Real Time Energy Management Control Strategies for Hybrid Powertrains

Science.gov (United States)

Zaher, Mohamed Hegazi Mohamed

In order to improve fuel efficiency and reduce emissions of mobile vehicles, various hybrid power-train concepts have been developed over the years. This thesis focuses on embedded control of hybrid powertrain concepts for mobile vehicle applications. Optimal robust control approach is used to develop a real time energy management strategy for continuous operations. The main idea is to store the normally wasted mechanical regenerative energy in energy storage devices for later usage. The regenerative energy recovery opportunity exists in any condition where the speed of motion is in opposite direction to the applied force or torque. This is the case when the vehicle is braking, decelerating, or the motion is driven by gravitational force, or load driven. There are three main concepts for regernerative energy storing devices in hybrid vehicles: electric, hydraulic, and flywheel. The real time control challenge is to balance the system power demand from the engine and the hybrid storage device, without depleting the energy storage device or stalling the engine in any work cycle, while making optimal use of the energy saving opportunities in a given operational, often repetitive cycle. In the worst case scenario, only engine is used and hybrid system completely disabled. A rule based control is developed and tuned for different work cycles and linked to a gain scheduling algorithm. A gain scheduling algorithm identifies the cycle being performed by the machine and its position via GPS, and maps them to the gains.

Position Control of Linear Synchronous Motor Drives with Exploitation of Forced Dynamics Control Principles

Directory of Open Access Journals (Sweden)

Jan Vittek

2004-01-01

Full Text Available Closed-loop position control of mechanisms directly driven by linear synchronous motors with permanent magnets is presented. The control strategy is based on forced dynamic control, which is a form of feedback linearisation, yielding a non-liner multivariable control law to obtain a prescribed linear speed dynamics together with the vector control condition of mutal orthogonality between the stator current and magnetic flux vectors (assuming perfect estimates of the plant parameters. Outer position control loop is closed via simple feedback with proportional gain. Simulations of the design control sysstem, including the drive with power electronic switching, predict the intended drive performance.

A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control

Directory of Open Access Journals (Sweden)

Jeremy Krause

2018-05-01

Full Text Available Although 3D printing has the potential to provide greater customization and to reduce the costs of creating actuators for industrial applications, the 3D printing of actuators is still a relatively new concept. We have developed a pneumatic actuator with 3D-printed parts and placed sensors for position and force control. So far, 3D printing has been used to create pneumatic actuators of the bellows type, thus having a limited travel distance, utilizing low pressures for actuation and being capable of only limited force production and response rates. In contrast, our actuator is linear with a large travel distance and operating at a relatively higher pressure, thus providing great forces and response rates, and this the main novelty of the work. We demonstrate solutions to key challenges that arise during the design and fabrication of 3D-printed linear actuators. These include: (1 the strategic use of metallic parts in high stress areas (i.e., the piston rod; (2 post-processing of the inner surface of the cylinder for smooth finish; (3 piston head design and seal placement for strong and leak-proof action; and (4 sensor choice and placement for position and force control. A permanent magnet placed in the piston head is detected using Hall effect sensors placed along the length of the cylinder to measure the position, and pressure sensors placed at the supply ports were used for force measurement. We demonstrate the actuator performing position, force and impedance control. Our work has the potential to open new avenues for creating less expensive, customizable and capable actuators for industrial and other applications.

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-15

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

Hybrid integrated sensor for position measurement

International Nuclear Information System (INIS)

Schmidt, B.; Schott, H.; Just, H.-J.

1986-01-01

The design, fabrication and performance of an integrated two-dimensional position sensitive photodetector are presented. The optoelectronic device used as sensitive element in the circuit is a full area position sensitive photodiode (PPD) with high linearity over the full sensitive area. The PPD is integrated with the analog electronics in a hybrid circuit using thick film technology. The analog electronics includes the signal amplification and the signal conditioning to form the output signals proportional to the light beam center position at the sensor surface and an output signal proportional to the light beam intensity. Using hybrid integration a new position sensitive transducer is developed giving output signals, transmiting in large distances without problems and driving directly actuators in any control system

Optimizing Armed Forces Capabilities for Hybrid Warfare – New Challenge for Slovak Armed Forces

Directory of Open Access Journals (Sweden)

Peter PINDJÁK

2015-09-01

Full Text Available The paper deals with the optimization of military capabilities of the Slovak Armed Forces for conducting operations in a hybrid conflict, which represents one of the possible scenarios of irregular warfare. Whereas in the regular warfare adversaries intend to eliminate the centers of gravity of each other, most often command and control structures, in irregular conflicts, the center of gravity shifts towards the will and cognitive perception of the target population. Hybrid warfare comprises a thoroughly planned combination of conventional military approaches and kinetic operations with subversive, irregular activities, including information and cyber operations. These efforts are often accompanied by intensified activities of intelligence services, special operation forces, and even mercenary and other paramilitary groups. The development of irregular warfare capabilities within the Slovak Armed Forces will require a progressive transformation process that may turn the armed forces into a modern and adaptable element of power, capable of deployment in national and international crisis management operations.

A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

Directory of Open Access Journals (Sweden)

Giovanni Gerardo Muscolo

2013-01-01

Full Text Available The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD closed-loop for the position control. The force control of the two systems is composed of an external proportional (P closed-loop for one system (P system and an external proportional-integrative (PI closed-loop for the other system (PI system. The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN.

Probing of miniPEGγ-PNA-DNA Hybrid Duplex Stability with AFM Force Spectroscopy.

Science.gov (United States)

Dutta, Samrat; Armitage, Bruce A; Lyubchenko, Yuri L

2016-03-15

Peptide nucleic acids (PNA) are synthetic polymers, the neutral peptide backbone of which provides elevated stability to PNA-PNA and PNA-DNA hybrid duplexes. It was demonstrated that incorporation of diethylene glycol (miniPEG) at the γ position of the peptide backbone increased the thermal stability of the hybrid duplexes (Sahu, B. et al. J. Org. Chem. 2011, 76, 5614-5627). Here, we applied atomic force microscopy (AFM) based single molecule force spectroscopy and dynamic force spectroscopy (DFS) to test the strength and stability of the hybrid 10 bp duplex. This hybrid duplex consisted of miniPEGγ-PNA and DNA of the same length (γ(MP)PNA-DNA), which we compared to a DNA duplex with a homologous sequence. AFM force spectroscopy data obtained at the same conditions showed that the γ(MP)PNA-DNA hybrid is more stable than the DNA counterpart, 65 ± 15 pN vs 47 ± 15 pN, respectively. The DFS measurements performed in a range of pulling speeds analyzed in the framework of the Bell-Evans approach yielded a dissociation constant, koff ≈ 0.030 ± 0.01 s⁻¹ for γ(MP)PNA-DNA hybrid duplex vs 0.375 ± 0.18 s⁻¹ for the DNA-DNA duplex suggesting that the hybrid duplex is much more stable. Correlating the high affinity of γ(MP)PNA-DNA to slow dissociation kinetics is consistent with prior bulk characterization by surface plasmon resonance. Given the growing interest in γ(MP)PNA as well as other synthetic DNA analogues, the use of single molecule experiments along with computational analysis of force spectroscopy data will provide direct characterization of various modifications as well as higher order structures such as triplexes and quadruplexes.

Backstepping fuzzy-neural-network control design for hybrid maglev transportation system.

Science.gov (United States)

Wai, Rong-Jong; Yao, Jing-Xiang; Lee, Jeng-Dao

2015-02-01

This paper focuses on the design of a backstepping fuzzy-neural-network control (BFNNC) for the online levitated balancing and propulsive positioning of a hybrid magnetic levitation (maglev) transportation system. The dynamic model of the hybrid maglev transportation system including levitated hybrid electromagnets to reduce the suspension power loss and the friction force during linear movement and a propulsive linear induction motor based on the concepts of mechanical geometry and motion dynamics is first constructed. The ultimate goal is to design an online fuzzy neural network (FNN) control methodology to cope with the problem of the complicated control transformation and the chattering control effort in backstepping control (BSC) design, and to directly ensure the stability of the controlled system without the requirement of strict constraints, detailed system information, and auxiliary compensated controllers despite the existence of uncertainties. In the proposed BFNNC scheme, an FNN control is utilized to be the major control role by imitating the BSC strategy, and adaptation laws for network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance. The effectiveness of the proposed control strategy for the hybrid maglev transportation system is verified by experimental results, and the superiority of the BFNNC scheme is indicated in comparison with the BSC strategy and the backstepping particle-swarm-optimization control system in previous research.

Development and Control of Compliant Hybrid Joints for Human-Symbiotic Mobile Manipulators

Directory of Open Access Journals (Sweden)

Zhijun Li

2008-11-01

Full Text Available In this paper, we develop a robot with the ability to secure human safety in humanrobot collisions arising in our living and working environments. The humansymbiotic service robot using compliant hybrid joints realizes human safety, absorbs impact force, and fulfills task. In unexpected or expected collisions with human, the arising impulse force is attenuated effectively by the proposed physical model. Owing to the displacement of the links, several recovery controls have been developed for the endeffector to maintain its desired task position after the collision. The force attenuation property has been verified through collision simulations and experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated.

Development and Control of Compliant Hybrid Joints for Human-Symbiotic Mobile Manipulators

Directory of Open Access Journals (Sweden)

Zhijun Li

2007-03-01

Full Text Available In this paper, we develop a robot with the ability to secure human safety in human-robot collisions arising in our living and working environments. The human-symbiotic service robot using compliant hybrid joints realizes human safety, absorbs impact force, and fulfills task. In unexpected or expected collisions with human, the arising impulse force is attenuated effectively by the proposed physical model. Owing to the displacement of the links, several recovery controls have been developed for the end-effector to maintain its desired task position after the collision. The force attenuation property has been verified through collision simulations and experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated.

