang

2016-01-01

Magnetic induction can be regarded as a negative feedback effect, where the motive-force opposes the change of magnetic flux that generates the motive-force. In artificial electromagnetics emerging from spintronics, however, this is not necessarily the case. By studying the current-induced domain wall dynamics in a cylindrical nanowire, we show that the spin motive-force exerting on electrons can either oppose or support the applied current that drives the domain wall. The switching into the anomalous feedback regime occurs when the strength of the dissipative torque β is about twice the value of the Gilbert damping constant α . The anomalous feedback manifests as a negative domain wall resistance, which has an analogy with the water turbine. (paper)

Object discrimination using electrotactile feedback.

Science.gov (United States)

Arakeri, Tapas J; Hasse, Brady A; Fuglevand, Andrew J

2018-04-09

A variety of bioengineering systems are being developed to restore tactile sensations in individuals who have lost somatosensory feedback because of spinal cord injury, stroke, or amputation. These systems typically detect tactile force with sensors placed on an insensate hand (or prosthetic hand in the case of amputees) and deliver touch information by electrically or mechanically stimulating sensate skin above the site of injury. Successful object manipulation, however, also requires proprioceptive feedback representing the configuration and movements of the hand and digits. Therefore, we developed a simple system that simultaneously provides information about tactile grip force and hand aperture using current amplitude-modulated electrotactile feedback. We evaluated the utility of this system by testing the ability of eight healthy human subjects to distinguish among 27 objects of varying sizes, weights, and compliances based entirely on electrotactile feedback. The feedback was modulated by grip-force and hand-aperture sensors placed on the hand of an experimenter (not visible to the subject) grasping and lifting the test objects. We were also interested to determine the degree to which subjects could learn to use such feedback when tested over five consecutive sessions. The average percentage correct identifications on day 1 (28.5%  ±  8.2% correct) was well above chance (3.7%) and increased significantly with training to 49.2%  ±  10.6% on day 5. Furthermore, this training transferred reasonably well to a set of novel objects. These results suggest that simple, non-invasive methods can provide useful multisensory feedback that might prove beneficial in improving the control over prosthetic limbs.

MEMS capacitive force sensors for cellular and flight biomechanics

International Nuclear Information System (INIS)

Sun Yu; Nelson, Bradley J

2007-01-01

Microelectromechanical systems (MEMS) are playing increasingly important roles in facilitating biological studies. They are capable of providing not only qualitative but also quantitative information on the cellular, sub-cellular and organism levels, which is instrumental to understanding the fundamental elements of biological systems. MEMS force sensors with their high bandwidth and high sensitivity combined with their small size, in particular, have found a role in this domain, because of the importance of quantifying forces and their effect on the function and morphology of many biological structures. This paper describes our research in the development of MEMS capacitive force sensors that have already demonstrated their effectiveness in the areas of cell mechanics and Drosophila flight dynamics studies. (review article)

Bandwidth tunable amplifier for recording biopotential signals.

Science.gov (United States)

Hwang, Sungkil; Aninakwa, Kofi; Sonkusale, Sameer

2010-01-01

This paper presents a low noise, low power, bandwidth tunable amplifier for bio-potential signal recording applications. By employing depletion-mode pMOS transistor in diode configuration as a tunable sub pA current source to adjust the resistivity of MOS-Bipolar pseudo-resistor, the bandwidth is adjusted without any need for a separate band-pass filter stage. For high CMRR, PSRR and dynamic range, a fully differential structure is used in the design of the amplifier. The amplifier achieves a midband gain of 39.8dB with a tunable high-pass cutoff frequency ranging from 0.1Hz to 300Hz. The amplifier is fabricated in 0.18εm CMOS process and occupies 0.14mm(2) of chip area. A three electrode ECG measurement is performed using the proposed amplifier to show its feasibility for low power, compact wearable ECG monitoring application.

Time-optimal control with finite bandwidth

Science.gov (United States)

Hirose, M.; Cappellaro, P.

2018-04-01

Time-optimal control theory provides recipes to achieve quantum operations with high fidelity and speed, as required in quantum technologies such as quantum sensing and computation. While technical advances have achieved the ultrastrong driving regime in many physical systems, these capabilities have yet to be fully exploited for the precise control of quantum systems, as other limitations, such as the generation of higher harmonics or the finite response time of the control apparatus, prevent the implementation of theoretical time-optimal control. Here we present a method to achieve time-optimal control of qubit systems that can take advantage of fast driving beyond the rotating wave approximation. We exploit results from time-optimal control theory to design driving protocols that can be implemented with realistic, finite-bandwidth control fields, and we find a relationship between bandwidth limitations and achievable control fidelity.

47 CFR 2.202 - Bandwidths.

Science.gov (United States)

2010-10-01

... three numerals and one letter. The letter occupies the position of the decimal point and represents the... quality desired Speech and music, M=4000, Bandwidth: 8000 Hz= 8 kHz 8K00A3E Sound broadcasting, single... desired Speech and music, M=4000, Bandwidth: 4000 Hz= 4 kHz 4K00R3E Sound broadcasting, single-sideband...

Broad bandwidth vibration energy harvester based on thermally stable wavy fluorinated ethylene propylene electret films with negative charges

Science.gov (United States)

Zhang, Xiaoqing; Sessler, Gerhard M.; Ma, Xingchen; Xue, Yuan; Wu, Liming

2018-06-01

Wavy fluorinated ethylene propylene (FEP) electret films with negative charges were prepared by a patterning method followed by a corona charging process. The thermal stability of these films was characterized by the surface potential decay with annealing time at elevated temperatures. The results show that thermally stable electret films can be made by corona charging followed by pre-aging treatment. Vibration energy harvesters having a very simple sandwich structure, consisting of a central wavy FEP electret film and two outside metal plates, were designed and their performance, including the resonance frequency, output power, half power bandwidth, and device stability, was investigated. These harvesters show a broad bandwidth as well as high output power. Their performance can be further improved by using a wavy-shaped counter electrode. For an energy harvester with an area of 4 cm2 and a seismic mass of 80 g, the output power referred to 1 g (g is the gravity of the earth), the resonance frequency, and the 3 dB bandwidth are 1.85 mW, 90 Hz, and 24 Hz, respectively. The output power is sufficient to power some electronic devices. Such devices may be embedded in shoe soles, carpets or seat cushions where the flexibility is required and large force is available.

A state variable approach to the BESSY II local beam-position-feedback system

International Nuclear Information System (INIS)

Gilpatrick, J.D.; Khan, S.; Kraemer, D.

1996-01-01

At the BESSY II facility, stability of the electron beam position and angle near insertion devices (IDs) is of utmost importance. Disturbances due to ground motion could result in unwanted broad-bandwidth beam-jitter which decreases the electron (and resultant photon) beam's effective brightness. Therefore, feedback techniques must be used. Operating over a frequency range of 100-Hz, a local feedback system will correct these beam-trajectory errors using the four bumps around IDs. This paper reviews how the state-variable feedback approach can be applied to real-time correction of these beam position and angle errors. A frequency-domain solution showing beam jitter reduction is presented. Finally, this paper reports results of a beam-feedback test at BESSY I

Controlling Laser Plasma Instabilities Using Temporal Bandwidth

Science.gov (United States)

Tsung, Frank; Weaver, J.; Lehmberg, R.

2016-10-01

We are performing particle-in-cell simulations using the code OSIRIS to study the effects of laser plasma interactions in the presence of temporal bandwidth under conditions relevant to current and future experiments on the NIKE laser. Our simulations show that, for sufficiently large bandwidth (where the inverse bandwidth is comparable with the linear growth time), the saturation level, and the distribution of hot electrons, can be effected by the addition of temporal bandwidths (which can be accomplished in experiments using beam smoothing techniques such as ISI). We will quantify these effects and investigate higher dimensional effects such as laser speckles. This work is supported by DOE and NRL.

Receiver bandwidth effects on complex modulation and detection using directly modulated lasers.

Science.gov (United States)

Yuan, Feng; Che, Di; Shieh, William

2016-05-01

Directly modulated lasers (DMLs) have long been employed for short- and medium-reach optical communications due to their low cost. Recently, a new modulation scheme called complex modulated DMLs has been demonstrated showing a significant optical signal to noise ratio sensitivity enhancement compared with the traditional intensity-only detection scheme. However, chirp-induced optical spectrum broadening is inevitable in complex modulated systems, which may imply a need for high-bandwidth receivers. In this Letter, we study the impact of receiver bandwidth effects on the performance of complex modulation and coherent detection systems based on DMLs. We experimentally demonstrate that such systems exhibit a reasonable tolerance for the reduced receiver bandwidth. For 10 Gbaud 4-level pulse amplitude modulation signals, the required electrical bandwidth is as low as 8.5 and 7.5 GHz for 7% and 20% forward error correction, respectively. Therefore, it is feasible to realize DML-based complex modulated systems using cost-effective receivers with narrow bandwidth.

Muscle involvement during intermittent contraction patterns with different target force feedback modes

DEFF Research Database (Denmark)

Sjøgaard, G; Jørgensen, L V; Ekner, D

2000-01-01

and following 30 min of intermittent contractions showed larger fatigue development with proprioceptive feedback than visual feedback. Also rating of perceived exertion increased more during proprioceptive feedback than visual feedback. This may in part be explained by small differences in the mechanics during......: Feedback mode significantly effects the muscle involvement and fatigue during intermittent contractions. RelevanceIntermittent contractions are common in many work places and various feedback modes are being given regarding work requirements. The choice of feedback may significantly affect the muscle load...... and consequently the development muscle fatigue and disorders....

Open-Loop Wide-Bandwidth Phase Modulation Techniques

Directory of Open Access Journals (Sweden)

Nitin Nidhi

2011-01-01

Full Text Available The ever-increasing growth in the bandwidth of wireless communication channels requires the transmitter to be wide-bandwidth and power-efficient. Polar and outphasing transmitter topologies are two promising candidates for such applications, in future. Both these architectures require a wide-bandwidth phase modulator. Open-loop phase modulation presents a viable solution for achieving wide-bandwidth operation. An overview of prior art and recent approaches for phase modulation is presented in this paper. Phase quantization noise cancellation was recently introduced to lower the out-of-band noise in a digital phase modulator. A detailed analysis on the impact of timing and quantization of the cancellation signal is presented. Noise generated by the transmitter in the receive band frequency poses another challenge for wide-bandwidth transmitter design. Addition of a noise transfer function notch, in a digital phase modulator, to reduce the noise in the receive band during phase modulation is described in this paper.

A high performance long-reach passive optical network with a novel excess bandwidth distribution scheme

Science.gov (United States)

Chao, I.-Fen; Zhang, Tsung-Min

2015-06-01

Long-reach passive optical networks (LR-PONs) have been considered to be promising solutions for future access networks. In this paper, we propose a distributed medium access control (MAC) scheme over an advantageous LR-PON network architecture that reroutes the control information from and back to all ONUs through an (N + 1) × (N + 1) star coupler (SC) deployed near the ONUs, thereby overwhelming the extremely long propagation delay problem in LR-PONs. In the network, the control slot is designed to contain all bandwidth requirements of all ONUs and is in-band time-division-multiplexed with a number of data slots within a cycle. In the proposed MAC scheme, a novel profit-weight-based dynamic bandwidth allocation (P-DBA) scheme is presented. The algorithm is designed to efficiently and fairly distribute the amount of excess bandwidth based on a profit value derived from the excess bandwidth usage of each ONU, which resolves the problems of previously reported DBA schemes that are either unfair or inefficient. The simulation results show that the proposed decentralized algorithms exhibit a nearly three-order-of-magnitude improvement in delay performance compared to the centralized algorithms over LR-PONs. Moreover, the newly proposed P-DBA scheme guarantees low delay performance and fairness even when under attack by the malevolent ONU irrespective of traffic loads and burstiness.

Fluid limits for Bandwidth-Sharing Networks with Impatience.

NARCIS (Netherlands)

Remerova, M.; Reed, J.; Zwart, A.P.

2014-01-01

Bandwidth-sharing networks as introduced by Roberts and Massoulié [Roberts JW, Massoulié L (1998) Bandwidth sharing and admission control for elastic traffic. Proc. ITC Specialist Seminar, Yokohama, Japan], Massoulié and Roberts [Massoulié L, Roberts JW (1999) Bandwidth sharing: Objectives and

Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model.

Science.gov (United States)

Li, Min; Konstantinova, Jelizaveta; Xu, Guanghua; He, Bo; Aminzadeh, Vahid; Xie, Jun; Wurdemann, Helge; Althoefer, Kaspar

2017-01-01

Haptic information in robotic surgery can significantly improve clinical outcomes and help detect hard soft-tissue inclusions that indicate potential abnormalities. Visual representation of tissue stiffness information is a cost-effective technique. Meanwhile, direct force feedback, although considerably more expensive than visual representation, is an intuitive method of conveying information regarding tissue stiffness to surgeons. In this study, real-time visual stiffness feedback by sliding indentation palpation is proposed, validated, and compared with force feedback involving human subjects. In an experimental tele-manipulation environment, a dynamically updated color map depicting the stiffness of probed soft tissue is presented via a graphical interface. The force feedback is provided, aided by a master haptic device. The haptic device uses data acquired from an F/T sensor attached to the end-effector of a tele-manipulated robot. Hard nodule detection performance is evaluated for 2 modes (force feedback and visual stiffness feedback) of stiffness feedback on an artificial organ containing buried stiff nodules. From this artificial organ, a virtual-environment tissue model is generated based on sliding indentation measurements. Employing this virtual-environment tissue model, we compare the performance of human participants in distinguishing differently sized hard nodules by force feedback and visual stiffness feedback. Results indicate that the proposed distributed visual representation of tissue stiffness can be used effectively for hard nodule identification. The representation can also be used as a sufficient substitute for force feedback in tissue palpation.

Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model.

Directory of Open Access Journals (Sweden)

Min Li

Full Text Available Haptic information in robotic surgery can significantly improve clinical outcomes and help detect hard soft-tissue inclusions that indicate potential abnormalities. Visual representation of tissue stiffness information is a cost-effective technique. Meanwhile, direct force feedback, although considerably more expensive than visual representation, is an intuitive method of conveying information regarding tissue stiffness to surgeons. In this study, real-time visual stiffness feedback by sliding indentation palpation is proposed, validated, and compared with force feedback involving human subjects. In an experimental tele-manipulation environment, a dynamically updated color map depicting the stiffness of probed soft tissue is presented via a graphical interface. The force feedback is provided, aided by a master haptic device. The haptic device uses data acquired from an F/T sensor attached to the end-effector of a tele-manipulated robot. Hard nodule detection performance is evaluated for 2 modes (force feedback and visual stiffness feedback of stiffness feedback on an artificial organ containing buried stiff nodules. From this artificial organ, a virtual-environment tissue model is generated based on sliding indentation measurements. Employing this virtual-environment tissue model, we compare the performance of human participants in distinguishing differently sized hard nodules by force feedback and visual stiffness feedback. Results indicate that the proposed distributed visual representation of tissue stiffness can be used effectively for hard nodule identification. The representation can also be used as a sufficient substitute for force feedback in tissue palpation.

Real-time feedback enhances forward propulsion during walking in old adults.