Tuning the magnetic interactions in GaAs:Mn/MnAs hybrid structures by controlling shape and position of MnAs nanoclusters

Energy Technology Data Exchange (ETDEWEB)

Elm, Matthias Thomas

2010-07-01

In this work the magnetic properties of hexagonal MnAs nanoclusters and their influence on the transport properties of GaAs:Mn /MnAs hybrid structures were studied. Various arrangements of isolated nanoclusters and cluster chains were grown on (111)B-GaAs substrates by SA-MOVPE. The first part of this work deals with the manufacturing process of the different cluster arrangements investigated. By a suitable pre-structuring of the substrate it was possible to influence the cluster size, cluster shape and cluster position systematically. Preparing various arrangements it could be shown that the hexagonal nanoclusters prefer to grow along their a-axes. In the second part, the magnetic properties of the nanoclusters were studied. Ferromagnetic resonance (FMR) measurements show a hard magnetic axis perpendicular to the sample plane, i.e. parallel to the c-axis. By measurements, where the magnetic field was rotated in the sample plane, it could be demonstrated that the orientation of the magnetization can be forced into a certain direction by controlling the cluster shape. These results are confirmed by measurements using magnetic force microscopy. The third part deals with the influence of the nanoclusters and their arrangement on the transport properties of the GaAs:Mn matrix. For temperatures above 30 K the structures investigated show positive as well as negative magnetoresistance effects, which are typical for granular GaAs:Mn/MnAs hybrid structures. This behaviour can be explained in the context of transport in extended band states. The size of the magnetoresistance effects correlates strongly with the respective cluster arrangement of the sample. This behaviour has been predicted theoretically and could be confirmed experimentally in the context of this work. Below 30 K large positive magnetoresistance effects show up for the regular cluster arrangements, which cannot be observed for hybrid structures with random cluster distributions. These large positive

Development of a hybrid haptic master system without using a force sensor

International Nuclear Information System (INIS)

Bae, Byung Hoon; Park, Kyi Hwan

2001-01-01

A hybrid type master system is proposed to take the advantage of the link mechanism and magnetic levitation mechanism without using a force sensor. Two different types of electromagnetic actuators, moving coil type and moving magnet types are used to drive the master system which is capable of 4-DOF actuation. It is designed that the rotation motions about x-y axis are decoupled and the whole system is represented by simple dynamic equations. The force reflection is achieved by using the simple relation between the force and applied current and position. The simulation and experimental results are presented to show its performance

Development of a hybrid haptic master system without using a force sensor

Energy Technology Data Exchange (ETDEWEB)

Bae, Byung Hoon; Park, Kyi Hwan [Gwangju Institute of Science and Technology, Gwangju (Korea, Republic of)

2001-08-01

A hybrid type master system is proposed to take the advantage of the link mechanism and magnetic levitation mechanism without using a force sensor. Two different types of electromagnetic actuators, moving coil type and moving magnet types are used to drive the master system which is capable of 4-DOF actuation. It is designed that the rotation motions about x-y axis are decoupled and the whole system is represented by simple dynamic equations. The force reflection is achieved by using the simple relation between the force and applied current and position. The simulation and experimental results are presented to show its performance.

A positional code and anisotropic forces control tissue remodeling in Drosophila

Science.gov (United States)

Zallen, Jennifer

A major challenge in developmental biology is to understand how tissue-scale changes in organism structure arise from events that occur on a cellular and molecular level. We are using cell biological, biophysical, and quantitative live-embryo imaging approaches to understand how genes encode the forces that shape tissues, and to identify the mechanisms that modulate cell behavior in response to local forces. In many animals, the elongated head-to-tail body axis is achieved by rapid and coordinated movements of hundreds of cells. We found that in the fruit fly, these cell movements are regulated by subcellular asymmetries in the localization of proteins that generate contractile and adhesive forces between cells. Asymmetries in the force-generating machinery are in turn controlled by a positional code of spatial information provided by an ancient family of Toll-related receptors that are widely used for pathogen recognition by the innate immune system. I will describe how this spatial system systematically orients local cell movements and collective rosette-like clusters in the Drosophila embryo. Rosettes have now also been shown to shape the body axis in chicks, frogs, and mice, demonstrating that rosette behaviors are a general mechanism linking cellular asymmetry to tissue reorganization.

Control of equipment isolation system using wavelet-based hybrid sliding mode control

Science.gov (United States)

Huang, Shieh-Kung; Loh, Chin-Hsiung

2017-04-01

Critical non-structural equipment, including life-saving equipment in hospitals, circuit breakers, computers, high technology instrumentations, etc., is vulnerable to strong earthquakes, and on top of that, the failure of the vibration-sensitive equipment will cause severe economic loss. In order to protect vibration-sensitive equipment or machinery against strong earthquakes, various innovative control algorithms are developed to compensate the internal forces that to be applied. These new or improved control strategies, such as the control algorithms based on optimal control theory and sliding mode control (SMC), are also developed for structures engineering as a key element in smart structure technology. The optimal control theory, one of the most common methodologies in feedback control, finds control forces through achieving a certain optimal criterion by minimizing a cost function. For example, the linear-quadratic regulator (LQR) was the most popular control algorithm over the past three decades, and a number of modifications have been proposed to increase the efficiency of classical LQR algorithm. However, except to the advantage of simplicity and ease of implementation, LQR are susceptible to parameter uncertainty and modeling error due to complex nature of civil structures. Different from LQR control, a robust and easy to be implemented control algorithm, SMC has also been studied. SMC is a nonlinear control methodology that forces the structural system to slide along surfaces or boundaries; hence this control algorithm is naturally robust with respect to parametric uncertainties of a structure. Early attempts at protecting vibration-sensitive equipment were based on the use of existing control algorithms as described above. However, in recent years, researchers have tried to renew the existing control algorithms or developing a new control algorithm to adapt the complex nature of civil structures which include the control of both structures and non

Improved single- and multi-contact life-time testing of dental restorative materials using key characteristics of the human masticatory system and a force/position-controlled robotic dental wear simulator.

Science.gov (United States)

Raabe, D; Harrison, A; Ireland, A; Alemzadeh, K; Sandy, J; Dogramadzi, S; Melhuish, C; Burgess, S

2012-03-01

This paper presents a new in vitro wear simulator based on spatial parallel kinematics and a biologically inspired implicit force/position hybrid controller to replicate chewing movements and dental wear formations on dental components, such as crowns, bridges or a full set of teeth. The human mandible, guided by passive structures such as posterior teeth and the two temporomandibular joints, moves with up to 6 degrees of freedom (DOF) in Cartesian space. The currently available wear simulators lack the ability to perform these chewing movements. In many cases, their lack of sufficient DOF enables them only to replicate the sliding motion of a single occlusal contact point by neglecting rotational movements and the motion along one Cartesian axis. The motion and forces of more than one occlusal contact points cannot accurately be replicated by these instruments. Furthermore, the majority of wear simulators are unable to control simultaneously the main wear-affecting parameters, considering abrasive mechanical wear, which are the occlusal sliding motion and bite forces in the constraint contact phase of the human chewing cycle. It has been shown that such discrepancies between the true in vivo and the simulated in vitro condition influence the outcome and the quality of wear studies. This can be improved by implementing biological features of the human masticatory system such as tooth compliance realized through the passive action of the periodontal ligament and active bite force control realized though the central nervous system using feedback from periodontal preceptors. The simulator described in this paper can be used for single- and multi-occlusal contact testing due to its kinematics and ability to exactly replicate human translational and rotational mandibular movements with up to 6 DOF without neglecting movements along or around the three Cartesian axes. Recorded human mandibular motion and occlusal force data are the reference inputs of the simulator

Improved single- and multi-contact life-time testing of dental restorative materials using key characteristics of the human masticatory system and a force/position-controlled robotic dental wear simulator

International Nuclear Information System (INIS)

Raabe, D; Dogramadzi, S; Melhuish, C; Harrison, A; Alemzadeh, K; Burgess, S; Ireland, A; Sandy, J

2012-01-01

This paper presents a new in vitro wear simulator based on spatial parallel kinematics and a biologically inspired implicit force/position hybrid controller to replicate chewing movements and dental wear formations on dental components, such as crowns, bridges or a full set of teeth. The human mandible, guided by passive structures such as posterior teeth and the two temporomandibular joints, moves with up to 6 degrees of freedom (DOF) in Cartesian space. The currently available wear simulators lack the ability to perform these chewing movements. In many cases, their lack of sufficient DOF enables them only to replicate the sliding motion of a single occlusal contact point by neglecting rotational movements and the motion along one Cartesian axis. The motion and forces of more than one occlusal contact points cannot accurately be replicated by these instruments. Furthermore, the majority of wear simulators are unable to control simultaneously the main wear-affecting parameters, considering abrasive mechanical wear, which are the occlusal sliding motion and bite forces in the constraint contact phase of the human chewing cycle. It has been shown that such discrepancies between the true in vivo and the simulated in vitro condition influence the outcome and the quality of wear studies. This can be improved by implementing biological features of the human masticatory system such as tooth compliance realized through the passive action of the periodontal ligament and active bite force control realized though the central nervous system using feedback from periodontal preceptors. The simulator described in this paper can be used for single- and multi-occlusal contact testing due to its kinematics and ability to exactly replicate human translational and rotational mandibular movements with up to 6 DOF without neglecting movements along or around the three Cartesian axes. Recorded human mandibular motion and occlusal force data are the reference inputs of the simulator

Force Control Strategies in Hydraulically Actuated Legged Robots

Directory of Open Access Journals (Sweden)

Hector Montes

2016-03-01

Full Text Available In this contribution, several strategies of force control have been proposed to be implemented and evaluated in ROBOCLIMBER, a quadruped robot of large dimensions. A first group of strategies proposed in this paper is based on impedance control, which is intended to adapt the foot-ground contact forces according to the experimentally specified damping ratio and the undamped natural frequency. A second control strategy of interest for many practical cases is called the parallel force/position control, which has one inner loop position control and two external control loops, one of force and another of position. A third group of control strategies is the posture stabilization for ROBOCLIMBER using the feedback of the ZMP calculation and the position of its legs. Finally, a control strategy for the control of a quasi-static gait using ZMP feedback is proposed and tested by simulation.

Head position affects the direction of occlusal force during tapping movement.

Science.gov (United States)

Nakamura, K; Minami, I; Wada, J; Ikawa, Y; Wakabayashi, N

2018-05-01

Despite numerous reports describing the relationship between head position and mandibular movement in human subjects, the direction and magnitude of force at the occlusal contacts have not been investigated in relation to head position. The objective was to investigate the effect of head position on the direction of occlusal force while subjects performed a tapping movement. Twenty-three healthy adult subjects were asked to sit on a chair with their back upright and to perform 15 tapping movements in five different head positions: natural head position (control); forward; backward; and right and left rolled. The direction and magnitude of force were measured using a small triaxial force sensor. The Wilcoxon signed-rank test and Bonferroni test were used to compare head positions in each angle of the anteroposterior axis direction and the lateral axis direction with respect to the superior axis. The force element in the anteroposterior axis shifted to the forward direction in the head position pitched backward, compared with control, pitched forward and rolled left positions (P = .02, tapping movement can be performed in a relaxed position without anteroposterior and lateral loading. © 2018 John Wiley & Sons Ltd.

Pneumatic Artificial Muscles Force Modelling and the Position and Stiffness Control on the Knee Joint of the Musculoskeletal Leg

Directory of Open Access Journals (Sweden)

Jingtao Lei

2017-03-01

Full Text Available Pneumatic artificial muscles (PAMs have properties similar to biological muscle and are widely used in robotics as actuators. A musculoskeletal leg mechanism driven by PAMs is presented in this paper. The joint stiffness of the musculoskeletal bionic leg for jumping movement needs to be analysed. The synchronous control on the position and stiffness of the joint is important to improve the flexibility of leg. The accurate force model of PAM is the foundation to achieving better control and dynamic jumping performance. The experimental platform of PAM is conducted, and the static equal pressure experiments are performed to obtain the PAM force model. According to the testing data, parameter identification method is adopted to determine the force model of PAM. A simulation on the position and stiffness control of the knee joint is performed, and the simulation results show the effectiveness of the presented method.

Study on control method of running velocity for the permanent magnet-HTSC hybrid magnetically levitated conveyance system

International Nuclear Information System (INIS)

Nishio, R.; Ikeda, M.; Sasaki, R.; Ohashi, S.