Science.gov (United States)

Franz, Jason R; Maletis, Michela; Kram, Rodger

2014-01-01

Reduced propulsive function during the push-off phase of walking plays a central role in the deterioration of walking ability with age. We used real-time propulsive feedback to test the hypothesis that old adults have an underutilized propulsive reserve available during walking. 8 old adults (mean [SD], age: 72.1 [3.9] years) and 11 young adults (age: 21.0 [1.5] years) participated. For our primary aim, old subjects walked: 1) normally, 2) with visual feedback of their peak propulsive ground reaction forces, and 3) with visual feedback of their medial gastrocnemius electromyographic activity during push-off. We asked those subjects to match a target set to 20% and 40% greater propulsive force or push-off muscle activity than normal walking. We tested young subjects walking normally only to provide reference ground reaction force values. Walking normally, old adults exerted 12.5% smaller peak propulsive forces than young adults (Ppush-off muscle activities when we provided propulsive feedback. Most notably, force feedback elicited propulsive forces that were equal to or 10.5% greater than those of young adults (+20% target, P=0.87; +40% target, P=0.02). With electromyographic feedback, old adults significantly increased their push-off muscle activities but without increasing their propulsive forces. Old adults with propulsive deficits have a considerable and underutilized propulsive reserve available during level walking. Further, real-time propulsive feedback represents a promising therapeutic strategy to improve the forward propulsion of old adults and thus maintain their walking ability and independence. © 2013.

Directing Traffic: Managing Internet Bandwidth Fairly

Science.gov (United States)

Paine, Thomas A.; Griggs, Tyler J.

2008-01-01

Educational institutions today face budgetary restraints and scarce resources, complicating the decision of how to allot bandwidth for campus network users. Additionally, campus concerns over peer-to-peer networking (specifically outbound Internet traffic) have increased because of bandwidth and copyright issues. In this article, the authors…

Propagation of 1-THz bandwidth electrical pulses on high Tc superconducting transmission lines

International Nuclear Information System (INIS)

Nuss, M.C.; Mankiewich, P.M.; Howard, R.E.; Harvey, T.E.; Brandle, C.D.; Straugh, B.L.; Smith, P.R.

1989-01-01

The new high temperature superconductors have triggered enormous interest not only because of the unique physics involved but also because of their technical potentials, such as the promise for propagation of extremely short electrical pulses. Superconducting band caps of --20TH z are predicted assuming BCS theory for the superconductor, making lossless propagation of electrical pulses as short as 50 fs possible. Despite microwave measurements at low frequencies of several gigahertz first studies at higher frequencies by Dykaar et al have shown distortion-free propagation of 100-GHz electrical pulses on YBa 2 Cu 3 O 3 (YBCO) lines for --5-mm propagation distance. Results were also reported for aluminum coplanar lines and a YBCO ground plane. The authors report on the propagation of 1-ps electrical pulses (1-THz bandwidth) on YBCO coplanar transmission lines defined on lanthanum gallate (LaGaO 3 ) as a substrate. On LaGaO 3 , YBCO grows highly oriented as on SrTiO 3 . However, unlike SrTiO 3 , LaGaO 3 has a much lower dielectric constant and small losses in the terahertz frequency range. Electrical pulses of --750-fs duration are generated in a radiation-damaged silicon-on-sapphire photoconductive switch integrated into a 20-μm coplanar stripline with 10-μm spacing and excited with 100-fs optical pulses from a CPM laser. An μ1-THz bandwidth electrical contact is made to the YBCO coplanar stripline defined on LaGaO 3 using a flip-chip geometry. They find that electrical pulses broaden only from 750 fs to 1 ps with little loss in amplitude on traveling through their flip-chip input and propagated electrical pulses are probed by electooptic sampling in two small LiTaO 3 crystals separated by 3 mm

Development of muscle fatigue as assessed by electromyography and mechanomyography during continuous and intermittent low-force contractions: effects of the feedback mode

DEFF Research Database (Denmark)

Madeleine, Pascal; Jørgensen, Lars Vincents; Søgaard, Karen

2002-01-01

) and proprioceptive (displacement control) feedback was investigated during intermittent (6 s contraction, 4 s rest) and continuous static contractions at 10% and 30% of the maximum voluntary contraction (MVC). Mean force, force fluctuation, rating of perceived exertion and root mean square (RMS) and mean power...... with the EMG, while the decrease in MPF values was more consistent for the EMG compared with the MMG signal. During the intermittent contractions, the main effect was on MPF for both EMG and MMG. Lower force fluctuation and larger rating of perceived exertion ( P

Feedback Augmented Sub-Ranging (FASR) Quantizer

Science.gov (United States)

Guilligan, Gerard

2012-01-01

This innovation is intended to reduce the size, power, and complexity of pipeline analog-to-digital converters (ADCs) that require high resolution and speed along with low power. Digitizers are important components in any application where analog signals (such as light, sound, temperature, etc.) need to be digitally processed. The innovation implements amplification of a sampled residual voltage in a switched capacitor amplifier stage that does not depend on charge redistribution. The result is less sensitive to capacitor mismatches that cause gain errors, which are the main limitation of such amplifiers in pipeline ADCs. The residual errors due to mismatch are reduced by at least a factor of 16, which is equivalent to at least 4 bits of improvement. The settling time is also faster because of a higher feedback factor. In traditional switched capacitor residue amplifiers, closed-loop amplification of a sampled and held residue signal is achieved by redistributing sampled charge onto a feedback capacitor around a high-gain transconductance amplifier. The residual charge that was sampled during the acquisition or sampling phase is stored on two or more capacitors, often equal in value or integral multiples of each other. During the hold or amplification phase, all of the charge is redistributed onto one capacitor in the feedback loop of the amplifier to produce an amplified voltage. The key error source is the non-ideal ratios of feedback and input capacitors caused by manufacturing tolerances, called mismatches. The mismatches cause non-ideal closed-loop gain, leading to higher differential non-linearity. Traditional solutions to the mismatch errors are to use larger capacitor values (than dictated by thermal noise requirements) and/or complex calibration schemes, both of which increase the die size and power dissipation. The key features of this innovation are (1) the elimination of the need for charge redistribution to achieve an accurate closed-loop gain of two

Effect of visual feedback on brain activation during motor tasks: an FMRI study.

Science.gov (United States)

Noble, Jeremy W; Eng, Janice J; Boyd, Lara A

2013-07-01

This study examined the effect of visual feedback and force level on the neural mechanisms responsible for the performance of a motor task. We used a voxel-wise fMRI approach to determine the effect of visual feedback (with and without) during a grip force task at 35% and 70% of maximum voluntary contraction. Two areas (contralateral rostral premotor cortex and putamen) displayed an interaction between force and feedback conditions. When the main effect of feedback condition was analyzed, higher activation when visual feedback was available was found in 22 of the 24 active brain areas, while the two other regions (contralateral lingual gyrus and ipsilateral precuneus) showed greater levels of activity when no visual feedback was available. The results suggest that there is a potentially confounding influence of visual feedback on brain activation during a motor task, and for some regions, this is dependent on the level of force applied.

High Power Diode Lasers with External Feedback: Overview and Prospects

DEFF Research Database (Denmark)

Chi, Mingjun; Petersen, Paul Michael

2012-01-01

In summary, different external-cavity feedback techniques to improve the spatial beam quality and narrow the linewidth of the output beam from both BALs and TDLs are presented. Broad-area diode laser system with external-cavity feedback around 800 nm can produce several Watts of output power...... with a good beam quality. Tapered diode laser systems with external-cavity feedback around 800 and 1060 nm can deliver more than 2 W output power with diffraction-limited beam quality and can be operated in single-longitudinal mode. These high-brightness, narrow linewidth, and tunable external-cavity diode...... lasers emerge as the next generation of compact lasers that have the potential of replacing conventional high power laser systems in many existing applications....

Design and fabrication of bandwidth tunable HTS transmit filter using {pi}-shaped waveguides

Energy Technology Data Exchange (ETDEWEB)

Sekiya, N., E-mail: nsekiya@yamanashi.ac.j [Department of Electrical Engineering, Yamanashi University, Nakagawa-Sekiya Laboratory, 4-3-11 Takeda, Kofu 400-8511 (Japan); Harada, H.; Nakagawa, Y. [Department of Electrical Engineering, Yamanashi University, Nakagawa-Sekiya Laboratory, 4-3-11 Takeda, Kofu 400-8511 (Japan); Ono, S.; Ohshima, S. [Yamagata University, 4-3-16 Johnan, Yonezawa 992-8510 (Japan)

2010-11-01

We have developed a method for tuning the bandwidth of a high-temperature superconducting (HTS) microstrip filter. Several {pi}-shaped waveguides are placed between the resonators, and the bandwidth is tuned in discrete steps by changing the switch states of the waveguides, which changes the coupling coefficient between the resonators. The filter contains 3-pole half-wavelength straight-line resonators and two {pi}-shaped waveguides for bandwidth tuning. It also has several electrical pads distributed around the feed lines for trimming after tuning. The filter was fabricated by depositing YBa{sub 2}Cu{sub 3}O{sub 7} thin film on an MgO substrate and has a measured center frequency of 5.17 GHz and bandwidth of 220 MHz. Use of the {pi}-shaped waveguides to adjust the coupling coefficients and the electrical pads to adjust the external quality factors resulted in 80-MHz bandwidth tuning without increased insertion loss.

A High-Linearity Low-Noise Amplifier with Variable Bandwidth for Neural Recoding Systems

Science.gov (United States)

Yoshida, Takeshi; Sueishi, Katsuya; Iwata, Atsushi; Matsushita, Kojiro; Hirata, Masayuki; Suzuki, Takafumi

2011-04-01

This paper describes a low-noise amplifier with multiple adjustable parameters for neural recording applications. An adjustable pseudo-resistor implemented by cascade metal-oxide-silicon field-effect transistors (MOSFETs) is proposed to achieve low-signal distortion and wide variable bandwidth range. The amplifier has been implemented in 0.18 µm standard complementary metal-oxide-semiconductor (CMOS) process and occupies 0.09 mm2 on chip. The amplifier achieved a selectable voltage gain of 28 and 40 dB, variable bandwidth from 0.04 to 2.6 Hz, total harmonic distortion (THD) of 0.2% with 200 mV output swing, input referred noise of 2.5 µVrms over 0.1-100 Hz and 18.7 µW power consumption at a supply voltage of 1.8 V.

Analytically tractable climate-carbon cycle feedbacks under 21st century anthropogenic forcing

Science.gov (United States)

Lade, Steven J.; Donges, Jonathan F.; Fetzer, Ingo; Anderies, John M.; Beer, Christian; Cornell, Sarah E.; Gasser, Thomas; Norberg, Jon; Richardson, Katherine; Rockström, Johan; Steffen, Will

2018-05-01

Changes to climate-carbon cycle feedbacks may significantly affect the Earth system's response to greenhouse gas emissions. These feedbacks are usually analysed from numerical output of complex and arguably opaque Earth system models. Here, we construct a stylised global climate-carbon cycle model, test its output against comprehensive Earth system models, and investigate the strengths of its climate-carbon cycle feedbacks analytically. The analytical expressions we obtain aid understanding of carbon cycle feedbacks and the operation of the carbon cycle. Specific results include that different feedback formalisms measure fundamentally the same climate-carbon cycle processes; temperature dependence of the solubility pump, biological pump, and CO2 solubility all contribute approximately equally to the ocean climate-carbon feedback; and concentration-carbon feedbacks may be more sensitive to future climate change than climate-carbon feedbacks. Simple models such as that developed here also provide workbenches for simple but mechanistically based explorations of Earth system processes, such as interactions and feedbacks between the planetary boundaries, that are currently too uncertain to be included in comprehensive Earth system models.

Effect of sensory substitution on suture-manipulation forces for robotic surgical systems.

Science.gov (United States)

Kitagawa, Masaya; Dokko, Daniell; Okamura, Allison M; Yuh, David D

2005-01-01

Direct haptic (force or tactile) feedback is not yet available in commercial robotic surgical systems. Previous work by our group and others suggests that haptic feedback might significantly enhance the execution of surgical tasks requiring fine suture manipulation, specifically those encountered in cardiothoracic surgery. We studied the effects of substituting direct haptic feedback with visual and auditory cues to provide the operating surgeon with a representation of the forces he or she is applying with robotic telemanipulators. Using the robotic da Vinci surgical system (Intuitive Surgical, Inc, Sunnyvale, Calif), we compared applied forces during a standardized surgical knot-tying task under 4 different sensory-substitution scenarios: no feedback, auditory feedback, visual feedback, and combined auditory-visual feedback. The forces applied with these sensory-substitution modes more closely approximate suture tensions achieved under ideal haptic conditions (ie, hand ties) than forces applied without such sensory feedback. The consistency of applied forces during robot-assisted suture tying aided by visual feedback or combined auditory-visual feedback sensory substitution is superior to that achieved with hand ties. Robot-assisted ties aided with auditory feedback revealed levels of consistency that were generally equivalent or superior to those attained with hand ties. Visual feedback and auditory feedback improve the consistency of robotically applied forces. Sensory substitution, in the form of visual feedback, auditory feedback, or both, confers quantifiable advantages in applied force accuracy and consistency during the performance of a simple surgical task.

Direct output feedback control of discrete-time systems

International Nuclear Information System (INIS)

Lin, C.C.; Chung, L.L.; Lu, K.H.

1993-01-01

An optimal direct output feedback control algorithm is developed for discrete-time systems with the consideration of time delay in control force action. Optimal constant output feedback gains are obtained through variational process such that certain prescribed quadratic performance index is minimized. Discrete-time control forces are then calculated from the multiplication of output measurements by these pre-calculated feedback gains. According to the proposed algorithm, structural system is assured to remain stable even in the presence of time delay. The number of sensors and controllers may be very small as compared with the dimension of states. Numerical results show that direct velocity feedback control is more sensitive to time delay than state feedback but, is still quite effective in reducing the dynamic responses under earthquake excitation. (author)

Pseudo-differential CMOS analog front-end circuit for wide-bandwidth optical probe current sensor

Science.gov (United States)

Uekura, Takaharu; Oyanagi, Kousuke; Sonehara, Makoto; Sato, Toshiro; Miyaji, Kousuke

2018-04-01

In this paper, we present a pseudo-differential analog front-end (AFE) circuit for a novel optical probe current sensor (OPCS) aimed for high-frequency power electronics. It employs a regulated cascode transimpedance amplifier (RGC-TIA) to achieve a high gain and a large bandwidth without using an extremely high performance operational amplifier. The AFE circuit is designed in a 0.18 µm standard CMOS technology achieving a high transimpedance gain of 120 dB Ω and high cut off frequency of 16 MHz. The measured slew rate is 70 V/µs and the input referred current noise is 1.02 pA/\\sqrt{\\text{Hz}} . The magnetic resolution and bandwidth of OPCS are estimated to be 1.29 mTrms and 16 MHz, respectively; the bandwidth is higher than that of the reported Hall effect current sensor.

Fast feedback system for energy and beam stabilization

International Nuclear Information System (INIS)

R. Dickson; V. Lebedev

1999-01-01

The electron beams being delivered to targets of the Continuous Electron Beam Accelerator Facility (CEBAF) at Thomas Jefferson National Accelerator Facility (Jefferson Lab) are plagued with undesirable positional and energy fluctuations. These fluctuations primarily occur at harmonics of the power line frequency (60, 120, 180, etc. hertz), and their cause is rooted in electromagnetic fields generated by accelerator electronic equipment. It is possible to largely nullify these deviations by applying real time corrections to electromagnets and RF verniers along the beam line. This concept has been successfully applied at Jefferson Lab by extensively modifying the existing Beam Position Monitor (BPM) system with the integration of an algorithm that computes correction signals targeted at the power line harmonics. Many of the modifications required were due to the existing CEBAF BPM system not having the data acquisition bandwidth needed for this type of feedback system. This paper will describe the techniques required to transform the CEBAF standard BPM system into a high speed practical fast feedback system that coexists with the large scale control system--the Experimental Physics and Industrial Control System (EPICS)--that runs the CEBAF accelerator in daily operation

Low and Expensive Bandwidth Remains Key Bottleneck for ...

African Journals Online (AJOL)

These bottlenecks have dwarfed the expectations of the citizens to fully participate in the new world economic order galvanized by e-commerce and world trade. It is estimated that M.I.T in Boston USA has bandwidth allocation that surpasses all the bandwidth allocated to Nigeria put together. Low bandwidth has been found ...

Digital closed orbit feedback system for the Advanced Photon Source storage ring

International Nuclear Information System (INIS)

Chung, Y.; Barr, D.; Decker, G.; Galayda, J.; Lenkszus, F.; Lumpkin, A.; Votaw, A.J.

1995-01-01

Closed orbit feedback for the Advanced Photon Source (APS) storage ring employs unified global an local feedback systems for stabilization of particle and photon beams based on digital signal processing (DSP). Hardware and software aspects of the system will be described. In particular, we will discuss global and local orbit feedback algorithms, PID (proportional, integral, and derivative) control algorithm. application of digital signal processing to compensate for vacuum chamber eddy current effects, resolution of the interaction between global and local systems through decoupling, self-correction of the local bump closure error, user interface through the APS control system, and system performance in the frequency and time domains. The system hardware, including the DSPS, is distributed in 20 VNE crates around the ring, and the entire feedback system runs synchronously at 4-kHz sampling frequency in order to achieve a correction bandwidth exceeding 100 Hz. The required data sharing between the global and local feedback systems is facilitated via the use of fiber-optically-networked reflective memories

Active feedback stabilization of axisymmetric modes in highly elongated tokamak plasmas

International Nuclear Information System (INIS)

Ward, D.J.; Hofmann, F.

1993-07-01

Active feedback stabilization of the vertical instability is studied for highly elongated tokamak plasmas (1≤κ≤3), and evaluated in particular for the TCV configuration. It is shown that the feedback can strongly affect the form of the eigenfunction for these highly elongated equilibria, and this can have detrimental effects on the ability of the feedback system to properly detect and stabilize the plasma. A calculation of the vertical displacement that uses poloidal flux measurements, poloidal magnetic field measurements, and corrections for the vessel eddy currents and active feedback currents was found to be effective even in the cases with the worst deformations of the eigenfunction. We also examine how these deformations affect differently shaped equilibria, and it is seen that the magnitude of the deformation of the eigenfunction is strongly function of the plasma elongation. (author) 15 figs., 13 refs

IMPROVING BANDWIDTH OF FLIPPED VOLTAGE FOLLOWER USING GATE-BODY DRIVEN TECHNIQUE

Directory of Open Access Journals (Sweden)

VANDANA NIRANJAN

2017-01-01

Full Text Available In this paper, a new approach to enhance the bandwidth of flipped voltage follower is explored. The proposed approach is based on gate-body driven technique. This technique boosts the transconductance in a MOS transistor as both gate and body/bulk terminals are tied together and used as signal input. This novel technique appears as a good solution to merge the advantages of gate-driven and bulk-driven techniques and suppress their disadvantages. The gate-body driven technique utilizes body effect to enable low voltage low power operation and improves the overall performance of flipped voltage follower, providing it with low output impedance, high input impedance and bandwidth extension ratio of 2.614. The most attractive feature is that bandwidth enhancement has been achieved without use of any passive component or extra circuitry. Simulations in PSpice environment for 180 nm CMOS technology verified the predicted theoretical results. The improved flipped voltage follower is particularly interesting for high frequency low noise signal processing applications.

SU-D-BRF-06: A Brachytherapy Simulator with Realistic Haptic Force Feedback and Real-Time Ultrasounds Image Simulation for Training and Teaching

International Nuclear Information System (INIS)

Beaulieu, L; Carette, A; Comtois, S; Lavigueur, M; Cardou, P; Laurendeau, D

2014-01-01

Purpose: Surgical procedures require dexterity, expertise and repetition to reach optimal patient outcomes. However, efficient training opportunities are usually limited. This work presents a simulator system with realistic haptic force-feedback and full, real-time ultrasounds image simulation. Methods: The simulator is composed of a custom-made Linear-DELTA force-feedback robotic platform. The needle tip is mounted on a force gauge at the end effector of the robot, which responds to needle insertion by providing reaction forces. 3D geometry of the tissue is using a tetrahedral finite element mesh (FEM) mimicking tissue properties. As the needle is inserted/retracted, tissue deformation is computed using a mass-tensor nonlinear visco-elastic FEM. The real-time deformation is fed to the L-DELTA to take into account the force imparted to the needle, providing feedback to the end-user when crossing tissue boundaries or needle bending. Real-time 2D US image is also generated synchronously showing anatomy, needle insertion and tissue deformation. The simulator is running on an Intel I7 6- core CPU at 3.26 MHz. 3D tissue rendering and ultrasound display are performed on a Windows 7 computer; the FEM computation and L-DELTA control are executed on a similar PC using the Neutrino real-time OS. Both machines communicate through an Ethernet link. Results: The system runs at 500 Hz for a 8333-tetrahedron tissue mesh and a 100-node angular spring needle model. This frame rate ensures a relatively smooth displacement of the needle when pushed or retracted (±20 N in all directions at speeds of up to 2 m/s). Unlike commercially-available haptic platforms, the oblong workspace of the L-DELTA robot complies with that required for brachytherapy needle displacements of 0.1m by 0.1m by 0.25m. Conclusion: We have demonstrated a real-life, realistic brachytherapy simulator developed for prostate implants (LDR/HDR). The platform could be adapted to other sites or training for other

Faraday forcing of high-temperature levitated liquid metal drops for the measurement of surface tension.

Science.gov (United States)

Brosius, Nevin; Ward, Kevin; Matsumoto, Satoshi; SanSoucie, Michael; Narayanan, Ranga

2018-01-01

In this work, a method for the measurement of surface tension using continuous periodic forcing is presented. To reduce gravitational effects, samples are electrostatically levitated prior to forcing. The method, called Faraday forcing, is particularly well suited for fluids that require high temperature measurements such as liquid metals where conventional surface tension measurement methods are not possible. It offers distinct advantages over the conventional pulse-decay analysis method when the sample viscosity is high or the levitation feedback control system is noisy. In the current method, levitated drops are continuously translated about a mean position at a small, constant forcing amplitude over a range of frequencies. At a particular frequency in this range, the drop suddenly enters a state of resonance, which is confirmed by large executions of prolate/oblate deformations about the mean spherical shape. The arrival at this resonant condition is a signature that the parametric forcing frequency is equal to the drop's natural frequency, the latter being a known function of surface tension. A description of the experimental procedure is presented. A proof of concept is given using pure Zr and a Ti 39.5 Zr 39.5 Ni 21 alloy as examples. The results compare favorably with accepted literature values obtained using the pulse-decay method.

Bandwidth Assessment for MultiRotor UAVs

Directory of Open Access Journals (Sweden)

Ferrarese Gastone

2017-06-01

Full Text Available This paper is a technical note about the theoretical evaluation of the bandwidth of multirotor helicopters. Starting from a mathematical linear model of the dynamics of a multirotor aircraft, the transfer functions of the state variables that deeply affect the stability characteristics of the aircraft are obtained. From these transfer functions, the frequency response analysis of the system is effected. After this analysis, the bandwidth of the system is defined. This result is immediately utilized for the design of discrete PID controllers for hovering flight stabilization. Numeric simulations are shown to demonstrate that the knowledge of the bandwidth is a valid aid in the design of flight control systems of these machines.

Tunable and broadband microwave frequency combs based on a semiconductor laser with incoherent optical feedback

International Nuclear Information System (INIS)

Zhao Mao-Rong; Wu Zheng-Mao; Deng Tao; Zhou Zhen-Li; Xia Guang-Qiong

2015-01-01

Based on a semiconductor laser (SL) with incoherent optical feedback, a novel all-optical scheme for generating tunable and broadband microwave frequency combs (MFCs) is proposed and investigated numerically. The results show that, under suitable operation parameters, the SL with incoherent optical feedback can be driven to operate at a regular pulsing state, and the generated MFCs have bandwidths broader than 40 GHz within a 10 dB amplitude variation. For a fixed bias current, the line spacing (or repetition frequency) of the MFCs can be easily tuned by varying the feedback delay time and the feedback strength, and the tuning range of the line spacing increases with the increase in the bias current. The linewidth of the MFCs is sensitive to the variation of the feedback delay time and the feedback strength, and a linewidth of tens of KHz can be achieved through finely adjusting the feedback delay time and the feedback strength. In addition, mappings of amplitude variation, repetition frequency, and linewidth of MFCs in the parameter space of the feedback delay time and the feedback strength are presented. (paper)

Gain-switched, Yb-doped, all-fiber laser with narrow bandwidth

DEFF Research Database (Denmark)

Larsen, Casper; Giesberts, Martin; Nyga, Sebastian

2013-01-01

We demonstrate that an all-fiber, narrow bandwidth, high pulse energy pulsed laser can be constructed from commercially available components by applying gain-switching. After single-stage amplification the pulses are frequency doubled in ppSLT with high efficiency....

Design of EAST LHCD high power supply feedback control system based on PLC

International Nuclear Information System (INIS)

Hu Huaichuan; Shan Jiafang

2009-01-01

Design of EAST LHCD -35kV/5.6MW high power supply feedback control system based on PLC is described. Industrial computer and PLC are used to control high power supply in the system. PID arithmetic is adopted to achieve the feedback control of voltage of high power supply. Operating system is base on real-time operating system of QNX. Good controlling properties and reliable protective properties of the feedback control system are proved by the experiment results. (authors)

Adaptive slope compensation for high bandwidth digital current mode controller

DEFF Research Database (Denmark)

Taeed, Fazel; Nymand, Morten

2015-01-01

An adaptive slope compensation method for digital current mode control of dc-dc converters is proposed in this paper. The compensation slope is used for stabilizing the inner current loop in peak current mode control. In this method, the compensation slope is adapted with the variations...... in converter duty cycle. The adaptive slope compensation provides optimum controller operation in term of bandwidth over wide range of operating points. In this paper operation principle of the controller is discussed. The proposed controller is implemented in an FPGA to control a 100 W buck converter...

Impact of crystal orientation on the modulation bandwidth of InGaN/GaN light-emitting diodes

Science.gov (United States)

Monavarian, M.; Rashidi, A.; Aragon, A. A.; Oh, S. H.; Rishinaramangalam, A. K.; DenBaars, S. P.; Feezell, D.

2018-01-01

High-speed InGaN/GaN blue light-emitting diodes (LEDs) are needed for future gigabit-per-second visible-light communication systems. Large LED modulation bandwidths are typically achieved at high current densities, with reports close to 1 GHz bandwidth at current densities ranging from 5 to 10 kA/cm2. However, the internal quantum efficiency (IQE) of InGaN/GaN LEDs is quite low at high current densities due to the well-known efficiency droop phenomenon. Here, we show experimentally that nonpolar and semipolar orientations of GaN enable higher modulation bandwidths at low current densities where the IQE is expected to be higher and power dissipation is lower. We experimentally compare the modulation bandwidth vs. current density for LEDs on nonpolar (10 1 ¯ 0 ), semipolar (20 2 ¯ 1 ¯) , and polar (" separators="|0001 ) orientations. In agreement with wavefunction overlap considerations, the experimental results indicate a higher modulation bandwidth for the nonpolar and semipolar LEDs, especially at relatively low current densities. At 500 A/cm2, the nonpolar LED has a 3 dB bandwidth of ˜1 GHz, while the semipolar and polar LEDs exhibit bandwidths of 260 MHz and 75 MHz, respectively. A lower carrier density for a given current density is extracted from the RF measurements for the nonpolar and semipolar LEDs, consistent with the higher wavefunction overlaps in these orientations. At large current densities, the bandwidth of the polar LED approaches that of the nonpolar and semipolar LEDs due to coulomb screening of the polarization field. The results support using nonpolar and semipolar orientations to achieve high-speed LEDs at low current densities.

Development of a disposable force-sensing glove for clinicians and demonstration of its force measurements on patients during rehabilitation following anterior cruciate ligament reconstruction surgery

Science.gov (United States)

Wang, Wei-Chih; Linders, David R.; Nuckley, David J.

2017-12-01

For many clinicians, their effectiveness is dependent on the magnitude of forces they manually apply to their patients. However, current state-of-the-art care strategies lack quantitative feedback, making it difficult to provide consistent care over time and among multiple clinicians. To provide real-time quantitative feedback to clinicians, we have developed a disposable glove with a force sensor embedded in the fingertips or palm. The sensor is based on the fiber-optic bendloss effect whereby light intensity from an infrared source is attenuated as the fiber is bent between a series of corrugated teeth. The sensor fabricated has a very low profile (10×7×1 mm) and has demonstrated high sensitivity, accuracy, range, and durability. Force feedback up to 90 N with an average force threshold at 0.19 N and average sensor resolution at 0.05 N has been demonstrated. A preliminary clinical study has also been conducted with anterior cruciate ligament reconstruction patients who show significant range of motion improvement when treated with the force-sensing glove.

Can feedback analysis be used to uncover the physical origin of climate sensitivity and efficacy differences?

Science.gov (United States)

Rieger, Vanessa S.; Dietmüller, Simone; Ponater, Michael

2017-10-01

Different strengths and types of radiative forcings cause variations in the climate sensitivities and efficacies. To relate these changes to their physical origin, this study tests whether a feedback analysis is a suitable approach. For this end, we apply the partial radiative perturbation method. Combining the forward and backward calculation turns out to be indispensable to ensure the additivity of feedbacks and to yield a closed forcing-feedback-balance at top of the atmosphere. For a set of CO2-forced simulations, the climate sensitivity changes with increasing forcing. The albedo, cloud and combined water vapour and lapse rate feedback are found to be responsible for the variations in the climate sensitivity. An O3-forced simulation (induced by enhanced NOx and CO surface emissions) causes a smaller efficacy than a CO2-forced simulation with a similar magnitude of forcing. We find that the Planck, albedo and most likely the cloud feedback are responsible for this effect. Reducing the radiative forcing impedes the statistical separability of feedbacks. We additionally discuss formal inconsistencies between the common ways of comparing climate sensitivities and feedbacks. Moreover, methodical recommendations for future work are given.

Self-controlled feedback facilitates motor learning in both high and low activity individuals.

Science.gov (United States)

Fairbrother, Jeffrey T; Laughlin, David D; Nguyen, Timothy V

2012-01-01

The purpose of this study was to determine if high and low activity individuals differed in terms of the effects of self-controlled feedback on the performance and learning of a movement skill. The task consisted of a blindfolded beanbag toss using the non-preferred arm. Participants were pre-screened according to their physical activity level using the International Physical Activity Questionnaire. An equal number of high activity (HA) and low activity (LA) participants were assigned to self-control (SC) and yoked (YK) feedback conditions, creating four groups: Self-Control-High Activity; Self-Control-Low Activity; Yoked-High Activity; and Yoked-Low Activity. SC condition participants were provided feedback whenever they requested it, while YK condition participants received feedback according to a schedule created by their SC counterpart. Results indicated that the SC condition was more accurate than the YK condition during acquisition and transfer phases, and the HA condition was more accurate than the LA condition during all phases of the experiment. A post-training questionnaire indicated that participants in the SC condition asked for feedback mostly after what they perceived to be "good" trials; those in the YK condition indicated that they would have preferred to receive feedback after "good" trials. This study provided further support for the advantages of self-controlled feedback when learning motor skills, additionally showing benefits for both active and less active individuals. The results suggested that the provision of self-controlled feedback to less active learners may be a potential avenue to teaching motor skills necessary to engage in greater amounts of physical activity.