2011-01-01

The hybrid magnetically levitated carrying system is developed. Control method of running velocity of the carrier is studied. Running velocity is controlled by current of the propulsion coils. Propulsion characteristcs are improved. We have developed the magnetically levitated carrying system. In this system, pinning force of high temperature bulk super conductor (HTSC) is used for the levitation and guidance. Four HTSCs are installed on the carrier. The magnetic rail is set on the ground, and flux from the magnetic rail is pinned by HTSCs. To increase levitation force, repulsive force of the permanent magnet is used. The hybrid levitation system is composed. The permanent magnet is installed under the load stage of the carrier. Repulsive force by the permanent magnet between the load stage on the carrier and the magnetic rail on the ground is used to support the load weight. Levitation and guidance one by pinning effect of the YBaCuO HTSC in the carrier is used to levitate the carrier body. The load stage is separated from the carrier flame and can move freely for vertical direction levitation. For the propulsion system, electromagnet is installed on the surface of the magnetic rail. In this paper, control method of running velocity of the carrier is studied. Propulsion force is given as follows; Air core copper coils are installed on the magnetic rail. Interaction between current of these coils and permanent magnets on the carrier generates propulsion force. Running velocity is controlled by current of the propulsion coils. It is also changed by position of the carrier and the load weight. From the results, stability of the propulsion system is given, and propulsion characteristics are improved.

Study on control method of running velocity for the permanent magnet-HTSC hybrid magnetically levitated conveyance system

Energy Technology Data Exchange (ETDEWEB)

Nishio, R.; Ikeda, M.; Sasaki, R. [Kansai University, 3-3-35 Yamate-cho, Suita, Osaka 564-8680 (Japan); Ohashi, S., E-mail: ohashi@kansai-u.ac.jp [Kansai University, 3-3-35 Yamate-cho, Suita, Osaka 564-8680 (Japan)

2011-11-15

The hybrid magnetically levitated carrying system is developed. Control method of running velocity of the carrier is studied. Running velocity is controlled by current of the propulsion coils. Propulsion characteristcs are improved. We have developed the magnetically levitated carrying system. In this system, pinning force of high temperature bulk super conductor (HTSC) is used for the levitation and guidance. Four HTSCs are installed on the carrier. The magnetic rail is set on the ground, and flux from the magnetic rail is pinned by HTSCs. To increase levitation force, repulsive force of the permanent magnet is used. The hybrid levitation system is composed. The permanent magnet is installed under the load stage of the carrier. Repulsive force by the permanent magnet between the load stage on the carrier and the magnetic rail on the ground is used to support the load weight. Levitation and guidance one by pinning effect of the YBaCuO HTSC in the carrier is used to levitate the carrier body. The load stage is separated from the carrier flame and can move freely for vertical direction levitation. For the propulsion system, electromagnet is installed on the surface of the magnetic rail. In this paper, control method of running velocity of the carrier is studied. Propulsion force is given as follows; Air core copper coils are installed on the magnetic rail. Interaction between current of these coils and permanent magnets on the carrier generates propulsion force. Running velocity is controlled by current of the propulsion coils. It is also changed by position of the carrier and the load weight. From the results, stability of the propulsion system is given, and propulsion characteristics are improved.

Ternary and hybrid controllers for the rendezvous of unicycles

NARCIS (Netherlands)

Jafarian, Matin

2015-01-01

This paper presents the rendezvous (consensus) of the orientations and average positions of a group of unicycles. We assume that the decentralized controllers designed for consensus of the average positions take only values in the set {-1; 0; +1}. In addition, we introduce a hybrid controller to

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)

Power-optimal force decoupling in a hybrid linear reluctance motor

NARCIS (Netherlands)

Overboom, T.T.; Smeets, J.P.C.; Jansen, J.W.; Lomonova, E.A.; Mavrudieva, D.

2015-01-01

This paper concerns the power-optimal decoupling of the propulsion and normal force created by a hybrid linear reluctance motor. The intrinsic limitations to the decoupling is addressed by the visualizing each force component with a quadric surface in the Euclidean space which is spanned by the

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....

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

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

International Nuclear Information System (INIS)

Uchiyama, Takuma; Terada, Hidetsugu; Mitsuya, Hironori

2010-01-01

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

Hybrid insolation forcing of Pliocene monsoon dynamics in West Africa

Directory of Open Access Journals (Sweden)

R. R. Kuechler

2018-01-01

Full Text Available The Pliocene is regarded as a potential analogue for future climate with conditions generally warmer-than-today and higher-than-preindustrial atmospheric CO2 levels. Here we present the first orbitally resolved records of continental hydrology and vegetation changes from West Africa for two Pliocene time intervals (5.0–4.6 Ma, 3.6–3.0 Ma, which we compare with records from the last glacial cycle (Kuechler et al., 2013. Our results indicate that changes in local insolation alone are insufficient to explain the full degree of hydrologic variations. Generally two modes of interacting insolation forcings are observed: during eccentricity maxima, when precession was strong, the West African monsoon was driven by summer insolation; during eccentricity minima, when precession-driven variations in local insolation were minimal, obliquity-driven changes in the summer latitudinal insolation gradient became dominant. This hybrid monsoonal forcing concept explains orbitally controlled tropical climate changes, incorporating the forcing mechanism of latitudinal gradients for the Pliocene, which probably increased in importance during subsequent Northern Hemisphere glaciations.

A Hybrid Extended Kalman Filter as an Observer for a Pot-Electro-Magnetic Actuator

International Nuclear Information System (INIS)

Schmidt, Simon; Mercorelli, Paolo

2017-01-01

This paper deals with an application in which a hybrid extended Kalman Filter (HEKF) is used to estimate state variables in a U-shaped electro-magnetic actuator to be used in mechanical systems. In this context a hybrid Kalman Filter is the one which switches between different models. The paper proposes a hybrid model for an extended Kalman Filter to be used as an observer to estimate the state and to control the force of the actuator. Applications include position, velocity and force control in automotive, engine and manufacturing systems. This work is focused on the estimation of state variables of the actuator. Simulated results show the effectiveness of the proposed approach. (paper)

Sensorimotor modulation differs with load type during constant finger force or position.

Directory of Open Access Journals (Sweden)

Hikari Kirimoto

Full Text Available During submaximal isometric contraction, there are two different load types: production of a constant force against a rigid restraint (force task, and maintenance of position against a constant load (position task. Previous studies reported that the time to task failure during a fatigue task was twice as long in the force task compared with the position task. Sensory feedback processing may contribute to these differences. The purpose of the current study was to determine the influence of load types during static muscle contraction tasks on the gating effect, i.e., attenuation of somatosensory-evoked potentials (SEPs and the cortical silent period (cSP. Ten healthy subjects contracted their right first dorsal interosseus muscle by abducting their index finger for 90 s, to produce a constant force against a rigid restraint that was 20% of the maximum voluntary contraction (force task, or to maintain a constant position with 10° abduction of the metacarpophalangeal joint against the same load (position task. Somatosensory evoked potentials (SEPs were recorded from C3' by stimulating either the right ulnar or median nerve at the wrist while maintaining contraction. The cortical silent period (cSP was also elicited by transcranial magnetic stimulation. Reduction of the amplitude of the P45 component of SEPs was significantly larger during the position task than during the force task and under control rest conditions when the ulnar nerve, but not the median nerve, was stimulated. The position task had a significantly shorter cSP duration than the force task. These results suggest the need for more proprioceptive information during the position task than the force task. The shorter duration of the cSP during the position task may be attributable to larger amplitude of heteronymous short latency reflexes. Sensorimotor modulations may differ with load type during constant finger force or position tasks.

Optimal control of hybrid vehicles

CERN Document Server

Jager, Bram; Kessels, John

2013-01-01

Optimal Control of Hybrid Vehicles provides a description of power train control for hybrid vehicles. The background, environmental motivation and control challenges associated with hybrid vehicles are introduced. The text includes mathematical models for all relevant components in the hybrid power train. The power split problem in hybrid power trains is formally described and several numerical solutions detailed, including dynamic programming and a novel solution for state-constrained optimal control problems based on Pontryagin’s maximum principle.   Real-time-implementable strategies that can approximate the optimal solution closely are dealt with in depth. Several approaches are discussed and compared, including a state-of-the-art strategy which is adaptive for vehicle conditions like velocity and mass. Two case studies are included in the book: ·        a control strategy for a micro-hybrid power train; and ·        experimental results obtained with a real-time strategy implemented in...

Modeling and Optimal Control of a Class of Warfare Hybrid Dynamic Systems Based on Lanchester (n,1 Attrition Model

Directory of Open Access Journals (Sweden)

Xiangyong Chen

2014-01-01

hybrid dynamic systems is established based on Lanchester equation in a (n,1 battle, where a heterogeneous force of n different troop types faces a homogeneous force. This model can be characterized by the interaction of continuous-time models (governed by Lanchester equation, and discrete event systems (described by variable tactics. Furthermore, an expository discussion is presented on an optimal variable tactics control problem for warfare hybrid dynamic system. The optimal control strategies are designed based on dynamic programming and differential game theory. As an example of the consequences of this optimal control problem, we take the (2, 1 case and solve the optimal strategies in a (2, 1 case. Simulation results show the feasibility of warfare hybrid system model and the effectiveness of the optimal control strategies designed.

Force Reproduction Error Depends on Force Level, whereas the Position Reproduction Error Does Not

NARCIS (Netherlands)

Onneweer, B.; Mugge, W.; Schouten, Alfred Christiaan

2016-01-01

When reproducing a previously perceived force or position humans make systematic errors. This study determined the effect of force level on force and position reproduction, when both target and reproduction force are self-generated with the same hand. Subjects performed force reproduction tasks at

Performance and robustness of hybrid model predictive control for controllable dampers in building models

Science.gov (United States)

Johnson, Erik A.; Elhaddad, Wael M.; Wojtkiewicz, Steven F.

2016-04-01

A variety of strategies have been developed over the past few decades to determine controllable damping device forces to mitigate the response of structures and mechanical systems to natural hazards and other excitations. These "smart" damping devices produce forces through passive means but have properties that can be controlled in real time, based on sensor measurements of response across the structure, to dramatically reduce structural motion by exploiting more than the local "information" that is available to purely passive devices. A common strategy is to design optimal damping forces using active control approaches and then try to reproduce those forces with the smart damper. However, these design forces, for some structures and performance objectives, may achieve high performance by selectively adding energy, which cannot be replicated by a controllable damping device, causing the smart damper performance to fall far short of what an active system would provide. The authors have recently demonstrated that a model predictive control strategy using hybrid system models, which utilize both continuous and binary states (the latter to capture the switching behavior between dissipative and non-dissipative forces), can provide reductions in structural response on the order of 50% relative to the conventional clipped-optimal design strategy. This paper explores the robustness of this newly proposed control strategy through evaluating controllable damper performance when the structure model differs from the nominal one used to design the damping strategy. Results from the application to a two-degree-of-freedom structure model confirms the robustness of the proposed strategy.

Global Positioning System: Observations on Quarterly Reports from the Air Force

Science.gov (United States)

2016-10-17

Positioning System : Observations on Quarterly Reports from the Air Force The satellite-based Global Positioning System (GPS) provides positioning , navigation...infrastructure, and transportation safety. The Department of Defense (DOD)—specifically, the Air Force—develops and operates the GPS system , which...programs, including the most recent detailed assessment of the next generation operational control system (OCX)

Gemstone Grinding Process Improvement by using Impedance Force Control

Directory of Open Access Journals (Sweden)

Hamprommarat Chumpol

2015-01-01

Full Text Available Chula Automatic Faceting Machine has been developed by The Advance Manufacturing Research Lab, Chulalongkorn University to support Thailand Gems-Industry. The machine has high precision motion control by using position and force control. A contact stiffness model is used to estimate grinding force. Although polished gems from the Faceting Machine have uniform size and acceptable shape, the force of the grinding and polishing process cannot be maintain constant and has some fluctuation due to indirect force control. Therefor this research work propose a new controller for this process based on an impedance direct force control to improve the gemstone grinding performance during polishing process. The grinding force can be measured through motor current. The results show that the polished gems by using impedance direct force control can maintain uniform size as well as good shape and high quality surface.

Position list word aligned hybrid

DEFF Research Database (Denmark)

Deliege, Francois; Pedersen, Torben Bach

2010-01-01

Compressed bitmap indexes are increasingly used for efficiently querying very large and complex databases. The Word Aligned Hybrid (WAH) bitmap compression scheme is commonly recognized as the most efficient compression scheme in terms of CPU efficiency. However, WAH compressed bitmaps use a lot...... of storage space. This paper presents the Position List Word Aligned Hybrid (PLWAH) compression scheme that improves significantly over WAH compression by better utilizing the available bits and new CPU instructions. For typical bit distributions, PLWAH compressed bitmaps are often half the size of WAH...... bitmaps and, at the same time, offer an even better CPU efficiency. The results are verified by theoretical estimates and extensive experiments on large amounts of both synthetic and real-world data....

Acoustic radiation force control: Pulsating spherical carriers.

Science.gov (United States)

Rajabi, Majid; Mojahed, Alireza

2018-02-01

power supply for distinct cases of zero, negative and positive radiation force states along with the frequency dependent asymmetry index. In addition, considering the effect of phase difference between the incident wave field and the pulsating object, and its possible variation with respect to spatial position of object, some practical points about the spatial average of generated radiation force, the optimal state of operation, the stability of zero radiation force states and the possibly of precise motion control are discussed. This work would extend the novel concept of smart carriers to and may be helpful for robust single-beam acoustic handling techniques. Furthermore, the shown capability of precise motion control may be considered as a new way toward smart acoustic driven micro-mechanisms and micro-machines. Copyright © 2017 Elsevier B.V. All rights reserved.

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.

Hybrid spacecraft attitude control system

Directory of Open Access Journals (Sweden)

Renuganth Varatharajoo

2016-02-01

Full Text Available The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.

Force-sensed interface for control and training space robot

Science.gov (United States)

Moiseev, O. S.; Sarsadskikh, A. S.; Povalyaev, N. D.; Gorbunov, V. I.; Kulakov, F. M.; Vasilev, V. V.

2018-05-01

A method of positional and force-torque control of robots is proposed. Prototypes of the system and the master handle have been created. Algorithm of bias estimation and gravity compensation for force-torque sensor and force-torque trajectory correction are described.

Hybrid adaptive ascent flight control for a flexible launch vehicle

Science.gov (United States)

Lefevre, Brian D.

controller. In the simulations where the online parameter identification algorithm was disabled, the tracking error based neural network weight update law forced the network's output to diverge despite repeated reductions of the adaptive learning rate. As a result, the modeling error based neural network weight update law (which generated bounded signals) is utilized by the hybrid adaptive controller in all subsequent simulations. Comparing the PID and hybrid adaptive flight controllers under nominal flight conditions in rigid body ascent simulations showed that their tracking error magnitudes are similar for a period of time during the middle of the ascent phase. Though the PID controller performs better for a short interval around the 20 second mark, the hybrid adaptive controller performs far better from roughly 70 to 120 seconds. Elevating the aerodynamic loads by increasing the force and moment coefficients produced results very similar to the nominal case. However, applying a 5% or 10% thrust reduction to the first stage rocket motor causes the tracking error magnitude observed by the PID controller to be significantly elevated and diverge rapidly as the simulation concludes. In contrast, the hybrid adaptive controller steadily maintains smaller errors (often less than 50% of the corresponding PID value). Under the same sets of flight conditions with flexibility enabled, the results exhibit similar trends with the hybrid adaptive controller performing even better in each case. Again, the reduction of the first stage rocket motor's thrust clearly illustrated the superior robustness of the hybrid adaptive flight controller.

Hybrid Robust Control Law with Disturbance Observer for High-Frequency Response Electro-Hydraulic Servo Loading System

Directory of Open Access Journals (Sweden)

Zhiqing Sheng

2016-04-01

Full Text Available Addressing the simulating issue of the helicopter-manipulating booster aerodynamic load with high-frequency dynamic load superimposed on a large static load, this paper studies the design of the robust controller for the electro-hydraulic loading system to realize the simulation of this kind of load. Firstly, the equivalent linear model of the electro-hydraulic loading system under assumed parameter uncertainty is established. Then, a hybrid control scheme is proposed for the loading system. This control scheme consists of a constant velocity feed-forward compensator, a robust inner loop compensator based on disturbance observer and a robust outer loop feedback controller. The constant velocity compensator eliminates most of the extraneous force at first, and then the double-loop cascade composition control strategy is employed to design the compensated system. The disturbance observer–based inner loop compensator further restrains the disturbances including the remaining extraneous force, and makes the actual plant tracking a nominal model approximately in a certain frequency range. The robust outer loop controller achieves the desired force-tracking performance, and guarantees system robustness in the high frequency region. The optimized low-pass filter Q(s is designed by using the H∞ mixed sensitivity optimization method. The simulation results show that the proposed hybrid control scheme and controller can effectively suppress the extraneous force and improve the robustness of the electro-hydraulic loading system.

Battery control system for hybrid vehicle and method for controlling a hybrid vehicle battery

Science.gov (United States)

Bockelmann, Thomas R [Battle Creek, MI; Hope, Mark E [Marshall, MI; Zou, Zhanjiang [Battle Creek, MI; Kang, Xiaosong [Battle Creek, MI

2009-02-10

A battery control system for hybrid vehicle includes a hybrid powertrain battery, a vehicle accessory battery, and a prime mover driven generator adapted to charge the vehicle accessory battery. A detecting arrangement is configured to monitor the vehicle accessory battery's state of charge. A controller is configured to activate the prime mover to drive the generator and recharge the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a first predetermined level, or transfer electrical power from the hybrid powertrain battery to the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a second predetermined level. The invention further includes a method for controlling a hybrid vehicle powertrain system.

Hybrid systems, optimal control and hybrid vehicles theory, methods and applications

CERN Document Server

Böhme, Thomas J

2017-01-01

This book assembles new methods showing the automotive engineer for the first time how hybrid vehicle configurations can be modeled as systems with discrete and continuous controls. These hybrid systems describe naturally and compactly the networks of embedded systems which use elements such as integrators, hysteresis, state-machines and logical rules to describe the evolution of continuous and discrete dynamics and arise inevitably when modeling hybrid electric vehicles. They can throw light on systems which may otherwise be too complex or recondite. Hybrid Systems, Optimal Control and Hybrid Vehicles shows the reader how to formulate and solve control problems which satisfy multiple objectives which may be arbitrary and complex with contradictory influences on fuel consumption, emissions and drivability. The text introduces industrial engineers, postgraduates and researchers to the theory of hybrid optimal control problems. A series of novel algorithmic developments provides tools for solving engineering pr...

Models and control for force/torque sensors in robotics

International Nuclear Information System (INIS)

Johansson, Gert.

1992-01-01

One of the important problems in automatic assembly is the relative positioning accuracy between the parts in the assembly process. Inaccurate positions cause large insertion forces, wear and might damage the parts. They can also completely disable the assembly process. A solution to this problem is to detect the positioning error and to make a relevant adjustment of the position or path. This thesis presents a solution based on active feedback of force/torque data from a wrist mounted sensor. A task independent control algorithm has been realized through a sensor model concept. The sensor model includes an algorithm that transforms force/torque input to relevant motion of the end effector. The transformation is specified by a set of parameters e.g. desired forces, compliance and stopping criteria. The problem with gravity forces for varying end effector orientation is compensated by an algorithm, divided into three complexity levels. The compensation method includes a calibration sequence to ensure valid end effector properties to be used in the algorithm. A problem with available robot technology is bad integration possibilities for external sensors. To allow necessary modifications and expansions, an open and general control system architecture is proposed. The architecture is based in a computer workstation and transputers in pipeline for the robot specific operations. (au)

HYBRID VEHICLE CONTROL SYSTEM

Directory of Open Access Journals (Sweden)

V. Dvadnenko

2016-06-01

Full Text Available The hybrid vehicle control system includes a start–stop system for an internal combustion engine. The system works in a hybrid mode and normal vehicle operation. To simplify the start–stop system, there were user new possibilities of a hybrid car, which appeared after the conversion. Results of the circuit design of the proposed system of basic blocks are analyzed.

Imaging of RNA in situ hybridization by atomic force microscopy

NARCIS (Netherlands)

Kalle, W.H.J.; Macville, M.V.E.; van de Corput, M.P.C.; de Grooth, B.G.; Tanke, H.J.; Raap, A.K.

In this study we investigated the possibility of imaging internal cellular molecules after cytochemical detection with atomic force microscopy (AFM). To this end, rat 9G and HeLa cells were hybridized with haptenized probes for 28S ribosomal RNA, human elongation factor mRNA and cytomegalovirus

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.

Vibration control of bridges and buildings hybrid system. Kyoryoter dot tatemono no shindo seigyo hybrid hoshiki

Energy Technology Data Exchange (ETDEWEB)

Tanida, K. (Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan))

1991-11-15

Multistory buildings, suspension bridges, and cable stayed bridges tend to become huge, and technology of controlling their vibration caused by strong winds and earthquakes is becoming an important subject for study. A description is made on a hybrid system which is a combination of the conventional passive system and active system, having merits of both of the systems. Verification test made using a model and an example of application to an actual bridge are introduced. This hybrid control system has been applied to the main tower of the cable stayed bridge on Route 12 of the Tokyo expressway. It is installed and in operation on the top of the tower to improve the workability, and can decrease the vibration of the tower caused by vortical excitation produced during the construction of the main tower. With the hybrid system, the actuator capacity can be reduced to about 1/5 for the similar damping performance to that of the active system with the same mass ratio. In addition, the weight of the equipment can be nearly halved in comparison with the passive system. Moreover, it has such a high safety characteristic as being used as a passive system when power supply is cut off because the controlling force of the system is smaller as compared with the active system. 2 refs., 11 figs.

Hybrid spacecraft attitude control system

OpenAIRE

Renuganth Varatharajoo; Ramly Ajir; Tamizi Ahmad

2016-01-01

The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS) consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl...