Bandwidth Impacts of Localizing Peer-to-Peer IP Video Traffic in Access and Aggregation Networks

Directory of Open Access Journals (Sweden)

Kenneth Kerpez

2008-10-01

Full Text Available This paper examines the burgeoning impact of peer-to-peer (P2P traffic IP video traffic. High-quality IPTV or Internet TV has high-bandwidth requirements, and P2P IP video could severely strain broadband networks. A model for the popularity of video titles is given, showing that some titles are very popular and will often be available locally; making localized P2P attractive for video titles. The bandwidth impacts of localizing P2P video to try and keep traffic within a broadband access network area or within a broadband access aggregation network area are examined. Results indicate that such highly localized P2P video can greatly lower core bandwidth usage.

High-Performance Control in Radio Frequency Power Amplification Systems

DEFF Research Database (Denmark)

Høyerby, Mikkel Christian Kofod

. It is clearly shown that single-phase switch-mode control systems based on oscillation (controlled unstable operation) of the whole power train provide the highest possible control bandwidth. A study of the limitations of cartesian feedback is also included. It is shown that bandwidths in excess of 4MHz can...... frequency power amplifiers (RFPAs) in conjunction with cartesian feedback (CFB) used to linearize the overall transmitter system. On a system level, it is demonstrated how envelope tracking is particularly useful for RF carriers with high peak-to-average power ratios, such as TEDS with 10dB. It is also...... demonstrated how the envelope tracking technique introduces a number of potential pitfalls to the system, namely in the form of power supply ripple intermodulation (PSIM), reduced RFPA linearity and a higherimpedance supply rail for the RFPA. Design and analysis techniques for these three issues are introduced...

Status of Digital Orbit Feedback for SPEAR

International Nuclear Information System (INIS)

Hettel, Robert

2003-01-01

The present global orbit feedback system for SPEAR can adjust the electron beam position with a cycle time of 5 s. In addition, 50 Hz analog local servos stabilize the vertical photon beam position at monitors situated in the ten SSRL beamlines. The global and local systems will soon be merged into a single unified system operating from a dedicated DSP board. The goal is to acquire orbits, process the data, and correct beam position in a 1-2 ms interval to achieve a 30-50 Hz closed-loop bandwidth

Customization, control, and characterization of a commercial haptic device for high-fidelity rendering of weak forces.

Science.gov (United States)

Gurari, Netta; Baud-Bovy, Gabriel

2014-09-30

The emergence of commercial haptic devices offers new research opportunities to enhance our understanding of the human sensory-motor system. Yet, commercial device capabilities have limitations which need to be addressed. This paper describes the customization of a commercial force feedback device for displaying forces with a precision that exceeds the human force perception threshold. The device was outfitted with a multi-axis force sensor and closed-loop controlled to improve its transparency. Additionally, two force sensing resistors were attached to the device to measure grip force. Force errors were modeled in the frequency- and time-domain to identify contributions from the mass, viscous friction, and Coulomb friction during open- and closed-loop control. The effect of user interaction on system stability was assessed in the context of a user study which aimed to measure force perceptual thresholds. Findings based on 15 participants demonstrate that the system maintains stability when rendering forces ranging from 0-0.20 N, with an average maximum absolute force error of 0.041 ± 0.013 N. Modeling the force errors revealed that Coulomb friction and inertia were the main contributors to force distortions during respectively slow and fast motions. Existing commercial force feedback devices cannot render forces with the required precision for certain testing scenarios. Building on existing robotics work, this paper shows how a device can be customized to make it reliable for studying the perception of weak forces. The customized and closed-loop controlled device is suitable for measuring force perceptual thresholds. Copyright © 2014 Elsevier B.V. All rights reserved.

Effect on High versus Low Fidelity Haptic Feedback in a Virtual Reality Baseball Simulation

DEFF Research Database (Denmark)

Ryge, Andreas Nicolaj; Thomsen, Lui Albæk; Berthelsen, Theis

2017-01-01

In this paper we present a within-subjects study (n=26) comparing participants' experience of three kinds of haptic feedback (no haptic feedback, low fidelity haptic feedback and high fidelity haptic feedback) simulating the impact between a virtual baseball bat and ball. We noticed some minor ef...

A computational simulated control system for a high-force pneumatic muscle actuator: system definition and application as an augmented orthosis.

Science.gov (United States)

Gerschutz, Maria J; Phillips, Chandler A; Reynolds, David B; Repperger, Daniel W

2009-04-01

High-force pneumatic muscle actuators (PMAs) are used for force assistance with minimal displacement applications. However, poor control due to dynamic nonlinearities has limited PMA applications. A simulated control system is developed consisting of: (1) a controller relating an input position angle to an output proportional pressure regulator voltage, (2) a phenomenological model of the PMA with an internal dynamic force loop (system time constant information), (3) a physical model of a human sit-to-stand task and (4) an external position angle feed-back loop. The results indicate that PMA assistance regarding the human sit-to-stand task is feasible within a specified PMA operational pressure range.

Cutaneous mechanisms of isometric ankle force control

DEFF Research Database (Denmark)

Choi, Julia T; Jensen, Jesper Lundbye; Leukel, Christian

2013-01-01

The sense of force is critical in the control of movement and posture. Multiple factors influence our perception of exerted force, including inputs from cutaneous afferents, muscle afferents and central commands. Here, we studied the influence of cutaneous feedback on the control of ankle force...... of transient stimulation on force error were greater when compared to continuous stimulation and lidocaine injection. Position-matching performance was unaffected by peroneal nerve or plantar nerve stimulation. Our results show that cutaneous feedback plays a role in the control of force output at the ankle...... joint. Understanding how the nervous system normally uses cutaneous feedback in motor control will help us identify which functional aspects are impaired in aging and neurological diseases....

Average Bandwidth Allocation Model of WFQ

Directory of Open Access Journals (Sweden)

Tomáš Balogh

2012-01-01

Full Text Available We present a new iterative method for the calculation of average bandwidth assignment to traffic flows using a WFQ scheduler in IP based NGN networks. The bandwidth assignment calculation is based on the link speed, assigned weights, arrival rate, and average packet length or input rate of the traffic flows. We prove the model outcome with examples and simulation results using NS2 simulator.

Self-controlled feedback facilitates motor learning in both high and low activity individuals

Directory of Open Access Journals (Sweden)

Jeffrey T. Fairbrother

2012-08-01

Full Text Available The purpose of this study was to determine if high and low activity individuals differed in terms of the effects of self-controlled feedback on the performance and learning of a movement skill. The task consisted of a blindfolded beanbag toss using the non-preferred arm. Participants were pre-screened according to their physical activity level using the International Physical Activity Questionnaire. An equal number of high activity (HA and low activity (LA participants were assigned to self-control (SC and yoked (YK feedback conditions, creating four groups: Self-Control High Activity (SC-HA; Self-Control Low Activity (SC-LA; Yoked High Activity (YK-HA; and Yoked Low Activity (YK-LA. SC condition participants were provided feedback whenever they requested it, while YK condition participants received feedback according to a schedule created by their SC counterpart. Results indicated that the SC condition was more accurate than the YK condition during acquisition and transfer phases, and the HA condition was more accurate than the LA condition during all phases of the experiment. A post-training questionnaire indicated that participants in the SC condition asked for feedback mostly after what they perceived to be good trials; those in the YK condition indicated that they would have preferred to receive feedback after good trials. This study provided further support for the advantages of self-controlled feedback when learning motor skills, additionally showing benefits for both active and less active individuals. The results suggested that the provision of self-controlled feedback to less active learners may be a potential avenue to teaching motor skills necessary to engage in greater amounts of physical activity.

Energy efficiency in elastic-bandwidth optical networks

DEFF Research Database (Denmark)

Vizcaino, Jorge Lopez; Ye, Yabin; Tafur Monroy, Idelfonso

2011-01-01

of elastic bandwidth allocation, opens new horizons in the operation of optical networks. In this paper, we compare the network planning problem in an elastic bandwidth CO-OFDM-based network and a fixed-grid WDM network. We highlight the benefits that bandwidth elasticity and the selection of different......The forecasted growth in the Internet traffic has made the operators and industry to be concerned about the power consumption of the networks, and to become interested in alternatives to plan and operate the networks in a more energy efficient manner. The introduction of OFDM, and its property...

Spin-torque diode with tunable sensitivity and bandwidth by out-of-plane magnetic field

Energy Technology Data Exchange (ETDEWEB)

Li, X.; Zheng, C.; Pong, Philip W. T. [Department of Electrical and Electronic Engineering, The University of Hong Kong (Hong Kong); Zhou, Y., E-mail: yanzhou@hku.hk [School of Electronics Science and Engineering, Nanjing University, Nanjing 210093 (China); Department of Physics, The University of Hong Kong (Hong Kong); Kubota, H.; Yuasa, S. [Spintronics Research Center, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki 305-8568 (Japan)

2016-06-06

Spin-torque diodes based on nanosized magnetic tunnel junctions are novel microwave detectors with high sensitivity and wide frequency bandwidth. While previous reports mainly focus on improving the sensitivity, the approaches to extend the bandwidth are limited. This work experimentally demonstrates that through optimizing the orientation of the external magnetic field, wide bandwidth can be achieved while maintaining high sensitivity. The mechanism of the frequency- and sensitivity-tuning is investigated through analyzing the dependence of resonant frequency and DC voltage on the magnitude and the tilt angle of hard-plane magnetic field. The frequency dependence is qualitatively explicated by Kittel's ferromagnetic resonance model. The asymmetric resonant frequency at positive and negative magnetic field is verified by the numerical simulation considering the in-plane anisotropy. The DC voltage dependence is interpreted through evaluating the misalignment angle between the magnetization of the free layer and the reference layer. The tunability of the detector performance by the magnetic field angle is evaluated through characterizing the sensitivity and bandwidth under 3D magnetic field. The frequency bandwidth up to 9.8 GHz or maximum sensitivity up to 154 mV/mW (after impedance mismatch correction) can be achieved by tuning the angle of the applied magnetic field. The results show that the bandwidth and sensitivity can be controlled and adjusted through optimizing the orientation of the magnetic field for various applications and requirements.

Bandwidth Impacts of Localizing Peer-to-Peer IP Video Traffic in Access and Aggregation Networks

Directory of Open Access Journals (Sweden)

Kerpez Kenneth

2008-01-01

Full Text Available Abstract This paper examines the burgeoning impact of peer-to-peer (P2P traffic IP video traffic. High-quality IPTV or Internet TV has high-bandwidth requirements, and P2P IP video could severely strain broadband networks. A model for the popularity of video titles is given, showing that some titles are very popular and will often be available locally; making localized P2P attractive for video titles. The bandwidth impacts of localizing P2P video to try and keep traffic within a broadband access network area or within a broadband access aggregation network area are examined. Results indicate that such highly localized P2P video can greatly lower core bandwidth usage.

A 750MHz and a 8GHz High Bandwidth Digital FFT Spectrometer, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — The scope of this project is to to develop a wide bandwidth, low power, and compact single board digital Fast Fourier Transform spectrometer (FFTS) optimized for the...

On semidefinite programming bounds for graph bandwidth

NARCIS (Netherlands)

de Klerk, E.; Nagy, M.; Sotirov, R.

2013-01-01

In this paper, we propose two new lower bounds on graph bandwidth and cyclic bandwidth based on semidefinite programming (SDP) relaxations of the quadratic assignment problem. We compare the new bounds with two other SDP bounds reported in [A. Blum, G. Konjevod, R. Ravi, and S. Vempala,

47 CFR 74.535 - Emission and bandwidth.

Science.gov (United States)

2010-10-01

... digital modulation in paragraph (a) of this section, the resolution bandwidth (BRES) of the measuring...), adjusted upward to the nearest greater resolution bandwidth available on the measuring equipment. In all... frequency energy outside the assigned channel. Upon notice by the FCC to the station licensee that...

High-Power and High-Efficiency 1.3- µm Superluminescent Diode With Flat-Top and Ultrawide Emission Bandwidth

KAUST Repository

Khan, Mohammed Zahed Mustafa; Alhashim, Hala H.; Ng, Tien Khee; Ooi, Boon S.

2015-01-01

We report on a flat-top and ultrawide emission bandwidth of 125 nm from InGaAsP/InP multiple quantum-well (MQW) superluminescent diode with antireflection coated and tilted ridge-waveguide device configuration. A total output power in excess of 70 mW with an average power spectral density of 0.56 mW/nm and spectral ripple ≤ 1.2 ± 0.5 dB is measured from the device. Wall-plug efficiency and output power as high as 14% and 80 mW, respectively, is demonstrated from this batch of devices. We attribute the broad emission to the inherent inhomogeneity of the electron-heavy-hole (e-hh) and electron-light-hole (e-lh) recombination of the ground state and the first excited state of the MQWs and their simultaneous emission.

High-Power and High-Efficiency 1.3- µm Superluminescent Diode With Flat-Top and Ultrawide Emission Bandwidth

KAUST Repository

Khan, Mohammed Zahed Mustafa

2015-02-01

We report on a flat-top and ultrawide emission bandwidth of 125 nm from InGaAsP/InP multiple quantum-well (MQW) superluminescent diode with antireflection coated and tilted ridge-waveguide device configuration. A total output power in excess of 70 mW with an average power spectral density of 0.56 mW/nm and spectral ripple ≤ 1.2 ± 0.5 dB is measured from the device. Wall-plug efficiency and output power as high as 14% and 80 mW, respectively, is demonstrated from this batch of devices. We attribute the broad emission to the inherent inhomogeneity of the electron-heavy-hole (e-hh) and electron-light-hole (e-lh) recombination of the ground state and the first excited state of the MQWs and their simultaneous emission.

Experiences in Traceroute and Bandwidth Change Analysis

Energy Technology Data Exchange (ETDEWEB)

Logg, C

2004-06-23

SLAC has been studying end-to-end WAN bandwidth availability and achievability for 2.5 years via IEPM-BW [1]. IEPM-BW performs network intensive tests every 90 minutes. Based on that experience we have also developed a light weight available bandwidth (ABwE [2]) measurement tool that can make a measurement within a second. We are now extending this to a WAN measurement and detection system (IEPM-LITE) aimed at more quickly detecting and troubleshooting network performance problems and also to be more friendly on lower performance paths. IEPM-LITE uses ping, forward traceroutes, and ABwE sensors to monitor, in close to real-time, Round Trip Times (RTT), changes in available bandwidth and routes to and from target hosts. This paper discusses the experiences, techniques and algorithms used to detect and report on significant traceroute and bandwidth changes. The ultimate aim is to develop a lightweight WAN network performance monitoring system that can detect, in near real time, significant changes and generate alerts.

Experiences in Traceroute and Bandwidth Change Analysis

International Nuclear Information System (INIS)

Logg, C

2004-01-01

SLAC has been studying end-to-end WAN bandwidth availability and achievability for 2.5 years via IEPM-BW [1]. IEPM-BW performs network intensive tests every 90 minutes. Based on that experience we have also developed a light weight available bandwidth (ABwE [2]) measurement tool that can make a measurement within a second. We are now extending this to a WAN measurement and detection system (IEPM-LITE) aimed at more quickly detecting and troubleshooting network performance problems and also to be more friendly on lower performance paths. IEPM-LITE uses ping, forward traceroutes, and ABwE sensors to monitor, in close to real-time, Round Trip Times (RTT), changes in available bandwidth and routes to and from target hosts. This paper discusses the experiences, techniques and algorithms used to detect and report on significant traceroute and bandwidth changes. The ultimate aim is to develop a lightweight WAN network performance monitoring system that can detect, in near real time, significant changes and generate alerts

Optimal centralized and decentralized velocity feedback control on a beam

International Nuclear Information System (INIS)

Engels, W P; Elliott, S J

2008-01-01

This paper considers the optimization of a velocity feedback controller with a collocated force actuator, to minimize the kinetic energy of a simply supported beam. If the beam is excited at a single location, the optimum feedback gain varies with the position of the control system. It is shown that this variation depends partly on the location of the control force relative to the exciting force. If a distributed excitation is assumed, that is random in both time and space, a unique optimum value of the feedback gain can be found for a given control location. The effect of the control location on performance and the optimal feedback gain can then be examined and is found to be limited provided the control locations are not close to the ends of the beam. The optimization can also be performed for a multichannel velocity feedback system. Both a centralized and a decentralized controller are considered. It is shown that the difference in performance between a centralized and a decentralized controller is small, unless the control locations are closely spaced. In this case the centralized controller effectively feeds back a moment proportional to angular velocity as well as a force proportional to a velocity. It is also shown that the optimal feedback gain can be approximated on the basis of a limited model and that similar results can be achieved

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

Science.gov (United States)

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

2014-01-01

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

Efficient Bandwidth Management for Ethernet Passive Optical Networks

KAUST Repository

Elrasad, Amr

2016-01-01

The increasing bandwidth demands in access networks motivates network operators, networking devices manufacturers, and standardization institutions to search for new approaches for access networks. These approaches should support higher bandwidth

Overview Electrotactile Feedback for Enhancing Human Computer Interface

Science.gov (United States)

Pamungkas, Daniel S.; Caesarendra, Wahyu

2018-04-01

To achieve effective interaction between a human and a computing device or machine, adequate feedback from the computing device or machine is required. Recently, haptic feedback is increasingly being utilised to improve the interactivity of the Human Computer Interface (HCI). Most existing haptic feedback enhancements aim at producing forces or vibrations to enrich the user’s interactive experience. However, these force and/or vibration actuated haptic feedback systems can be bulky and uncomfortable to wear and only capable of delivering a limited amount of information to the user which can limit both their effectiveness and the applications they can be applied to. To address this deficiency, electrotactile feedback is used. This involves delivering haptic sensations to the user by electrically stimulating nerves in the skin via electrodes placed on the surface of the skin. This paper presents a review and explores the capability of electrotactile feedback for HCI applications. In addition, a description of the sensory receptors within the skin for sensing tactile stimulus and electric currents alsoseveral factors which influenced electric signal to transmit to the brain via human skinare explained.

Chemical Industry Bandwidth Study

Energy Technology Data Exchange (ETDEWEB)

none,

2006-12-01

The Chemical Bandwidth Study provides a snapshot of potentially recoverable energy losses during chemical manufacturing. The advantage of this study is the use of "exergy" analysis as a tool for pinpointing inefficiencies.

Electro-optic deflectors deliver advantages over acousto-optical deflectors in a high resolution, ultra-fast force-clamp optical trap.

Science.gov (United States)

Woody, Michael S; Capitanio, Marco; Ostap, E Michael; Goldman, Yale E

2018-04-30

We characterized experimental artifacts arising from the non-linear response of acousto-optical deflectors (AODs) in an ultra-fast force-clamp optical trap and have shown that using electro-optical deflectors (EODs) instead eliminates these artifacts. We give an example of the effects of these artifacts in our ultra-fast force clamp studies of the interaction of myosin with actin filaments. The experimental setup, based on the concept of Capitanio et al. [Nat. Methods 9, 1013-1019 (2012)] utilizes a bead-actin-bead dumbbell held in two force-clamped optical traps which apply a load to the dumbbell to move it at a constant velocity. When myosin binds to actin, the filament motion stops quickly as the total force from the optical traps is transferred to the actomyosin attachment. We found that in our setup, AODs were unsuitable for beam steering due to non-linear variations in beam intensity and deflection angle as a function of driving frequency, likely caused by low-amplitude standing acoustic waves in the deflectors. These aberrations caused instability in the force feedback loops leading to artifactual jumps in the trap position. We demonstrate that beam steering with EODs improves the performance of our instrument. Combining the superior beam-steering capability of the EODs, force acquisition via back-focal-plane interferometry, and dual high-speed FPGA-based feedback loops, we apply precise and constant loads to study the dynamics of interactions between actin and myosin. The same concept applies to studies of other biomolecular interactions.

Mechanically stable tuning fork sensor with high quality factor for the atomic force microscope.

Science.gov (United States)

Kim, Kwangyoon; Park, Jun-Young; Kim, K B; Lee, Naesung; Seo, Yongho

2014-01-01

A quartz tuning fork was used instead of cantilever as a force sensor for the atomic force microscope. A tungsten tip was made by electrochemical etching from a wire of 50 µm diameter. In order to have mechanical stability of the tuning fork, it was attached on an alumina plate. The tungsten tip was attached on the inside end of a prong of a tuning fork. The phase shift was used as a feedback signal to control the distance between the tip and sample, and the amplitude was kept constant using a lock-in amplifier and a homemade automatic gain controller. Due to the mechanical stability, the sensor shows a high quality factor (∼10(3)), and the image quality obtained with this sensor was equivalent to that of the cantilever-based AFM. © 2014 Wiley Periodicals, Inc.

Optimal design of similariton fiber lasers without gain-bandwidth limitation.

Science.gov (United States)

Li, Xingliang; Zhang, Shumin; Yang, Zhenjun

2017-07-24

We have numerically investigated broadband high-energy similariton fiber lasers, demonstrated that the self-similar evolution of pulses can locate in a segment of photonic crystal fiber without gain-bandwidth limitation. The effects of various parameters, including the cavity length, the spectral filter bandwidth, the pump power, the length of the photonic crystal fiber and the output coupling ratio have also been studied in detail. Using the optimal parameters, a single pulse with spectral width of 186.6 nm, pulse energy of 23.8 nJ, dechirped pulse duration of 22.5 fs and dechirped pulse peak power of 1.26 MW was obtained. We believe that this detailed analysis of the behaviour of pulses in the similariton regime may have major implications in the development of broadband high-energy fiber lasers.

Thermal Studies on the SPS Wideband Transverse Feedback Kicker

CERN Document Server

Roggen, Toon; Hofle, Wolfgang; Montesinos, Eric; CERN. Geneva. ATS Department

2016-01-01

As part of the SPS wideband transverse feedback system in the framework of the LHC Injector Upgrade (LIU) project, a wideband kicker design is being proposed. Vertical beam instabilities due to intensity dependent effects (electron cloud instability (ECI) and transverse mode coupling instability (TMCI)) are potentially suppressed by using a feedback system driving such a kicker system. One of the options for a kicker is a one meter long slotted-coaxial kicker, providing a substantial vertical kick strength (10ˉ5 –10ˉ4 eV.s/m) over a bandwidth ranging from nearly DC to 1 GHz. The necessary kick strength requires a total power of 4 kW. This note describes thermal studies that assisted in the material choice of the feedthroughs of the slotted-coaxial kicker and guided the design choices.

Evaluating tactile feedback in robotic surgery for potential clinical application using an animal model.

Science.gov (United States)

Wottawa, Christopher R; Genovese, Bradley; Nowroozi, Bryan N; Hart, Steven D; Bisley, James W; Grundfest, Warren S; Dutson, Erik P

2016-08-01

The aims of this study were to evaluate (1) grasping forces with the application of a tactile feedback system in vivo and (2) the incidence of tissue damage incurred during robotic tissue manipulation. Robotic-assisted minimally invasive surgery has been shown to be beneficial in a variety of surgical specialties, particularly radical prostatectomy. This innovative surgical tool offers advantages over traditional laparoscopic techniques, such as improved wrist-like maneuverability, stereoscopic video displays, and scaling of surgical gestures to increase precision. A widely cited disadvantage associated with robotic systems is the absence of tactile feedback. Nineteen subjects were categorized into two groups: 5 experts (six or more robotic cases) and 14 novices (five cases or less). The subjects used the da Vinci with integrated tactile feedback to run porcine bowel in the following conditions: (T1: deactivated tactile feedback; T2: activated tactile feedback; and T3: deactivated tactile feedback). The grasping force, incidence of tissue damage, and the correlation of grasping force and tissue damage were analyzed. Tissue damage was evaluated both grossly and histologically by a pathologist blinded to the sample. Tactile feedback resulted in significantly decreased grasping forces for both experts and novices (P system was deactivated (P > 0.05 in all subjects). The in vivo application of integrated tactile feedback in the robotic system demonstrates significantly reduced grasping forces, resulting in significantly less tissue damage. This tactile feedback system may improve surgical outcomes and broaden the use of robotic-assisted minimally invasive surgery.

Novel charge sensitive preamplifier without high-value feedback resistor

International Nuclear Information System (INIS)

Xi Deming

1992-01-01

A novel charge sensitive preamplifier is introduced. The method of removing the high value feedback resistor, the circuit design and analysis are described. A practical circuit and its measured performances are provided

A gain and bandwidth enhanced transimpedance preamplifier for Fourier-transform ion cyclotron resonance mass spectrometry

International Nuclear Information System (INIS)

Lin, Tzu-Yung; Green, Roger J.; O'Connor, Peter B.

2011-01-01

The nature of the ion signal from a 12-T Fourier-transform ion cyclotron resonance mass spectrometer and the electronic noise were studied to further understand the electronic detection limit. At minimal cost, a new transimpedance preamplifier was designed, computer simulated, built, and tested. The preamplifier design pushes the electronic signal-to-noise performance at room temperature to the limit, because of its enhanced tolerance of the capacitance of the detection device, lower intrinsic noise, and larger flat mid-band gain (input current noise spectral density of around 1 pA/√(Hz) when the transimpedance is about 85 dBΩ). The designed preamplifier has a bandwidth of ∼3 kHz to 10 MHz, which corresponds to the mass-to-charge ratio, m/z, of approximately 18 to 61 k at 12 T. The transimpedance and the bandwidth can be easily adjusted by changing the value of passive components. The feedback limitation of the circuit is discussed. With the maximum possible transimpedance of 5.3 MΩ when using an 0402 surface mount resistor, the preamplifier was estimated to be able to detect ∼110 charges in a single scan.

A Bandwidth-Optimized Multi-Core Architecture for Irregular Applications

Energy Technology Data Exchange (ETDEWEB)

Secchi, Simone; Tumeo, Antonino; Villa, Oreste

2012-05-31

This paper presents an architecture template for next-generation high performance computing systems specifically targeted to irregular applications. We start our work by considering that future generation interconnection and memory bandwidth full-system numbers are expected to grow by a factor of 10. In order to keep up with such a communication capacity, while still resorting to fine-grained multithreading as the main way to tolerate unpredictable memory access latencies of irregular applications, we show how overall performance scaling can benefit from the multi-core paradigm. At the same time, we also show how such an architecture template must be coupled with specific techniques in order to optimize bandwidth utilization and achieve the maximum scalability. We propose a technique based on memory references aggregation, together with the related hardware implementation, as one of such optimization techniques. We explore the proposed architecture template by focusing on the Cray XMT architecture and, using a dedicated simulation infrastructure, validate the performance of our template with two typical irregular applications. Our experimental results prove the benefits provided by both the multi-core approach and the bandwidth optimization reference aggregation technique.

Tap Arduino: An Arduino microcontroller for low-latency auditory feedback in sensorimotor synchronization experiments.

Science.gov (United States)

Schultz, Benjamin G; van Vugt, Floris T

2016-12-01

Timing abilities are often measured by having participants tap their finger along with a metronome and presenting tap-triggered auditory feedback. These experiments predominantly use electronic percussion pads combined with software (e.g., FTAP or Max/MSP) that records responses and delivers auditory feedback. However, these setups involve unknown latencies between tap onset and auditory feedback and can sometimes miss responses or record multiple, superfluous responses for a single tap. These issues may distort measurements of tapping performance or affect the performance of the individual. We present an alternative setup using an Arduino microcontroller that addresses these issues and delivers low-latency auditory feedback. We validated our setup by having participants (N = 6) tap on a force-sensitive resistor pad connected to the Arduino and on an electronic percussion pad with various levels of force and tempi. The Arduino delivered auditory feedback through a pulse-width modulation (PWM) pin connected to a headphone jack or a wave shield component. The Arduino's PWM (M = 0.6 ms, SD = 0.3) and wave shield (M = 2.6 ms, SD = 0.3) demonstrated significantly lower auditory feedback latencies than the percussion pad (M = 9.1 ms, SD = 2.0), FTAP (M = 14.6 ms, SD = 2.8), and Max/MSP (M = 15.8 ms, SD = 3.4). The PWM and wave shield latencies were also significantly less variable than those from FTAP and Max/MSP. The Arduino missed significantly fewer taps, and recorded fewer superfluous responses, than the percussion pad. The Arduino captured all responses, whereas at lower tapping forces, the percussion pad missed more taps. Regardless of tapping force, the Arduino outperformed the percussion pad. Overall, the Arduino is a high-precision, low-latency, portable, and affordable tool for auditory experiments.

PIC Simulation of Laser Plasma Interactions with Temporal Bandwidths

Science.gov (United States)

Tsung, Frank; Weaver, J.; Lehmberg, R.

2015-11-01

We are performing particle-in-cell simulations using the code OSIRIS to study the effects of laser plasma interactions in the presence of temperal bandwidths under conditions relevant to current and future shock ignition experiments on the NIKE laser. Our simulations show that, for sufficiently large bandwidth, the saturation level, and the distribution of hot electrons, can be effected by the addition of temporal bandwidths (which can be accomplished in experiments using smoothing techniques such as SSD or ISI). We will show that temporal bandwidth along play an important role in the control of LPI's in these lasers and discuss future directions. This work is conducted under the auspices of NRL.

Hard x-ray monochromator with milli-electron volt bandwidth for high-resolution diffraction studies of diamond crystals

Energy Technology Data Exchange (ETDEWEB)

Stoupin, Stanislav; Shvyd' ko, Yuri; Shu Deming; Khachatryan, Ruben; Xiao, Xianghui; DeCarlo, Francesco; Goetze, Kurt; Roberts, Timothy; Roehrig, Christian; Deriy, Alexey [Advanced Photon Source, Argonne National Laboratory, Illinois 60439 (United States)

2012-02-15

We report on design and performance of a high-resolution x-ray monochromator with a spectral bandwidth of {Delta}E{sub X}{approx_equal} 1.5 meV, which operates at x-ray energies in the vicinity of the backscattering (Bragg) energy E{sub H} = 13.903 keV of the (008) reflection in diamond. The monochromator is utilized for high-energy-resolution diffraction characterization of diamond crystals as elements of advanced x-ray crystal optics for synchrotrons and x-ray free-electron lasers. The monochromator and the related controls are made portable such that they can be installed and operated at any appropriate synchrotron beamline equipped with a pre-monochromator.

Sea ice-albedo climate feedback mechanism

Energy Technology Data Exchange (ETDEWEB)

Schramm, J.L.; Curry, J.A. [Univ. of Colorado, Boulder, CO (United States); Ebert, E.E. [Bureau of Meterology Research Center, Melbourne (Australia)

1995-02-01

The sea ice-albedo feedback mechanism over the Arctic Ocean multiyear sea ice is investigated by conducting a series of experiments using several one-dimensional models of the coupled sea ice-atmosphere system. In its simplest form, ice-albedo feedback is thought to be associated with a decrease in the areal cover of snow and ice and a corresponding increase in the surface temperature, further decreasing the area cover of snow and ice. It is shown that the sea ice-albedo feedback can operate even in multiyear pack ice, without the disappearance of this ice, associated with internal processes occurring within the multiyear ice pack (e.g., duration of the snow cover, ice thickness, ice distribution, lead fraction, and melt pond characteristics). The strength of the ice-albedo feedback mechanism is compared for several different thermodynamic sea ice models: a new model that includes ice thickness distribution., the Ebert and Curry model, the Mayjut and Untersteiner model, and the Semtner level-3 and level-0 models. The climate forcing is chosen to be a perturbation of the surface heat flux, and cloud and water vapor feedbacks are inoperative so that the effects of the sea ice-albedo feedback mechanism can be isolated. The inclusion of melt ponds significantly strengthens the ice-albedo feedback, while the ice thickness distribution decreases the strength of the modeled sea ice-albedo feedback. It is emphasized that accurately modeling present-day sea ice thickness is not adequate for a sea ice parameterization; the correct physical processes must be included so that the sea ice parameterization yields correct sensitivities to external forcing. 22 refs., 6 figs., 1 tab.