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

Directory of Open Access Journals (Sweden)

Xingjian Wang

2017-10-01

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

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

Science.gov (United States)

Liao, Rui; Shi, Cun; Wang, Shaoping

2017-01-01

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

Integrated hybrid vibration isolator with feedforward compensation for fast high-precision positioning X/Y tables

International Nuclear Information System (INIS)

Yan, T H; Li, Q; Xu, C; Pu, H Y; Chen, X D

2010-01-01

The design, realization and control technologies of a high-performance hybrid microvibration isolator for ultra-high-precision high-speed moving X/Y tables are presented in this paper—the novel isolator with integrated passive–active high level of damping. The passive damping was implemented using air-springs in both vertical and horizontal directions, with parallel linear motors in two directions to realize the active damping and the positioning functions. It is an actual hybrid isolation system because its air-spring can also be controlled through the pneumatic loop. The isolation servo system also has fast positioning capability via the feedforward compensation for the moving tables. Compared with the conventional filtered reference type control algorithms that rely on the assumption for the adaptive filter and the controlled system, in which the disturbance is estimated from the residual signal, the feedforward compensation here shows high effectiveness of vibration isolation and high-precision positioning performance for its platform. The performance of feedforward compensation has been enhanced via an efficient state estimation adaptive algorithm, the fast Kalman filter. Finally, experimental demonstration has been shown for the prototype system and the results have verified the effectiveness of the proposed isolator system design and the adaptive control algorithm for substantially enhanced damping of the platform system with the moving X/Y tables

Modelling and Control of Stepper Motors for High Accuracy Positioning Systems Used in Radioactive Environments

CERN Document Server

Picatoste Ruilope, Ricardo; Masi, Alessandro

Hybrid Stepper Motors are widely used in open-loop position applications. They are the choice of actuation for the collimators in the Large Hadron Collider, the largest particle accelerator at CERN. In this case the positioning requirements and the highly radioactive operating environment are unique. The latter forces both the use of long cables to connect the motors to the drives which act as transmission lines and also prevents the use of standard position sensors. However, reliable and precise operation of the collimators is critical for the machine, requiring the prevention of step loss in the motors and maintenance to be foreseen in case of mechanical degradation. In order to make the above possible, an approach is proposed for the application of an Extended Kalman Filter to a sensorless stepper motor drive, when the motor is separated from its drive by long cables. When the long cables and high frequency pulse width modulated control voltage signals are used together, the electrical signals difer greatl...

Performance evaluation on force control for ITER blanket installation

Energy Technology Data Exchange (ETDEWEB)

Aburadani, A., E-mail: aburadani.atsushi@jaea.go.jp [Japan Atomic Energy Agency, Mukouyama 801-1, Naka, Ibaraki 311-0193 (Japan); Takeda, N.; Shigematsu, S.; Murakami, S.; Tanigawa, H.; Kakudate, S. [Japan Atomic Energy Agency, Mukouyama 801-1, Naka, Ibaraki 311-0193 (Japan); Nakahira, M.; Hamilton, D.; Tesini, A. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

2013-10-15

Highlights: ► It is crucial issues to avoid any jamming between the blanket modules and the keys. ► Force control for AC servo motor was developed to reduce excessive loads. ► This jam prevention force control method is directly measured and controlled by AC servo motor controllers. ► In the recent test, the module was passively positioned onto keys using the torque control method. -- Abstract: The most critical issue for the ITER blanket installation is to avoid any jamming between the blanket modules and the keys as a result of excessive loading during the module installation process. This is complicated by the limited clearance of 0.5 mm between the modules and the keys. To solve these technical issues, force control, such as controlling the torque for the AC servo motors, was developed to reduce excessive loads which may have an impact on the end-effector and to defer the forces acting on the groove of the blanket. This jam prevention force control method is directly measured and controlled by AC servo motor controllers. The AC servo motors are equipped to move the manipulator and end-effector during module installation.

Performance evaluation on force control for ITER blanket installation

International Nuclear Information System (INIS)

Aburadani, A.; Takeda, N.; Shigematsu, S.; Murakami, S.; Tanigawa, H.; Kakudate, S.; Nakahira, M.; Hamilton, D.; Tesini, A.

2013-01-01

Highlights: ► It is crucial issues to avoid any jamming between the blanket modules and the keys. ► Force control for AC servo motor was developed to reduce excessive loads. ► This jam prevention force control method is directly measured and controlled by AC servo motor controllers. ► In the recent test, the module was passively positioned onto keys using the torque control method. -- Abstract: The most critical issue for the ITER blanket installation is to avoid any jamming between the blanket modules and the keys as a result of excessive loading during the module installation process. This is complicated by the limited clearance of 0.5 mm between the modules and the keys. To solve these technical issues, force control, such as controlling the torque for the AC servo motors, was developed to reduce excessive loads which may have an impact on the end-effector and to defer the forces acting on the groove of the blanket. This jam prevention force control method is directly measured and controlled by AC servo motor controllers. The AC servo motors are equipped to move the manipulator and end-effector during module installation

Hybrid organic/inorganic position-sensitive detectors based on PEDOT:PSS/n-Si

Science.gov (United States)

Javadi, Mohammad; Gholami, Mahdiyeh; Torbatiyan, Hadis; Abdi, Yaser

2018-03-01

Various configurations like p-n junctions, metal-semiconductor Schottky barriers, and metal-oxide-semiconductor structures have been widely used in position-sensitive detectors. In this report, we propose a PEDOT:PSS/n-Si heterojunction as a hybrid organic/inorganic configuration for position-sensitive detectors. The influence of the thickness of the PEDOT:PSS layer, the wavelength of incident light, and the intensity of illumination on the device performance are investigated. The hybrid PSD exhibits very high sensitivity (>100 mV/mm), excellent nonlinearity (0.995) with a response time of heterojunction are very promising for developing a new class of position-sensitive detectors based on the hybrid organic/inorganic junctions.

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.

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

Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller

Directory of Open Access Journals (Sweden)

Jie Zhao

2015-01-01

Full Text Available Pneumatic Muscle Actuator (PMA has a broad application prospect in soft robotics. However, PMA has highly nonlinear and hysteretic properties among force, displacement, and pressure, which lead to difficulty in accurate position control. A phenomenological model is developed to portray the hysteretic behavior of PMA. This phenomenological model consists of linear component and hysteretic component force. The latter component is described by Duhem model. An experimental apparatus is built up and sets of experimental data are acquired. Based on the experimental data, parameters of the model are identified. Validation of the model is performed. Then a novel cascade position PID controller is devised for a 1-DOF manipulator actuated by PMA. The outer loop of the controller is to cope with position control whilst the inner loop deals with pressure dynamics within PMA. To enhance the adaptability of the PID algorithm to the high nonlinearities of the manipulator, PID parameters are tuned online using RBF Neural Network. Experiments are performed and comparison between position response of RBF Neural Network based PID controller and that of classic PID controller demonstrates the effectiveness of the novel adaptive controller on the manipulator.

Support force measures of midsized men in seated positions.

Science.gov (United States)

Bush, Tamara Reid; Hubbard, Robert P

2007-02-01

Two areas not well researched in the field of seating mechanics are the distribution of normal and shear forces, and how those forces change with seat position. The availability of these data would be beneficial for the design and development of office, automotive and medical seats. To increase our knowledge in the area of seating mechanics, this study sought to measure the normal and shear loads applied to segmental supports in 12 seated positions, utilizing three inclination angles and four levels of seat back articulation that were associated with automotive driving positions. Force data from six regions, including the thorax, sacral region, buttocks, thighs, feet, and hand support were gathered using multi-axis load cells. The sample contained 23 midsized subjects with an average weight of 76.7 kg and a standard deviation of 4.2 kg, and an average height of 1745 mm with a standard deviation of 19 mm. Results were examined in terms of seat back inclination and in terms of torso articulation for relationships between seat positions and support forces. Using a repeated measures analysis, significant differences (p<0.05) were identified for normal forces relative to all inclination angles except for forces occurring at the hand support. Other significant differences were observed between normal forces behind the buttocks, pelvis, and feet for torso articulations. Significant differences in the shear forces occurred under the buttocks and posterior pelvis during changes in seat back inclination. Significant differences in shear forces were also identified for torso articulations. These data suggest that as seat back inclination or torso articulation change, significant shifts in force distribution occur.

Could positive affect help engineer robot control systems?

Science.gov (United States)

Quirin, Markus; Hertzberg, Joachim; Kuhl, Julius; Stephan, Achim

2011-11-01

Emotions have long been seen as counteracting rational thought, but over the last decades, they have been viewed as adaptive processes to optimize human (but also animal) behaviour. In particular, positive affect appears to be a functional aspect of emotions closely related to that. We argue that positive affect as understood in Kuhl's PSI model of the human cognitive architecture appears to have an interpretation in state-of-the-art hybrid robot control architectures, which might help tackle some open questions in the field.

Control of master-slave manipulator using virtual force

International Nuclear Information System (INIS)

Kosuge, Kazuhiro; Fukuda, Toshio; Itoh, Tomotaka; Sakamoto, Keizoh; Noma, Yasuo.

1994-01-01

We propose a control system for a master-slave manipulator system having a rate-controlled slave manipulator. In this system, the master manipulator is stiffness-controlled in the Cartesian coordinate system, and the slave manipulator is damping-controlled in the Cartesian coordinate system. The desired velocity of the slave arm is given by a displacement of the master arm from a nominal position. The operator feels virtual contact force from the environment because the contact force is proportional to the displacement when the slave arm motion is constrained by the environment. The proposed method is experimentally applied to manipulators with three degrees of freedom. The experimental results illustrate the validity of the proposed system. (author)

Backscattering position detection for photonic force microscopy

International Nuclear Information System (INIS)

Volpe, Giovanni; Kozyreff, Gregory; Petrov, Dmitri

2007-01-01

An optically trapped particle is an extremely sensitive probe for the measurement of pico- and femto-Newton forces between the particle and its environment in microscopic systems (photonic force microscopy). A typical setup comprises an optical trap, which holds the probe, and a position sensing system, which uses the scattering of a beam illuminating the probe. Usually the position is accurately determined by measuring the deflection of the forward-scattered light transmitted through the probe. However, geometrical constraints may prevent access to this side of the trap, forcing one to make use of the backscattered light instead. A theory is presented together with numerical results that describes the use of the backscattered light for position detection. With a Mie-Debye approach, we compute the total (incident plus scattered) field and follow its evolution as it is collected by the condenser lenses and projected onto the position detectors and the responses of position sensitive detectors and quadrant photodetectors to the displacement of the probe in the optical trap, both in forward and backward configurations. We find out that in the case of backward detection, for both types of detectors the displacement sensitivity can change sign as a function of the probe size and is null for some critical sizes. In addition, we study the influence of the numerical aperture of the detection system, polarization, and the cross talk between position measurements in orthogonal directions. We finally discuss how these features should be taken into account in experimental designs

Controlled AFM manipulation of small nanoparticles and assembly of hybrid nanostructures

International Nuclear Information System (INIS)

Kim, Suenne; Shafiei, Farbod; Ratchford, Daniel; Li Xiaoqin

2011-01-01

We demonstrate controlled manipulation of semiconductor and metallic nanoparticles (NPs) with 5-15 nm diameters and assemble these NPs into hybrid structures. The manipulation is accomplished under ambient environment using a commercial atomic force microscope (AFM). There are particular difficulties associated with manipulating NPs this small. In addition to spatial drift, the shape of an asymmetric AFM tip has to be taken into account in order to understand the intended and actual manipulation results. Furthermore, small NPs often attach to the tip via electrostatic interaction and modify the effective tip shape. We suggest a method for detaching the NPs by performing a pseudo-manipulation step. Finally, we show by example the ability to assemble these small NPs into prototypical hybrid nanostructures with well-defined composition and geometry.