Should drivers be operating within an automation-free bandwidth? Evaluating haptic steering support systems with different levels of authority.

Science.gov (United States)

Petermeijer, Sebastiaan M; Abbink, David A; de Winter, Joost C F

2015-02-01

The aim of this study was to compare continuous versus bandwidth haptic steering guidance in terms of lane-keeping behavior, aftereffects, and satisfaction. An important human factors question is whether operators should be supported continuously or only when tolerance limits are exceeded. We aimed to clarify this issue for haptic steering guidance by investigating costs and benefits of both approaches in a driving simulator. Thirty-two participants drove five trials, each with a different level of haptic support: no guidance (Manual); guidance outside a 0.5-m bandwidth (Band1); a hysteresis version of Band1, which guided back to the lane center once triggered (Band2); continuous guidance (Cont); and Cont with double feedback gain (ContS). Participants performed a reaction time task while driving. Toward the end of each trial, the guidance was unexpectedly disabled to investigate aftereffects. All four guidance systems prevented large lateral errors (>0.7 m). Cont and especially ContS yielded smaller lateral errors and higher time to line crossing than Manual, Band1, and Band2. Cont and ContS yielded short-lasting aftereffects, whereas Band1 and Band2 did not. Cont yielded higher self-reported satisfaction and faster reaction times than Band1. Continuous and bandwidth guidance both prevent large driver errors. Continuous guidance yields improved performance and satisfaction over bandwidth guidance at the cost of aftereffects and variability in driver torque (indicating human-automation conflicts). The presented results are useful for designers of haptic guidance systems and support critical thinking about the costs and benefits of automation support systems.

Influence of Reduced Graphene Oxide on Effective Absorption Bandwidth Shift of Hybrid Absorbers.

Science.gov (United States)

Ameer, Shahid; Gul, Iftikhar Hussain

2016-01-01

The magnetic nanoparticle composite NiFe2O4 has traditionally been studied for high-frequency microwave absorption with marginal performance towards low-frequency radar bands (particularly L and S bands). Here, NiFe2O4 nanoparticles and nanohybrids using large-diameter graphene oxide (GO) sheets are prepared via solvothermal synthesis for low-frequency wide bandwidth shielding (L and S radar bands). The synthesized materials were characterized using XRD, SEM, FTIR and microwave magneto dielectric spectroscopy. The dimension of these solvothermally synthesized pristine particles and hybrids lies within 30-58 nm. Microwave magneto-dielectric spectroscopy was performed in the low-frequency region in the 1 MHz-3 GHz spectrum. The as-synthesized pristine nanoparticles and hybrids were found to be highly absorbing for microwaves throughout the L and S radar bands (graphene sheet coupling shows application of these materials with absorption bandwidth which is tailored such that these could be used for low frequency. Previously, these were used for high frequency absorptions (typically > 4 GHz) with limited selective bandwidth.

Biodiversity maintenance in food webs with regulatory environmental feedbacks.

Science.gov (United States)

Bagdassarian, Carey K; Dunham, Amy E; Brown, Christopher G; Rauscher, Daniel

2007-04-21

Although the food web is one of the most fundamental and oldest concepts in ecology, elucidating the strategies and structures by which natural communities of species persist remains a challenge to empirical and theoretical ecologists. We show that simple regulatory feedbacks between autotrophs and their environment when embedded within complex and realistic food-web models enhance biodiversity. The food webs are generated through the niche-model algorithm and coupled with predator-prey dynamics, with and without environmental feedbacks at the autotroph level. With high probability and especially at lower, more realistic connectance levels, regulatory environmental feedbacks result in fewer species extinctions, that is, in increased species persistence. These same feedback couplings, however, also sensitize food webs to environmental stresses leading to abrupt collapses in biodiversity with increased forcing. Feedback interactions between species and their material environments anchor food-web persistence, adding another dimension to biodiversity conservation. We suggest that the regulatory features of two natural systems, deep-sea tubeworms with their microbial consortia and a soil ecosystem manifesting adaptive homeostatic changes, can be embedded within niche-model food-web dynamics.

Fluid Limits for Bandwidth-Sharing Networks in Overload.

NARCIS (Netherlands)

Borst, S.; Egorova, R.; Zwart, A.P.

2014-01-01

Bandwidth-sharing networks as considered by Roberts and Massoulié [28] (Roberts JW, Massoulié L (1998) Bandwidth sharing and admission control for elastic traffic. Proc. ITC Specialist Seminar, Yokohama, Japan) provide a natural modeling framework for describing the dynamic flow-level interaction

Fluid limits for bandwidth-sharing networks in overload

NARCIS (Netherlands)

Borst, S.C.; Egorova, R.R.; Zwart, B.

2014-01-01

Bandwidth-sharing networks as considered by Roberts and Massoulié [28] (Roberts JW, Massoulié L (1998) Bandwidth sharing and admission control for elastic traffic. Proc. ITC Specialist Seminar, Yokohama, Japan) provide a natural modeling framework for describing the dynamic flow-level interaction

Force illusions and drifts observed during muscle vibration.

Science.gov (United States)

Reschechtko, Sasha; Cuadra, Cristian; Latash, Mark L

2018-01-01

We explored predictions of a scheme that views position and force perception as a result of measuring proprioceptive signals within a reference frame set by ongoing efferent process. In particular, this hypothesis predicts force illusions caused by muscle vibration and mediated via changes in both afferent and efferent components of kinesthesia. Healthy subjects performed accurate steady force production tasks by pressing with the four fingers of one hand (the task hand) on individual force sensors with and without visual feedback. At various times during the trials, subjects matched the perceived force using the other hand. High-frequency vibration was applied to one or both of the forearms (over the hand and finger extensors). Without visual feedback, subjects showed a drop in the task hand force, which was significantly smaller under the vibration of that forearm. Force production by the matching hand was consistently higher than that of the task hand. Vibrating one of the forearms affected the matching hand in a manner consistent with the perception of higher magnitude of force produced by the vibrated hand. The findings were consistent between the dominant and nondominant hands. The effects of vibration on both force drift and force mismatching suggest that vibration led to shifts in both signals from proprioceptors and the efferent component of perception, the referent coordinate and/or coactivation command. The observations fit the hypothesis on combined perception of kinematic-kinetic variables with little specificity of different groups of peripheral receptors that all contribute to perception of forces and coordinates. NEW & NOTEWORTHY We show that vibration of hand/finger extensors produces consistent errors in finger force perception. Without visual feedback, finger force drifted to lower values without a drift in the matching force produced by the other hand; hand extensor vibration led to smaller finger force drift. The findings fit the scheme with

Feedback stabilization of the resistive shell mode in a tokamak fusion reactor

International Nuclear Information System (INIS)

Fitzpatrick, R.

1997-01-01

Stabilization of the 'resistive shell mode' is vital to the success of the 'advanced tokamak' concept. The most promising reactor relevant approach is to apply external feedback using, for instance, the previously proposed 'fake rotating shell' scheme [R. Fitzpatrick and T. H. Jensen, Phys. Plasmas 3, 2641 (1996)]. This scheme, like other simple feedback schemes, only works if the feedback controlled conductors are located inside the 'critical radius' at which a perfectly conducting shell is just able to stabilize the ideal external kink mode. In general, this is not possible in a reactor, since engineering constraints demand that any feedback controlled conductors be placed outside the neutron shielding blanket (i.e., relatively far from the edge of the plasma). It is demonstrated that the fake rotating shell feedback scheme can be modified so that it works even when the feedback controlled conductors are located well beyond the critical radius. The gain, bandwidth, current, and total power requirements of such a feedback system for a reactor sized plasma are estimated to be less than 100, a few Hz, a fews tens of kA, and a few MW, respectively. These requirements could easily be met using existing technology. It is concluded that feedback stabilization of the resistive shell mode is possible in a tokamak fusion reactor. copyright 1997 American Institute of Physics

Stable dynamics in forced systems with sufficiently high/low forcing frequency.

Science.gov (United States)

Bartuccelli, M; Gentile, G; Wright, J A

2016-08-01

We consider parametrically forced Hamiltonian systems with one-and-a-half degrees of freedom and study the stability of the dynamics when the frequency of the forcing is relatively high or low. We show that, provided the frequency is sufficiently high, Kolmogorov-Arnold-Moser (KAM) theorem may be applied even when the forcing amplitude is far away from the perturbation regime. A similar result is obtained for sufficiently low frequency, but in that case we need the amplitude of the forcing to be not too large; however, we are still able to consider amplitudes which are outside of the perturbation regime. In addition, we find numerically that the dynamics may be stable even when the forcing amplitude is very large, well beyond the range of validity of the analytical results, provided the frequency of the forcing is taken correspondingly low.

Simulation of e-cloud driven instability and its attenuation using a simulated feedback system in the CERN SPS

International Nuclear Information System (INIS)

Vay, J.-L.; Furman, M.A.

2010-01-01

Electron clouds have been shown to trigger fast growing instabilities on proton beams circulating in the SPS, and a feedback system to control the single-bunch instabilities is under active development. We present the latest improvements to the WARP-POSINST simulation framework and feedback model, and its application to the self-consistent simulations of two consecutive bunches interacting with an electron cloud in the SPS. Simulations using an idealized feedback system exhibit adequate mitigation of the instability providing that the cutoff of the feedback bandwidth is at or above 450 MHz. Artifacts from numerical noise of the injected distribution of electrons in the modeling of portions of bunch trains are discussed, and benchmarking of WARP against POSINST and HEADTAIL are presented.

High-speed atomic force microscope imaging: Adaptive multiloop mode

Science.gov (United States)

Ren, Juan; Zou, Qingze; Li, Bo; Lin, Zhiqun

2014-07-01

In this paper, an imaging mode (called the adaptive multiloop mode) of atomic force microscope (AFM) is proposed to substantially increase the speed of tapping mode (TM) imaging while preserving the advantages of TM imaging over contact mode (CM) imaging. Due to its superior image quality and less sample disturbances over CM imaging, particularly for soft materials such as polymers, TM imaging is currently the most widely used imaging technique. The speed of TM imaging, however, is substantially (over an order of magnitude) lower than that of CM imaging, becoming the major bottleneck of this technique. Increasing the speed of TM imaging is challenging as a stable probe tapping on the sample surface must be maintained to preserve the image quality, whereas the probe tapping is rather sensitive to the sample topography variation. As a result, the increase of imaging speed can quickly lead to loss of the probe-sample contact and/or annihilation of the probe tapping, resulting in image distortion and/or sample deformation. The proposed adaptive multiloop mode (AMLM) imaging overcomes these limitations of TM imaging through the following three efforts integrated together: First, it is proposed to account for the variation of the TM deflection when quantifying the sample topography; second, an inner-outer feedback control loop to regulate the TM deflection is added on top of the tapping-feedback control loop to improve the sample topography tracking; and, third, an online iterative feedforward controller is augmented to the whole control system to further enhance the topography tracking, where the next-line sample topography is predicted and utilized to reduce the tracking error. The added feedback regulation of the TM deflection ensures the probe-sample interaction force remains near the minimum for maintaining a stable probe-sample interaction. The proposed AMLM imaging is tested and demonstrated by imaging a poly(tert-butyl acrylate) sample in experiments. The

Selective visual scaling of time-scale processes facilitates broadband learning of isometric force frequency tracking.

Science.gov (United States)

King, Adam C; Newell, Karl M

2015-10-01

The experiment investigated the effect of selectively augmenting faster time scales of visual feedback information on the learning and transfer of continuous isometric force tracking tasks to test the generality of the self-organization of 1/f properties of force output. Three experimental groups tracked an irregular target pattern either under a standard fixed gain condition or with selectively enhancement in the visual feedback display of intermediate (4-8 Hz) or high (8-12 Hz) frequency components of the force output. All groups reduced tracking error over practice, with the error lowest in the intermediate scaling condition followed by the high scaling and fixed gain conditions, respectively. Selective visual scaling induced persistent changes across the frequency spectrum, with the strongest effect in the intermediate scaling condition and positive transfer to novel feedback displays. The findings reveal an interdependence of the timescales in the learning and transfer of isometric force output frequency structures consistent with 1/f process models of the time scales of motor output variability.

Tailored long range forces on polarizable particles by collective scattering of broadband radiation

International Nuclear Information System (INIS)

Holzmann, D; Ritsch, H

2016-01-01

Collective coherent light scattering by polarizable particles creates surprisingly strong, long range inter-particle forces originating from interference of the light scattered by different particles. While for monochromatic laser beams this interaction decays with the inverse distance, we show here that in general the effective interaction range and geometry can be controlled by the illumination bandwidth and geometry. As generic example we study the modifications inter-particle forces within a 1D chain of atoms trapped in the field of a confined optical nanofiber mode. For two particles we find short range attraction as well as optical binding at multiple distances. The range of stable distances shrinks with increasing light bandwidth and for a very large bandwidth field as e.g. blackbody radiation. We find a strongly attractive potential up to a critical distance beyond which the force gets repulsive. Including multiple scattering can even lead to the appearance of a stable configuration at a large distance. Such broadband scattering forces should be observable contributions in ultra-cold atom interferometers or atomic clocks setups. They could be studied in detail in 1D geometries with ultra-cold atoms trapped along or within an optical nanofiber. Broadband radiation force interactions might also contribute in astrophysical scenarios as illuminated cold dust clouds. (paper)

Studies of bandwidth dependence of laser plasma instabilities driven by the Nike laser

Science.gov (United States)

Weaver, J.; Kehne, D.; Obenschain, S.; Serlin, V.; Schmitt, A. J.; Oh, J.; Lehmberg, R. H.; Brown, C. M.; Seely, J.; Feldman, U.

2012-10-01

Experiments at the Nike laser facility of the Naval Research Laboratory are exploring the influence of laser bandwidth on laser plasma instabilities (LPI) driven by a deep ultraviolet pump (248 nm) that incorporates beam smoothing by induced spatial incoherence (ISI). In early ISI studies with longer wavelength Nd:glass lasers (1054 nm and 527 nm),footnotetextObenschain, PRL 62(1989);Mostovych, PRL 62(1987);Peyser, Phys. Fluids B 3(1991). stimulated Raman scattering, stimulated Brillouin scattering, and the two plasmon decay instability were reduced when wide bandwidth ISI (δν/ν˜0.03-0.19%) pulses irradiated targets at moderate to high intensities (10^14-10^15 W/cm^2). The current studies will compare the emission signatures of LPI from planar CH targets during Nike operation at large bandwidth (δν˜1THz) to observations for narrower bandwidth operation (δν˜0.1-0.3THz). These studies will help clarify the relative importance of the short wavelength and wide bandwidth to the increased LPI intensity thresholds observed at Nike. New pulse shapes are being used to generate plasmas with larger electron density scale-lengths that are closer to conditions during pellet implosions for direct drive inertial confinement fusion.