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

Science.gov (United States)

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

2013-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

Science.gov (United States)

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

2014-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

Torque Coordination Control during Braking Mode Switch for a Plug-in Hybrid Electric Vehicle

Directory of Open Access Journals (Sweden)

Yang Yang

2017-10-01

Full Text Available Hybrid vehicles usually have several braking systems, and braking mode switches are significant events during braking. It is difficult to coordinate torque fluctuations caused by mode switches because the dynamic characteristics of braking systems are different. In this study, a new type of plug-in hybrid vehicle is taken as the research object, and braking mode switches are divided into two types. The control strategy of type one is achieved by controlling the change rates of clutch hold-down and motor braking forces. The control strategy of type two is achieved by simultaneously changing the target braking torque during different mode switch stages and controlling the motor to participate in active coordination control. Finally, the torque coordination control strategy is modeled in MATLAB/Simulink, and the results show that the proposed control strategy has a good effect in reducing the braking torque fluctuation and vehicle shocks during braking mode switches.

Perspectives of an acoustic–electrostatic/electrodynamic hybrid levitator for small fluid and solid samples

International Nuclear Information System (INIS)

Lierke, E G; Holitzner, L

2008-01-01

The feasibility of an acoustic–electrostatic hybrid levitator for small fluid and solid samples is evaluated. A proposed design and its theoretical assessment are based on the optional implementation of simple hardware components (ring electrodes) and standard laboratory equipment into typical commercial ultrasonic standing wave levitators. These levitators allow precise electrical charging of drops during syringe- or ink-jet-type deployment. The homogeneous electric 'Millikan field' between the grounded ultrasonic transducer and the electrically charged reflector provide an axial compensation of the sample weight in an indifferent equilibrium, which can be balanced by using commercial optical position sensors in combination with standard electronic PID position control. Radial electrostatic repulsion forces between the charged sample and concentric ring electrodes of the same polarity provide stable positioning at the centre of the levitator. The levitator can be used in a pure acoustic or electrostatic mode or in a hybrid combination of both subsystems. Analytical evaluations of the radial–axial force profiles are verified with detailed numerical finite element calculations under consideration of alternative boundary conditions. The simple hardware modification with implemented double-ring electrodes in ac/dc operation is also feasible for an electrodynamic/acoustic hybrid levitator

Fault tolerant control design for hybrid systems

Energy Technology Data Exchange (ETDEWEB)

Yang, Hao; Jiang, Bin [Nanjing University of Aeronautics and Astronautics, Nanjing (China); Cocquempot, Vincent [Universite des Sciences et Technologies de Lille, Villeneuve d' Ascq (France)

2010-07-01

This book intends to provide the readers a good understanding on how to achieve Fault Tolerant Control goal of Hybrid Systems. The book can be used as a reference for the academic research on Fault Tolerant Control and Hybrid Systems or used in Ph.D. study of control theory and engineering. The knowledge background for this monograph would be some undergraduate and graduate courses on Fault Diagnosis and Fault Tolerant Control theory, linear system theory, nonlinear system theory, Hybrid Systems theory and Discrete Event System theory. (orig.)

The conference hybrid control room

International Nuclear Information System (INIS)

Gieci, A.; Caucik, J.; Macko, J.

2008-01-01

An original concept of a hybrid control room was developed for the Mochovce-3 and Mochovce-4 reactor units which are under construction. The basic idea underlying the concept is that the control room should be a main working place for the operators (reactor operator and turbine operator) and for the shift supervisor, designed as a comprehensive unit desk shaped so that all members of the control room crew are in a face-to-face contact constantly. The main desk consists of three clearly identified areas serving the operators and the unit supervisor as their main working places. A soft control system is installed at the main working places. A separate safety-related working place, designed as a panel with classical instrumentations at the conference hybrid control room, is provided in case of abnormal conditions or emergency situation. Principles of ergonomics and cognitive engineering were taken into account when designing the new conference hybrid control room for the Mochovce-3 and -4 reactor units. The sizes, propositions, shapes and disposition of the equipment at the control room have been created and verified by using virtual reality tools. (orig.)

Non-linear hybrid control oriented modelling of a digital displacement machine

DEFF Research Database (Denmark)

Pedersen, Niels Henrik; Johansen, Per; Andersen, Torben O.

2017-01-01

Proper feedback control of digital fluid power machines (Pressure, flow, torque or speed control) requires a control oriented model, from where the system dynamics can be analyzed, stability can be proven and design criteria can be specified. The development of control oriented models for hydraulic...... Digital Displacement Machines (DDM) is complicated due to non-smooth machine behavior, where the dynamics comprises both analog, digital and non-linear elements. For a full stroke operated DDM the power throughput is altered in discrete levels based on the ratio of activated pressure chambers....... In this paper, a control oriented hybrid model is established, which combines the continuous non-linear pressure chamber dynamics and the discrete shaft position dependent activation of the pressure chambers. The hybrid machine model is further extended to describe the dynamics of a Digital Fluid Power...

Battery control system for hybrid vehicle and method for controlling a hybrid vehicle battery

Science.gov (United States)

Bockelmann, Thomas R [Battle Creek, MI; Beaty, Kevin D [Kalamazoo, MI; Zou, Zhanijang [Battle Creek, MI; Kang, Xiaosong [Battle Creek, MI

2009-07-21

A battery control system for controlling a state of charge of a hybrid vehicle battery includes a detecting arrangement for determining a vehicle operating state or an intended vehicle operating state and a controller for setting a target state of charge level of the battery based on the vehicle operating state or the intended vehicle operating state. The controller is operable to set a target state of charge level at a first level during a mobile vehicle operating state and at a second level during a stationary vehicle operating state or in anticipation of the vehicle operating in the stationary vehicle operating state. The invention further includes a method for controlling a state of charge of a hybrid vehicle battery.

Suppression of lower hybrid wave coupling due to the ponderomotive force

International Nuclear Information System (INIS)

Wilson, J.R.; Wong, K.L.

1980-04-01

The coupling efficiency from a slow-wave structure to lower hybrid waves is investigated experimentally. At moderate electric field strengths large edge density changes are observed. Wave trajectory modifications and departure from linear coupling are observed consistent with these changes and in good agreement with a simple nonlinear theory that includes the ponderomotive force

Analysis and design of hybrid control systems

Energy Technology Data Exchange (ETDEWEB)

Malmborg, J.

1998-05-01

Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time scales. The current simulation packages have problems modeling and simulating hybrid systems. It is shown how fast mode switches can be found before or during simulation. The necessary analysis work is a very small overhead for a modern simulation tool. To get some experience from practical problems with hybrid control the switching strategy is implemented in two different software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method 78 refs, 51 figs, 2 tabs

About a Class of Positive Hybrid Dynamic Linear Systems and an Associate Extended Kalman-Yakubovich-Popov Lemma

Directory of Open Access Journals (Sweden)

M. De la Sen

2017-01-01

Full Text Available This paper formulates an “ad hoc” robust version under parametrical disturbances of the discrete version of the Kalman-Yakubovich-Popov Lemma for a class of positive hybrid dynamic linear systems which consist of a continuous-time system coupled with a discrete-time or a digital one. An extended discrete system, whose state vector contains both the digital one and the discretization of the continuous-time one at sampling instants, is a key analysis element in the formulation. The hyperstability and asymptotic hyperstability properties of the studied class of positive hybrid systems under feedback from any member of a nonlinear (and, eventually, time-varying class of controllers, which satisfies a Popov’s-type inequality, are also investigated as linked to the positive realness of the associated transfer matrices.

IMPULSE CONTROL HYBRID ELECTRICAL SYSTEM

Directory of Open Access Journals (Sweden)

A. A. Lobaty

2016-01-01

Full Text Available This paper extends the recently introduced approach for modeling and solving the optimal control problem of fixedswitched mode DC-DC power converter. DCDC converters are a class of electric power circuits that used extensively in regulated DC power supplies, DC motor drives of different types, in Photovoltaic Station energy conversion and other applications due to its advantageous features in terms of size, weight and reliable performance. The main problem in controlling this type converters is in their hybrid nature as the switched circuit topology entails different modes of operation, each of it with its own associated linear continuous-time dynamics.This paper analyses the modeling and controller synthesis of the fixed-frequency buck DC-DC converter, in which the transistor switch is operated by a pulse sequence with constant frequency. In this case the regulation of the DC component of the output voltage is via the duty cycle. The optimization of the control system is based on the formation of the control signal at the output.It is proposed to solve the problem of optimal control of a hybrid system based on the formation of the control signal at the output of the controller, which minimizes a given functional integral quality, which is regarded as a linear quadratic Letov-Kalman functional. Search method of optimal control depends on the type of mathematical model of control object. In this case, we consider a linear deterministic model of the control system, which is common for the majority of hybrid electrical systems. For this formulation of the optimal control problem of search is a problem of analytical design of optimal controller, which has the analytical solution.As an example of the hybrid system is considered a step-down switching DC-DC converter, which is widely used in various electrical systems: as an uninterruptible power supply, battery charger for electric vehicles, the inverter in solar photovoltaic power plants.. A

Modular supervisory controller for hybrid power systems

Energy Technology Data Exchange (ETDEWEB)

Lemos Pereira, A. de

2000-06-01

The power supply of remote places has been commonly provided by thermal power plants, usually diesel generators. Although hybrid power systems may constitute the most economical solution in many applications their widespread application to the electrification schemes of remote areas still depends on improvements in the issues of design and operation control. The main limitations of the present hybrid power systems technology, which are identified in this work, are related to the control and supervision of the power system. Therefore this thesis focuses on the modularity of supervisory controllers in order to design cost-competitive and reliable hybrid power systems. The modular supervisory controller created in this project is considered an important part of a system design approach that aims to overcome the technical difficulties of the current engineering practice and contribute to open the market of hybrid power systems. The term modular refers to a set of design characteristics that allows the use of basically the same supervisory controller in different projects. The modularization and standardisation of the controller include several issues such as interfacing components, communication protocols, modelling, programming and control strategies. The modularity can reduce the highly specialised system engineering related to the integration of components, operation and control. It can also avoid the high costs for installation, service and maintenance. A modular algorithm for supervisory controllers has been developed (a Matlab program called SuperCon) using an object-oriented design and it has been tested through several simulations using different hybrid system configurations and different control strategies. This thesis presents a complete control system design process which can be used as the basis for the development and implementation of intelligent and autonomous supervisory controllers for hybrid power systems with modular characteristics. (au)

Novel electro-hydraulic position control system for primary mirror supporting system

Directory of Open Access Journals (Sweden)

Xiongbin Peng

2016-05-01

Full Text Available In the field of modern large-scale telescope, primary mirror supporting system technology faces the difficulties of theoretically uniform output force request and bias compensation. Therefore, a novel position control system combining hydraulic system with servo motor system is introduced. The novel system ensures uniform output force on supporting points without complicating the mechanical structure. The structures of both primary mirror supporting system and novel position system are described. Then, the mathematical model of novel position control system is derived for controller selection. A proportional–derivative controller is adopted for simulations and experiments of step response and triangle path tracking. The results show that proportional–derivative controller guarantees the system with micrometer-level positioning ability. A modified proportional–derivative controller is utilized to promote system behavior with faster response overshoot. The novel position control system is then applied on primary mirror supporting system. Coupling effect is observed among actuator partitions, and relocation of virtual pivot supporting point is chosen as the decoupling measurement. The position keeping ability of the primary mirror supporting system is verified by rotating the mirror cell at a considerably high rate. The experiment results show that the decoupled system performs better with smaller bias and shorter recovery time.