Architecture and technology of 500 Msample/s feedback systems for control of coupled-bunch instabilities

International Nuclear Information System (INIS)

Teytelman, Dmitry

2000-01-01

Feedback control of coupled-bunch instabilities presents many challenges. Control bandwidths up to 250 MHz are required to damp all of the unstable coupled-bunch modes in recent accelerators. A digital parallel-processing array with 80 DSPs has been developed to control longitudinal instabilities in PEP-II/ALS/DA NE machines. Here the authors present a description of the architecture as well as the technologies used to implement 500 Msample/s real-time control system with 2,000 FIR filtering channels. Algorithms for feedback control, data acquisition, and analysis are described and measurements from ALS are presented

A new atomic force microscopy based technique for studying nanoscale friction at high sliding velocities

International Nuclear Information System (INIS)

Tambe, Nikhil S; Bhushan, Bharat

2005-01-01

Tribological studies on the micro/nanoscale conducted using an atomic force microscope (AFM) have been limited to low sliding velocities ( -1 ) due to inherent instrument limitations. Studies of tribological properties of materials, coatings and lubricants that find applications in micro/nanoelectromechanical systems and magnetic head-media in magnetic storage devices that operate at high sliding velocities have thus been rendered inadequate. We have developed a new technique to study nanotribological properties at high sliding velocities (up to 10 mm s -1 ) by modifying the commercial AFM set-up. A custom calibrated nanopositioning piezo stage is used for mounting samples and scanning is achieved by providing a triangular input voltage pulse. A capacitive sensor feedback control system is employed to ensure a constant velocity profile during scanning. Friction data are obtained by processing the AFM laser photo-diode signals using a high sampling rate data acquisition card. The utility of the modified set-up for nanoscale friction studies at high sliding velocities is demonstrated using results obtained from various tests performed to study the effect of scan size, rest time, acceleration and velocity on the frictional force for single crystal silicon (100) with native oxide

Investigating the influence of chromatic aberration and optical illumination bandwidth on fundus imaging in rats

Science.gov (United States)

Li, Hao; Liu, Wenzhong; Zhang, Hao F.

2015-10-01

Rodent models are indispensable in studying various retinal diseases. Noninvasive, high-resolution retinal imaging of rodent models is highly desired for longitudinally investigating the pathogenesis and therapeutic strategies. However, due to severe aberrations, the retinal image quality in rodents can be much worse than that in humans. We numerically and experimentally investigated the influence of chromatic aberration and optical illumination bandwidth on retinal imaging. We confirmed that the rat retinal image quality decreased with increasing illumination bandwidth. We achieved the retinal image resolution of 10 μm using a 19 nm illumination bandwidth centered at 580 nm in a home-built fundus camera. Furthermore, we observed higher chromatic aberration in albino rat eyes than in pigmented rat eyes. This study provides a design guide for high-resolution fundus camera for rodents. Our method is also beneficial to dispersion compensation in multiwavelength retinal imaging applications.

Partially blind instantly decodable network codes for lossy feedback environment

KAUST Repository

Sorour, Sameh

2014-09-01

In this paper, we study the multicast completion and decoding delay minimization problems for instantly decodable network coding (IDNC) in the case of lossy feedback. When feedback loss events occur, the sender falls into uncertainties about packet reception at the different receivers, which forces it to perform partially blind selections of packet combinations in subsequent transmissions. To determine efficient selection policies that reduce the completion and decoding delays of IDNC in such an environment, we first extend the perfect feedback formulation in our previous works to the lossy feedback environment, by incorporating the uncertainties resulting from unheard feedback events in these formulations. For the completion delay problem, we use this formulation to identify the maximum likelihood state of the network in events of unheard feedback and employ it to design a partially blind graph update extension to the multicast IDNC algorithm in our earlier work. For the decoding delay problem, we derive an expression for the expected decoding delay increment for any arbitrary transmission. This expression is then used to find the optimal policy that reduces the decoding delay in such lossy feedback environment. Results show that our proposed solutions both outperform previously proposed approaches and achieve tolerable degradation even at relatively high feedback loss rates.

Force-deflection behavior of piezoelectric actuators

Science.gov (United States)

Singh, Ashok K.; Nagpal, Pawan

2001-11-01

In the present endeavour, force - deflection behavior of various piezoelectric actuator configurations has been analyzed for performance comparison. The response of stack actuator has been simulated using MATLAB Simulink, in a stack actuator-pendulum configuration. During simulation, stack actuator has been used in charge control feedback mode, because of the advantage of low hysteresis, and high linearity. The model incorporates three compensation blocks, viz 1) a PID position controller, 2) a PI piezoelectric current controller, and 3) a dynamic force feedback. A typical stack actuator, having 130 layers, 1.20x10-4 m thickness, 3.46x10-5m2 cross sectional area, of PZT-5H type, has been utilized for simulation. The response of the system has been tested by applying a sinusoidal input of frequency 500 Hz, and waveform amplitude of 1x10-3V.

Digital closed orbit feedback system for the advanced photon source storage ring

International Nuclear Information System (INIS)

Chung, Y.; Barr, D.; Decker, G.

1995-01-01

The Advanced Photon Source (APS) is a dedicated third-generation synchrotron light source with a nominal energy of 7 GeV and a circumference of 1104 m. The closed orbit feedback system for the APS storage ring employs unified global and local feedback systems for stabilization of particle and photon beams based on digital signal processing (DSP). Hardware and software aspects of the system will be described in this paper. In particular, we will discuss global and local orbit feedback algorithms, PID (proportional, integral, and derivative) control algorithm, application of digital signal processing to compensate for vacuum chamber eddy current effects, resolution of the interaction between global and local systems through decoupling, self-correction of the local bump closure error, user interface through the APS control system, and system performance in the frequency and time domains. The system hardware including the DSPs is distributed in 20 VME crates around the ring, and the entire feedback system runs synchronously at 4-kHz sampling frequency in order to achieve a correction bandwidth exceeding 100 Hz. The required data sharing between the global and local feedback systems is facilitated via the use of fiber-optically-networked reflective memories

Global monsoons in the mid-Holocene and oceanic feedback

Energy Technology Data Exchange (ETDEWEB)

Liu, Z.; Kutzbach, J. [Center for Climatic Research, University of Wisconsin-Madison, 1225 W. Dayton Street, Madison, WI 53706 (United States); Harrison, S.P. [Max Planck Institute for Biogeochemistry, P.O. Box 100164, 07701 Jena (Germany); Otto-Bliesner, B. [National Center for Atmospheric Research, PO Box 3000, Boulder, CO 80307 (United States)

2004-03-01

The response of the six major summer monsoon systems (the North American monsoon, the northern Africa monsoon, the Asia monsoon, the northern Australasian monsoon, the South America monsoon and the southern Africa monsoon) to mid-Holocene orbital forcing has been investigated using a coupled ocean-atmosphere general circulation model (FOAM), with the focus on the distinct roles of the direct insolation forcing and oceanic feedback. The simulation result is also found to compare well with the NCAR CSM. The direct effects of the change in insolation produce an enhancement of the Northern Hemisphere monsoons and a reduction of the Southern Hemisphere monsoons. Ocean feedbacks produce a further enhancement of the northern Africa monsoon and the North American monsoon. However, ocean feedbacks appear to weaken the Asia monsoon, although the overall effect (direct insolation forcing plus ocean feedback) remains a strengthened monsoon. The impact of ocean feedbacks on the South American and southern African monsoons is relatively small, and therefore these regions, especially the South America, experienced a reduced monsoon regime compared to present. However, there is a strong ocean feedback on the northern Australian monsoon that negates the direct effects of orbital changes and results in a strengthening of austral summer monsoon precipitation in this region. A new synthesis is made for mid-Holocene paleoenvironmental records and is compared with the model simulations. Overall, model simulations produce changes in regional climates that are generally consistent with paleoenvironmental observations. (orig.)

Bandwidth selection in smoothing functions | Kibua | East African ...

African Journals Online (AJOL)

... inexpensive and, hence, worth adopting. We argue that the bandwidth parameter is determined by two factors: the kernel function and the length of the smoothing region. We give an illustrative example of its application using real data. Keywords: Kernel, Smoothing functions, Bandwidth > East African Journal of Statistics ...

Force-feedback tele operation of industrial robots a cost effective solution for decontamination of nuclear plants

International Nuclear Information System (INIS)

Desbats, P.; Andriot, C.; Gicquel, P.; Viallesoubranne, J.P.; Souche, C.

1998-01-01

Decontamination and maintenance in hot cells are some new emerging applications of industrial robots in the nuclear fuel cycle plants. Industrial robots are low cost, accurate and reliable manipulator arms which are used in manufacturing industries usually. Thanks to the recent evolution of robotics technologies, some industrial robots may be adapted to nuclear environment. These robots are transportable, sealed and can be decontaminated, and they may be 'hardened' up to a level of irradiation dose sufficient for operation in low and medium irradiating/contaminating environments. Although industrial robots are usually programmed to perform specific and repetitive tasks, they may be remotely tele-operated by human operators as well. This allows industrial robots to perform usual tele-manipulation tasks encountered in the nuclear plants and more. The paper presents the computer based tele-operation control system TAO2000 TM , developed by the Tele-operation and Robotics Service of CEA, which has been applied to the RX90 TM industrial robot from ST-UBLI company. This robot has been selected in order to perform various maintenance and decontamination tasks in COGEMA plants. TAO2000 provides the overall tele-robotic and robotic functions necessary to perform any remote tele-operation application in hostile environment: force-feedback master-slave control; computer- assisted tele-operation of mechanical processes; trajectory programming as well as various robotics functions; graphical modelling of working environment and simulation; automatic path planning with obstacle avoidance; man-machine interface for tasks programming and mission execution. Experimental results reported in the paper demonstrate the feasibility of force-feedback master-slave control of standard industrial robots. Finally, the design of new, cost effective. tele-operation systems based on industrial robots may be intended for nuclear plants maintenance. (author)

Design optimization of the distributed modal filtering rod fiber for increasing single mode bandwidth

DEFF Research Database (Denmark)

Jørgensen, Mette Marie; Petersen, Sidsel Rübner; Laurila, Marko

2012-01-01

. Large preform tolerances are compensated during the fiber draw resulting in ultra low NA fibers with very large cores. In this paper, design optimization of the SM bandwidth of the DMF rod fiber is presented. Analysis of band gap properties results in a fourfold increase of the SM bandwidth compared...... LMA fiber amplifiers having high pump absorption through a pump cladding that is decoupled from the outer fiber. However, achieving ultra low NA for single-mode (SM) guidance is challenging, and thus different design strategies must be applied to filter out higher order modes (HOMs). The novel...... distributed modal filtering (DMF) design presented here enables SM guidance, and previous results have shown a SM mode field diameter of 60 μm operating in a 20 nm SM bandwidth. The DMF rod fiber has high index ring-shaped inclusions acting as resonators enabling SM guidance through modal filtering of HOMs...

A Piezoelectric PZT Ceramic Mulitlayer Stack for Energy Harvesting Under Dynamic Forces

Science.gov (United States)

Xu, Tian-Bing; Siochi, Emilie J.; Kang, Jin Ho; Zuo, Lei; Zhou, Wanlu; Tang, Xiudong; Jiang, Xiaoning

2011-01-01

Piezoelectric energy harvesting transducers (PEHTs) are commonly used in motion/vibration energy scavenging devices. To date, most researchers have focused on energy harvesting at narrow bandwidths around the mechanical resonance frequency, and most piezoelectric harvesting devices reported in the literature have very low effective piezoelectric coefficient (d(sub eff)) (coefficients of about 100 pC/N. The level of harvested electrical power for CBPEHTs is on the order of microW even at resonance mode. In order to harvest more electrical energy across broader bandwidth, high effective piezoelectric coefficient structures are needed. In this study, we investigate a "33" longitudinal mode, piezoelectric PZT ceramic multilayer stack (PZT-Stack) with high effective piezoelectric coefficient for high-performance PEHTs. The PZT-Stack is composed of 300 layers of 0.1 mm thick PZT plates, with overall dimensions of 32.4 mm X 7.0 mm X 7.0 mm. Experiments were carried out with dynamic forces in a broad bandwidth ranging from 0.5 Hz to 25 kHz. The measured results show that the effective piezoelectric coefficient of the PZT-stack is about 1 X 10(exp 5) pC/N at off-resonance frequencies and 1.39 X 10(exp 6) pC/N at resonance, which is order of magnitude larger than that of traditional PEHTs. The effective piezoelectric coefficients (d(sub eff)) do not change significantly with applied dynamic forces having root mean square (RMS) values ranging from 1 N to 40 N. In resonance mode, 231 mW of electrical power was harvested at 2479 Hz with a dynamic force of 11.6 N(sub rms), and 7.6 mW of electrical power was generated at a frequency of 2114 Hz with 1 N(sub rms) dynamic force. In off-resonance mode, an electrical power of 18.7 mW was obtained at 680 Hz with a 40 N(sub rms) dynamic force. A theoretical model of energy harvesting for the PZT-Stack is established. The modeled results matched well with experimental measurements. This study demonstrated that high effective

Orientation masking and cross-orientation suppression (XOS): implications for estimates of filter bandwidth.

Science.gov (United States)

Meese, Tim S; Holmes, David J

2010-10-01

Most contemporary models of spatial vision include a cross-oriented route to suppression (masking from a broadly tuned inhibitory pool), which is most potent at low spatial and high temporal frequencies (T. S. Meese & D. J. Holmes, 2007). The influence of this pathway can elevate orientation-masking functions without exciting the target mechanism, and because early psychophysical estimates of filter bandwidth did not accommodate this, it is likely that they have been overestimated for this corner of stimulus space. Here we show that a transient 40% contrast mask causes substantial binocular threshold elevation for a transient vertical target, and this declines from a mask orientation of 0° to about 40° (indicating tuning), and then more gently to 90°, where it remains at a factor of ∼4. We also confirm that cross-orientation masking is diminished or abolished at high spatial frequencies and for sustained temporal modulation. We fitted a simple model of pedestal masking and cross-orientation suppression (XOS) to our data and those of G. C. Phillips and H. R. Wilson (1984) and found the dependency of orientation bandwidth on spatial frequency to be much less than previously supposed. An extension of our linear spatial pooling model of contrast gain control and dilution masking (T. S. Meese & R. J. Summers, 2007) is also shown to be consistent with our results using filter bandwidths of ±20°. Both models include tightly and broadly tuned components of divisive suppression. More generally, because XOS and/or dilution masking can affect the shape of orientation-masking curves, we caution that variations in bandwidth estimates might reflect variations in processes that have nothing to do with filter bandwidth.

Polybinary modulation for bandwidth limited optical links

DEFF Research Database (Denmark)

Vegas Olmos, Juan José; Jurado-Navas, Antonio

2015-01-01

form of partial response modulation, employs simple codification and filtering at the transmitter to drastically increase the spectral efficiency. At the receiver side, poly binary modulation requires low complexity direct detection and very little digital signal processing. This talk will review...... the recent results on poly binary modulation, comprising both binary and multilevel signals as seed signals. The results will show how poly binary modulation effectively reduces the bandwidth requirements on optical links while providing high spectral efficiency....

High-power RF controls for the NBS-Los Alamos racetrack microtron

International Nuclear Information System (INIS)

Young, L.M.; Biddl, R.S.

1985-01-01

The high-power rf system for the National Bureau of Standards (NBS)-Los Alamos racetrack microtron (RTM) uses waveguide power splitters and waveguide phase shifters to distribute rf power from a single 500-kw cw klystron to four side-coupled accelerating structures. The amplitude and phase of each structure is controlled by a feedback system that uses the waveguide variable power splitters, waveguide phase shifters, and klystron drive as the active control elements. The feedback controls on the capture section use low-level rf amplitude and phase controls on the rf drive to the klystron. These controls are very fast with an open loop gain bandwidth of approximately 40 kHz. The feedback loop is identical to the feedback loop used in the chopper/buncher system described in another paper at this conference

Bandwidth-sharing in LHCONE, an analysis of the problem

Science.gov (United States)

Wildish, T.

2015-12-01

The LHC experiments have traditionally regarded the network as an unreliable resource, one which was expected to be a major source of errors and inefficiency at the time their original computing models were derived. Now, however, the network is seen as much more capable and reliable. Data are routinely transferred with high efficiency and low latency to wherever computing or storage resources are available to use or manage them. Although there was sufficient network bandwidth for the experiments’ needs during Run-1, they cannot rely on ever-increasing bandwidth as a solution to their data-transfer needs in the future. Sooner or later they need to consider the network as a finite resource that they interact with to manage their traffic, in much the same way as they manage their use of disk and CPU resources. There are several possible ways for the experiments to integrate management of the network in their software stacks, such as the use of virtual circuits with hard bandwidth guarantees or soft real-time flow-control, with somewhat less firm guarantees. Abstractly, these can all be considered as the users (the experiments, or groups of users within the experiment) expressing a request for a given bandwidth between two points for a given duration of time. The network fabric then grants some allocation to each user, dependent on the sum of all requests and the sum of available resources, and attempts to ensure the requirements are met (either deterministically or statistically). An unresolved question at this time is how to convert the users’ requests into an allocation. Simply put, how do we decide what fraction of a network's bandwidth to allocate to each user when the sum of requests exceeds the available bandwidth? The usual problems of any resourcescheduling system arise here, namely how to ensure the resource is used efficiently and fairly, while still satisfying the needs of the users. Simply fixing quotas on network paths for each user is likely to lead

A Novel Approach to Reduce the Unicast Bandwidth of an IPTV System in a High-Speed Access Network

Directory of Open Access Journals (Sweden)

El Hassane Khabbiza

2017-01-01

Full Text Available Channel change time is a critical quality of experience (QOE metric for IP-based video delivery systems such as Internet Protocol Television (IPTV. An interesting channel change acceleration scheme based on peer-assisted delivery was recently proposed, which consists of deploying one FCC server (Fast Channel Change Server in the IP backbone in order to send the unicast stream to the STB (Set-Top Box before sending the normal multicast stream after each channel change. However, deploying such a solution will cause high bandwidth usage in the network because of the huge unicast traffic sent by the FCC server to the STBs. In this paper, we propose a new solution to reduce the bandwidth occupancy of the unicast traffic, by deploying the FCC server capabilities on the user STB. This means that, after each channel change request, the STB will receive the unicast traffic from another STB instead of the central server. By using this method, the unicast traffic will not pass through the IP network; it will be a peer-to-peer communication via the Access Network only. Extensive simulation results are presented to demonstrate the robustness of our new solution.

The highs and lows of cloud radiative feedback: Comparing observational data and CMIP5 models

Science.gov (United States)

Jenney, A.; Randall, D. A.

2014-12-01

Clouds play a complex role in the climate system, and remain one of the more difficult aspects of the future climate to predict. Over subtropical eastern ocean basins, particularly next to California, Peru, and Southwest Africa, low marine stratocumulus clouds (MSC) help to reduce the amount of solar radiation that reaches the surface by reflecting incident sunlight. The climate feedback associated with these clouds is thought to be positive. This project looks at CMIP5 models and compares them to observational data from CERES and ERA-Interim to try and find observational evidence and model agreement for low, marine stratocumulus cloud feedback. Although current evidence suggests that the low cloud feedback is positive (IPCC, 2014), an analysis of the simulated relationship between July lower tropospheric stability (LTS) and shortwave cloud forcing in MSC regions suggests that this feedback is not due to changes in LTS. IPCC, 2013: Climate Change 2013: The Physical Science Basis. Contribution of Working Group I to the Fifth Assessment Report of the Intergovernmental Panel on Climate Change [Stocker, T.F., D. Qin, G.-K. Plattner, M. Tignor, S.K. Allen, J. Boschung, A. Nauels, Y. Xia, V. Bex and P.M. Midgley (eds.)]. Cambridge University Press, Cambridge, United Kingdom and New York, NY, USA, 1535 pp.

Nanomechanical characterization by double-pass force-distance mapping

Energy Technology Data Exchange (ETDEWEB)

Dagdas, Yavuz S; Tekinay, Ayse B; Guler, Mustafa O; Dana, Aykutlu [UNAM Institute of Materials Science and Nanotechnology, Bilkent University, 06800 Ankara (Turkey); Necip Aslan, M, E-mail: aykutlu@unam.bilkent.edu.tr [Department of Physics, Istanbul Technical University, Istanbul (Turkey)

2011-07-22

We demonstrate high speed force-distance mapping using a double-pass scheme. The topography is measured in tapping mode in the first pass and this information is used in the second pass to move the tip over the sample. In the second pass, the cantilever dither signal is turned off and the sample is vibrated. Rapid (few kHz frequency) force-distance curves can be recorded with small peak interaction force, and can be processed into an image. Such a double-pass measurement eliminates the need for feedback during force-distance measurements. The method is demonstrated on self-assembled peptidic nanofibers.

Nanomechanical characterization by double-pass force-distance mapping

International Nuclear Information System (INIS)

Dagdas, Yavuz S; Tekinay, Ayse B; Guler, Mustafa O; Dana, Aykutlu; Necip Aslan, M

2011-01-01

We demonstrate high speed force-distance mapping using a double-pass scheme. The topography is measured in tapping mode in the first pass and this information is used in the second pass to move the tip over the sample. In the second pass, the cantilever dither signal is turned off and the sample is vibrated. Rapid (few kHz frequency) force-distance curves can be recorded with small peak interaction force, and can be processed into an image. Such a double-pass measurement eliminates the need for feedback during force-distance measurements. The method is demonstrated on self-assembled peptidic nanofibers.

Fitts’ Law in the Control of Isometric Grip Force With Naturalistic Targets

Directory of Open Access Journals (Sweden)

Zachary C. Thumser

2018-04-01

Full Text Available Fitts’ law models the relationship between amplitude, precision, and speed of rapid movements. It is widely used to quantify performance in pointing tasks, study human-computer interaction, and generally to understand perceptual-motor information processes, including research to model performance in isometric force production tasks. Applying Fitts’ law to an isometric grip force task would allow for quantifying grasp performance in rehabilitative medicine and may aid research on prosthetic control and design. We examined whether Fitts’ law would hold when participants attempted to accurately produce their intended force output while grasping a manipulandum when presented with images of various everyday objects (we termed this the implicit task. Although our main interest was the implicit task, to benchmark it and establish validity, we examined performance against a more standard visual feedback condition via a digital force-feedback meter on a video monitor (explicit task. Next, we progressed from visual force feedback with force meter targets to the same targets without visual force feedback (operating largely on feedforward control with tactile feedback. This provided an opportunity to see if Fitts’ law would hold without vision, and allowed us to progress toward the more naturalistic implicit task (which does not include visual feedback. Finally, we changed the nature of the targets from requiring explicit force values presented as arrows on a force-feedback meter (explicit targets to the more naturalistic and intuitive target forces implied by images of objects (implicit targets. With visual force feedback the relation between task difficulty and the time to produce the target grip force was predicted by Fitts’ law (average r2 = 0.82. Without vision, average grip force scaled accurately although force variability was insensitive to the target presented. In contrast, images of everyday objects generated more reliable grip forces

Fitts' Law in the Control of Isometric Grip Force With Naturalistic Targets.

Science.gov (United States)

Thumser, Zachary C; Slifkin, Andrew B; Beckler, Dylan T; Marasco, Paul D

2018-01-01

Fitts' law models the relationship between amplitude, precision, and speed of rapid movements. It is widely used to quantify performance in pointing tasks, study human-computer interaction, and generally to understand perceptual-motor information processes, including research to model performance in isometric force production tasks. Applying Fitts' law to an isometric grip force task would allow for quantifying grasp performance in rehabilitative medicine and may aid research on prosthetic control and design. We examined whether Fitts' law would hold when participants attempted to accurately produce their intended force output while grasping a manipulandum when presented with images of various everyday objects (we termed this the implicit task). Although our main interest was the implicit task, to benchmark it and establish validity, we examined performance against a more standard visual feedback condition via a digital force-feedback meter on a video monitor (explicit task). Next, we progressed from visual force feedback with force meter targets to the same targets without visual force feedback (operating largely on feedforward control with tactile feedback). This provided an opportunity to see if Fitts' law would hold without vision, and allowed us to progress toward the more naturalistic implicit task (which does not include visual feedback). Finally, we changed the nature of the targets from requiring explicit force values presented as arrows on a force-feedback meter (explicit targets) to the more naturalistic and intuitive target forces implied by images of objects (implicit targets). With visual force feedback the relation between task difficulty and the time to produce the target grip force was predicted by Fitts' law (average r 2 = 0.82). Without vision, average grip force scaled accurately although force variability was insensitive to the target presented. In contrast, images of everyday objects generated more reliable grip forces without the visualized

A New Kicker for the TLS Longitudinal Feedback System

CERN Document Server

Lau, Wai-Keung; Dehler, Micha; Hsu, Kuo-Tung; Hsu, San-Yuang; Jung Chou Ping; Wei Chen, Cheng; Yang Chen Huan; Yang Tze Te

2005-01-01

A new longitudinal kicker that is modified from the Swiss Light Source (SLS) design to fit into the TLS storage ring. It will be served as the actuator in the longitudinal multi-bunch feedback control loop. Beam coupling impedance has been calculated by Gdfidl with a PC cluster. Previous to the installation of this new kicker, bench measurement has been performed in the laboratory to characterize this new kicker. The experimental setups for bandwidth and coaxial wire measurement of longitudinal coupling impedance and their corresponding test results will be reported. As a cross check, bead-pull measurement has also been done to verify the beam coupling measurement by coaxial wire method at the kicker center frequency. Longitudinal field profile of the accelerating mode along the beam path has also been mapped. High order cavity modes of the kicker have also been observed and their effects on the beam are evaluated.

Pilot acute study of feedback-controlled retrograde peristalsis invoked by neural gastric electrical stimulation

International Nuclear Information System (INIS)

Aelen, P; Jurkov, A; Aulanier, A; Mintchev, M P

2009-01-01

Neural gastric electrical stimulation (NGES) is a new method for invoking gastric contractions under microprocessor control. However, optimization of this technique using feedback mechanisms to minimize power consumption and maximize effectiveness has been lacking. The present pilot study proposes a prototype feedback-controlled neural gastric electric stimulator for the treatment of obesity. Both force-based and inter-electrode impedance-based feedback neurostimulators were implemented and tested. Four mongrel dogs (2 M, 2 F, weight 14.9 ± 2.3 kg) underwent subserosal implantation of two-channel, 1 cm, bipolar electrode leads and two force transducers in the distal antrum. Two of the dogs were stimulated with a force feedback system utilizing the force transducers, and the other two animals were stimulated utilizing an inter-electrode impedance-based feedback system utilizing the proximal electrode leads. Both feedback systems were able to recognize erythromycin-driven contractions of the stomach and were capable of overriding them with NGES-invoked retrograde contractions which exceeded the magnitudes of the erythromycin-driven contractions by an average of 100.6 ± 33.5% in all animals. The NGES-invoked contractions blocked the erythromycin-driven contractions past the proximal electrode pair and induced temporary gastroparesis in the vicinity of the distal force transducer despite the continuing erythromycin infusion. The amplitudes of the erythromycin-invoked contractions in the vicinity of the proximal force transducer decreased abruptly by an average of 47.9 ± 6.3% in all four dogs after triggering-invoked retrograde contractions, regardless of the specific feedback-controlled mechanism. The proposed technique could be helpful for retaining food longer in the stomach, thus inducing early satiety and diminishing food intake

Bilateral teleoperation for force sensorless 1-dof robots

NARCIS (Netherlands)

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

2010-01-01

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

Task-space sensory feedback control of robot manipulators

CERN Document Server

Cheah, Chien Chern

2015-01-01

This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...

Kernel bandwidth estimation for non-parametric density estimation: a comparative study

CSIR Research Space (South Africa)

Van der Walt, CM

2013-12-01

Full Text Available We investigate the performance of conventional bandwidth estimators for non-parametric kernel density estimation on a number of representative pattern-recognition tasks, to gain a better understanding of the behaviour of these estimators in high...

Regional feedbacks under changing climate and land-use conditions

Science.gov (United States)

Batlle Bayer, L.; van den Hurk, B. J. J. M.; Strengers, B. J.; van Minnen, J. G.

2012-04-01

Ecosystem responses to a changing climate and human-induced climate forcings (e.g. deforestation) might amplify (positive feedback) or dampen (negative feedback) the initial climate response. Feedbacks may include the biogeochemical (e.g. carbon cycle) and biogeophysical feedbacks (e.g. albedo and hydrological cycle). Here, we first review the most important feedbacks and put them into the context of a conceptual framework, including the major processes and interactions between terrestrial ecosystems and climate. We explore potential regional feedbacks in four hot spots with pronounced potential changes in land-use/management and local climate: sub-Saharan Africa (SSA), Europe, the Amazon Basin and South and Southeast Asia. For each region, the relevant human-induced climate forcings and feedbacks were identified based on published literature. When evapotranspiration is limited by a soil water deficit, heat waves in Europe are amplified (positive soil moisture-temperature feedback). Drought events in the Amazon lead to further rainfall reduction when water recycling processes are affected (positive soil moisture-precipitation feedback). In SSA, the adoption of irrigation in the commonly rainfed systems can modulate the negative soil moisture-temperature feedback. In contrast, future water shortage in South and Southeast Asia can turn the negative soil moisture-temperature feedback into a positive one. Further research including advanced modeling strategies is needed to isolate the dominant processes affecting the strength and sign of the feedbacks. In addition, the socio-economic dimension needs to be considered in the ecosystems-climate system to include the essential role of human decisions on land-use and land-cover change (LULCC). In this context, enhanced integration between Earth System (ES) and Integrated Assessment (IA) modeling communities is strongly recommended.

TPROXY dan FILTERING SEBAGAI METODE OPTIMASI PEMAKAIAN BANDWIDTH INTERNET

Directory of Open Access Journals (Sweden)

Sutiyo Sutiyo

2015-04-01

Full Text Available Until now the use of the internet disuatu agencies viewed from the initial planning, use and care, even long-term planning is still not optimal. The main factor lies in the existing human resources, especially in IT personnel and policy makers who do not understand or do not even know at all how your use of the Internet well, optimal, efficient, particularly associated with the consumption of Internet bandwidth. Internet bandwidth capacity greatly affect the speed of web access or other Internet applications. So we need a plan and maintance necessary to obtain good Internet bandwidth consumption efficiency and guaranteed QoS, such as by utilizing Tproxy and filtering methods. TProxy is a development of which has been patched Squid, a proxy to be able to pass traffic without NAT (Network Access Translation. Fitering a firewall system which is used for filtering data packets that do not want filtered dikendaki or akhirmya able to minimize traffic on bandwidth usage. Tproxy and filtering runs on the Linux platform. Linux distributions are often used to Tproxy is a variant Debian, Centos and then to use Mikrotik Filtering. At the end of each request or query from the client or the response of the proxy server does not have meaningful constraints, the bandwidth between the client and the proxy server does not happen limitation, bandwidth capable of running close to capacity including 10 Mbps Ethernet, 100 Mbps, and even a GPS (full speed.

Reorganised force control in elbow pain patients during isometric wrist extension