Theoretical and experimental investigation of position-controlled semi-active friction damper for seismic structures

Science.gov (United States)

Lu, Lyan-Ywan; Lin, Tzu-Kang; Jheng, Rong-Jie; Wu, Hsin-Hsien

2018-01-01

A semi-active friction damper (SAFD) can be employed for the seismic protection of structural systems. The effectiveness of an SAFD in absorbing seismic energy is usually superior to that of its passive counterpart, since its slip force can be altered in real time according to structural response and excitation. Most existing SAFDs are controlled by adjusting the clamping force applied on the friction interface. Thus, the implementation of SAFDs in practice requires precision control of the clamping force, which is usually substantially larger than the slip force. This may increase the implementation complexity and cost of SAFDs. To avoid this problem, this study proposes a novel position-controlled SAFD, named the leverage-type controllable friction damper (LCFD). The LCFD system combines a traditional passive friction damper and a leverage mechanism with a movable central pivot. By simply controlling the pivot position, the damping force generated by the LCFD system can be adjusted in real time. In order to verify the feasibility of the proposed SAFD, a prototype LCFD was tested by using a shaking table. The test results demonstrate that the equivalent friction force and hysteresis loop of the LCFD can be regulated by controlling the pivot position. By considering 16 ground motions with two different intensities, the adaptive feature of the LCFD for seismic structural control is further demonstrated numerically.

Positioning of microtubule organizing centers by cortical pushing and pulling forces

International Nuclear Information System (INIS)

Pavin, Nenad; Ma Rui; Jülicher, Frank; Laan, Liedewij; Dogterom, Marileen

2012-01-01

Positioning of microtubule (MT) organizing centers with respect to the confining geometry of cells depends on pushing and/or pulling forces generated by MTs that interact with the cell cortex (Dogterom et al 2005 Curr. Opin. Cell Biol. 17 67–74). How, in living cells, these forces lead to proper positioning is still largely an open question. Recently, it was shown by in vitro experiments using artificial microchambers that in a square geometry, MT asters center more reliably by a combination of pulling and pushing forces than by pushing forces alone (Laan et al 2012a Cell 148 502–14). These findings were explained by a physical description of aster mechanics that includes slipping of pushing MT ends along chamber boundaries. In this paper, we extend that theoretical work by studying the influence of the shape of the confining geometry on the positioning process. We find that pushing and pulling forces can have centering or off-centering behavior in different geometries. Pushing forces center in a one-dimensional and a square geometry, but lead to off-centering in a circle if slipping is sufficiently pronounced. Pulling forces, however, do not center in a one-dimensional geometry, but improve centering in a circle and a square. In an elongated stadium geometry, positioning along the short axis depends mainly on pulling forces, while positioning along the long axis depends mainly on pushing forces. Our theoretical results suggest that different positioning strategies could be used by different cell types. (paper)

Ergonomic solutions to support forced static positions at work

Directory of Open Access Journals (Sweden)

Suszyński Marcin

2017-01-01

Full Text Available The article analyzes the available ergonomic constructions used for the support of the musculoskeletal system during static, prolonged work performed in forced positions. Possible evaluation methods are presented as well as ergonomic considerations of work performed in inclined positions, where there is no possibility of influencing the working plane. As a result of the presented work, a set of criteria has been proposed and the requirements for methods which can be used to evaluate the technical constructions supporting the worker during tasks performed in forced and static positions.

A hybrid joint based controller for an upper extremity exoskeleton

Science.gov (United States)

Mohd Khairuddin, Ismail; Taha, Zahari; Majeed, Anwar P. P. Abdul; Hakeem Deboucha, Abdel; Azraai Mohd Razman, Mohd; Aziz Jaafar, Abdul; Mohamed, Zulkifli

2016-02-01

This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton. The Euler-Lagrange formulation was used in deriving the dynamic modelling of both the human upper limb as well as the exoskeleton that consists of the upper arm and the forearm. The human model is based on anthropometrical measurements of the upper limb. The proportional-derivative (PD) computed torque control (CTC) architecture is employed in this study to investigate its efficacy performing joint-space control objectives specifically in rehabilitating the elbow and shoulder joints along the sagittal plane. An active force control (AFC) algorithm is also incorporated into the PD-CTC to investigate the effectiveness of this hybrid system in compensating disturbances. It was found that the AFC- PD-CTC performs well against the disturbances introduced into the system whilst achieving acceptable trajectory tracking as compared to the conventional PD-CTC control architecture.

A hybrid joint based controller for an upper extremity exoskeleton

International Nuclear Information System (INIS)

Khairuddin, Ismail Mohd; Taha, Zahari; Majeed, Anwar P.P. Abdul; Deboucha, Abdel Hakeem; Razman, Mohd Azraai Mohd; Jaafar, Abdul Aziz; Mohamed, Zulkifli

2016-01-01

This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton. The Euler-Lagrange formulation was used in deriving the dynamic modelling of both the human upper limb as well as the exoskeleton that consists of the upper arm and the forearm. The human model is based on anthropometrical measurements of the upper limb. The proportional-derivative (PD) computed torque control (CTC) architecture is employed in this study to investigate its efficacy performing joint-space control objectives specifically in rehabilitating the elbow and shoulder joints along the sagittal plane. An active force control (AFC) algorithm is also incorporated into the PD-CTC to investigate the effectiveness of this hybrid system in compensating disturbances. It was found that the AFC- PD-CTC performs well against the disturbances introduced into the system whilst achieving acceptable trajectory tracking as compared to the conventional PD-CTC control architecture. (paper)

Position Analysis of a Hybrid Serial-Parallel Manipulator in Immersion Lithography

Directory of Open Access Journals (Sweden)

Jie-jie Shao

2015-01-01

Full Text Available This paper proposes a novel hybrid serial-parallel mechanism with 6 degrees of freedom. The new mechanism combines two different parallel modules in a serial form. 3-P̲(PH parallel module is architecture of 3 degrees of freedom based on higher joints and specializes in describing two planes’ relative pose. 3-P̲SP parallel module is typical architecture which has been widely investigated in recent researches. In this paper, the direct-inverse position problems of the 3-P̲SP parallel module in the couple mixed-type mode are analyzed in detail, and the solutions are obtained in an analytical form. Furthermore, the solutions for the direct and inverse position problems of the novel hybrid serial-parallel mechanism are also derived and obtained in the analytical form. The proposed hybrid serial-parallel mechanism is applied to regulate the immersion hood’s pose in an immersion lithography system. Through measuring and regulating the pose of the immersion hood with respect to the wafer surface simultaneously, the immersion hood can track the wafer surface’s pose in real-time and the gap status is stabilized. This is another exploration to hybrid serial-parallel mechanism’s application.

Active Vibration Control of Plate Partly Treated with ACLD Using Hybrid Control

Directory of Open Access Journals (Sweden)

Dongdong Zhang

2014-01-01

Full Text Available A finite element model of plate partly treated with ACLD treatments is developed based on the constitutive equations of elastic, piezoelectric, viscoelastic materials and Hamilton’s principle. The Golla-Hughes-Mctavish (GHM method is employed to describe the frequency-dependent characteristics of viscoelastic material (VEM. A model reduction is completed by using iterative dynamic condensation and balance model reduction method to design an effective control system. The emphasis is concerned on hybrid (combined feedback/feedforward control system to attenuate the vibration of plates with ACLD treatments. The optimal linear quadratic Gaussian (LQG controller is considered as a feedback channel and the adaptive filtered-reference LMS (FxLMS controller is used as a feedforward channel. They can be utilized individually or in a hybrid way to suppress the vibration of plate/ACLD system. The results show that the hybrid controller which combines feedback/feedforward together can reduce the displacement amplitude of plate/ACLD system subjected to a complicated disturbance substantially without requiring more control effort. Furthermore, the hybrid controller has more rapid and stable convergence rate than the adaptive feedforward FxLMS controller. Meanwhile, perfect robustness to phase error of the cancellation path in feedforward controller and the weight matrices in feedback LQG controller is demonstrated in proposed hybrid controller. Therefore, its application in structural engineering can be highly appreciated.

Plasma position control device for thermonuclear device

Energy Technology Data Exchange (ETDEWEB)

Onozuka, Masanori [Mitsubishi Heavy Industries Ltd., Tokyo (Japan); Fujita, Jun-ya; Ioki, Kimihiro

1995-10-03

The present invention concerns plasma position control coils having a feeder line structure not requiring high strength for the support portion. Namely, the coils are formed by twisting feeder lines extended from plasma position control coils in a vacuum vessel. The twisted feeder lines are supported using an appropriate structural member. Electromagnetic load is generated to the feeder lines being extended from the position control coils and traversing toroidal fields at a current introduction lines and at current delivery lines respectively. However, since the feeder lines have substantially spiral shape consisting of two twisted lines, the electromagnetic load and the moment caused by the generated load which are inversed to each other are off set. Accordingly, only extremely small force is exerted on the fittings which support the feeder lines. Therefore, small strength may suffice for the fittings and the gaps of mounting the fittings may be made longer. (I.S.).

Plasma position control device for thermonuclear device

International Nuclear Information System (INIS)

Onozuka, Masanori; Fujita, Jun-ya; Ioki, Kimihiro.

1995-01-01

The present invention concerns plasma position control coils having a feeder line structure not requiring high strength for the support portion. Namely, the coils are formed by twisting feeder lines extended from plasma position control coils in a vacuum vessel. The twisted feeder lines are supported using an appropriate structural member. Electromagnetic load is generated to the feeder lines being extended from the position control coils and traversing toroidal fields at a current introduction lines and at current delivery lines respectively. However, since the feeder lines have substantially spiral shape consisting of two twisted lines, the electromagnetic load and the moment caused by the generated load which are inversed to each other are off set. Accordingly, only extremely small force is exerted on the fittings which support the feeder lines. Therefore, small strength may suffice for the fittings and the gaps of mounting the fittings may be made longer. (I.S.)

New approach for control rod position indication system for light water power reactor

International Nuclear Information System (INIS)

Bahuguna, Sushil; Dhage, Sangeeta; Nawaj, S.; Salek, C.; Lahiri, S.K.; Marathe, P.P.; Mukhopadhyay, S.; Taly, Y.K.

2015-01-01

Control rod position indication system is an important system in a nuclear power plant to monitor and display control rod position in all regimes of reactor operation. A new approach to design a control rod position indication system for sensing absolute position of control rod in Light Water Power Reactor has been undertaken. The proposed system employs an inductive type, hybrid measurement strategy providing both analog position as well as digital zone indication with built-in temperature compensation. The new design approach meets single failure criterion through redundancy in design without sacrificing measurement resolution. It also provides diversity in measurement technique by indirect position sensing based on analysis of drive coil current signature. Prototype development and qualification at room temperature of the control rod position indication system (CRPIS) has been demonstrated. The article presents the design philosophy of control rod position indication system, the new measurement strategy for sensing absolute position of control rod, position estimation algorithm for both direct and indirect sensing and a brief account associated processing electronics. (author)

A Hybrid Smartphone Indoor Positioning Solution for Mobile LBS

OpenAIRE

Liu, Jingbin; Chen, Ruizhi; Pei, Ling; Guinness, Robert; Kuusniemi, Heidi

2012-01-01

Smartphone positioning is an enabling technology used to create new business in the navigation and mobile location-based services (LBS) industries. This paper presents a smartphone indoor positioning engine named HIPE that can be easily integrated with mobile LBS. HIPE is a hybrid solution that fuses measurements of smartphone sensors with wireless signals. The smartphone sensors are used to measure the user’s motion dynamics information (MDI), which represent the spatial correlatio...

Hybrid dynamical systems observation and control

CERN Document Server

Defoort, Michael

2015-01-01

This book is a collection of contributions defining the state of current knowledge and new trends in hybrid systems – systems involving both continuous dynamics and discrete events – as described by the work of several well-known groups of researchers. Hybrid Dynamical Systems presents theoretical advances in such areas as diagnosability, observability and stabilization for various classes of system. Continuous and discrete state estimation and self-triggering control of nonlinear systems are advanced. The text employs various methods, among them, high-order sliding modes, Takagi–Sugeno representation and sampled-data switching to achieve its ends. The many applications of hybrid systems from power converters to computer science are not forgotten; studies of flexible-joint robotic arms and – as representative biological systems – the behaviour of the human heart and vasculature, demonstrate the wide-ranging practical significance of control in hybrid systems. The cross-disciplinary origins of study ...

Comments On Clock Models In Hybrid Automata And Hybrid Control Systems

Directory of Open Access Journals (Sweden)

Virginia Ecaterina OLTEAN

2001-12-01

Full Text Available Hybrid systems have received a lot of attention in the past decade and a number of different models have been proposed in order to establish mathematical framework that is able to handle both continuous and discrete aspects. This contribution is focused on two models: hybrid automata and hybrid control systems with continuous-discrete interface and the importance of clock models is emphasized. Simple and relevant examples, some taken from the literature, accompany the presentation.

Mixed H∞ and passive control for linear switched systems via hybrid control approach

Science.gov (United States)

Zheng, Qunxian; Ling, Youzhu; Wei, Lisheng; Zhang, Hongbin

2018-03-01

This paper investigates the mixed H∞ and passive control problem for linear switched systems based on a hybrid control strategy. To solve this problem, first, a new performance index is proposed. This performance index can be viewed as the mixed weighted H∞ and passivity performance. Then, the hybrid controllers are used to stabilise the switched systems. The hybrid controllers consist of dynamic output-feedback controllers for every subsystem and state updating controllers at the switching instant. The design of state updating controllers not only depends on the pre-switching subsystem and the post-switching subsystem, but also depends on the measurable output signal. The hybrid controllers proposed in this paper can include some existing ones as special cases. Combine the multiple Lyapunov functions approach with the average dwell time technique, new sufficient conditions are obtained. Under the new conditions, the closed-loop linear switched systems are globally uniformly asymptotically stable with a mixed H∞ and passivity performance index. Moreover, the desired hybrid controllers can be constructed by solving a set of linear matrix inequalities. Finally, a numerical example and a practical example are given.

A hybrid scanning force and light microscope for surface imaging and three-dimensional optical sectioning in differential interference contrast.

Science.gov (United States)

Stemmer, A

1995-04-01

The design of a scanned-cantilever-type force microscope is presented which is fully integrated into an inverted high-resolution video-enhanced light microscope. This set-up allows us to acquire thin optical sections in differential interference contrast (DIC) or polarization while the force microscope is in place. Such a hybrid microscope provides a unique platform to study how cell surface properties determine, or are affected by, the three-dimensional dynamic organization inside the living cell. The hybrid microscope presented in this paper has proven reliable and versatile for biological applications. It is the only instrument that can image a specimen by force microscopy and high-power DIC without having either to translate the specimen or to remove the force microscope. Adaptation of the design features could greatly enhance the suitability of other force microscopes for biological work.

Estimation of excitation forces for wave energy converters control using pressure measurements

Science.gov (United States)

Abdelkhalik, O.; Zou, S.; Robinett, R.; Bacelli, G.; Wilson, D.

2017-08-01

Most control algorithms of wave energy converters require prediction of wave elevation or excitation force for a short future horizon, to compute the control in an optimal sense. This paper presents an approach that requires the estimation of the excitation force and its derivatives at present time with no need for prediction. An extended Kalman filter is implemented to estimate the excitation force. The measurements in this approach are selected to be the pressures at discrete points on the buoy surface, in addition to the buoy heave position. The pressures on the buoy surface are more directly related to the excitation force on the buoy as opposed to wave elevation in front of the buoy. These pressure measurements are also more accurate and easier to obtain. A singular arc control is implemented to compute the steady-state control using the estimated excitation force. The estimated excitation force is expressed in the Laplace domain and substituted in the control, before the latter is transformed to the time domain. Numerical simulations are presented for a Bretschneider wave case study.

Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

Directory of Open Access Journals (Sweden)

Juan Manuel Ibarra-Zannatha

2007-01-01

Full Text Available The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

Hybrid Predictive Control for Dynamic Transport Problems

CERN Document Server

Núñez, Alfredo A; Cortés, Cristián E

2013-01-01

Hybrid Predictive Control for Dynamic Transport Problems develops methods for the design of predictive control strategies for nonlinear-dynamic hybrid discrete-/continuous-variable systems. The methodology is designed for real-time applications, particularly the study of dynamic transport systems. Operational and service policies are considered, as well as cost reduction. The control structure is based on a sound definition of the key variables and their evolution. A flexible objective function able to capture the predictive behaviour of the system variables is described. Coupled with efficient algorithms, mainly drawn from the area of computational intelligence, this is shown to optimize performance indices for real-time applications. The framework of the proposed predictive control methodology is generic and, being able to solve nonlinear mixed-integer optimization problems dynamically, is readily extendable to other industrial processes. The main topics of this book are: ●hybrid predictive control (HPC) ...

Single axis controlled hybrid magnetic bearing for left ventricular assist device: hybrid core and closed magnetic circuit.

Science.gov (United States)

da Silva, Isaias; Horikawa, Oswaldo; Cardoso, Jose R; Camargo, Fernando A; Andrade, Aron J P; Bock, Eduardo G P

2011-05-01

In previous studies, we presented main strategies for suspending the rotor of a mixed-flow type (centrifugal and axial) ventricular assist device (VAD), originally presented by the Institute Dante Pazzanese of Cardiology (IDPC), Brazil. Magnetic suspension is achieved by the use of a magnetic bearing architecture in which the active control is executed in only one degree of freedom, in the axial direction of the rotor. Remaining degrees of freedom, excepting the rotation, are restricted only by the attraction force between pairs of permanent magnets. This study is part of a joint project in development by IDPC and Escola Politecnica of São Paulo University, Brazil. This article shows advances in that project, presenting two promising solutions for magnetic bearings. One solution uses hybrid cores as electromagnetic actuators, that is, cores that combine iron and permanent magnets. The other solution uses actuators, also of hybrid type, but with the magnetic circuit closed by an iron core. After preliminary analysis, a pump prototype has been developed for each solution and has been tested. For each prototype, a brushless DC motor has been developed as the rotor driver. Each solution was evaluated by in vitro experiments and guidelines are extracted for future improvements. Tests have shown good results and demonstrated that one solution is not isolated from the other. One complements the other for the development of a single-axis-controlled, hybrid-type magnetic bearing for a mixed-flow type VAD. © 2011, Copyright the Authors. Artificial Organs © 2011, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

Positive sliding mode control for blood glucose regulation

Science.gov (United States)

Menani, Karima; Mohammadridha, Taghreed; Magdelaine, Nicolas; Abdelaziz, Mourad; Moog, Claude H.

2017-11-01

Biological systems involving positive variables as concentrations are some examples of so-called positive systems. This is the case of the glycemia-insulinemia system considered in this paper. To cope with these physical constraints, it is shown that a positive sliding mode control (SMC) can be designed for glycemia regulation. The largest positive invariant set (PIS) is obtained for the insulinemia subsystem in open and closed loop. The existence of a positive SMC for glycemia regulation is shown here for the first time. Necessary conditions to design the sliding surface and the discontinuity gain are derived to guarantee a positive SMC for the insulin dynamics. SMC is designed to be positive everywhere in the largest closed-loop PIS of plasma insulin system. Two-stage SMC is employed; the last stage SMC2 block uses the glycemia error to design the desired insulin trajectory. Then the plasma insulin state is forced to track the reference via SMC1. The resulting desired insulin trajectory is the required virtual control input of the glycemia system to eliminate blood glucose (BG) error. The positive control is tested in silico on type-1 diabetic patients model derived from real-life clinical data.

Postural And Eye-Positional Effects On Human Biting Force: An Experimental Study

Directory of Open Access Journals (Sweden)

Altay Tabancacı

2012-06-01

Full Text Available Muscle groups affected on biting force are called temporal muscle as a major and masseter muscle as a minor. According to the human posture stability, forces of these muscles vary with the force directions. In this case, experimental investigation is strictly important such that biting force under different postural and eye- positional situations is changed. In this study, seven-male and seven-female within the age-range of 17-24 are considered corresponding to having with restorated molar tooth and without that type of tooth. With the help of specially designed biting fork, different posture- and eye-positions are investigated for experimental biting force analysis. Changes in eye-positions are not indicated significant difference for all postural positions. On one hand, it is obtained that biting force of no-filling tooth in men becomes maximum if facial muscles give full effort to biting. On the other hand, effect of facial muscles for women is not clearly noticed depending on the postural differences.

Evolutionary design of discrete controllers for hybrid mechatronic systems

DEFF Research Database (Denmark)

Dupuis, Jean-Francois; Fan, Zhun; Goodman, Erik

2015-01-01

This paper investigates the issue of evolutionary design of controllers for hybrid mechatronic systems. Finite State Automaton (FSA) is selected as the representation for a discrete controller due to its interpretability, fast execution speed and natural extension to a statechart, which is very...... popular in industrial applications. A case study of a two-tank system is used to demonstrate that the proposed evolutionary approach can lead to a successful design of an FSA controller for the hybrid mechatronic system, represented by a hybrid bond graph. Generalisation of the evolved FSA controller...... of the evolutionary design of controllers for hybrid mechatronic systems. Finally, some important future research directions are pointed out, leading to the major work of the succeeding part of the research....

A Thrust Allocation Method for Efficient Dynamic Positioning of a Semisubmersible Drilling Rig Based on the Hybrid Optimization Algorithm

Directory of Open Access Journals (Sweden)

Luman Zhao

2015-01-01

Full Text Available A thrust allocation method was proposed based on a hybrid optimization algorithm to efficiently and dynamically position a semisubmersible drilling rig. That is, the thrust allocation was optimized to produce the generalized forces and moment required while at the same time minimizing the total power consumption under the premise that forbidden zones should be taken into account. An optimization problem was mathematically formulated to provide the optimal thrust allocation by introducing the corresponding design variables, objective function, and constraints. A hybrid optimization algorithm consisting of a genetic algorithm and a sequential quadratic programming (SQP algorithm was selected and used to solve this problem. The proposed method was evaluated by applying it to a thrust allocation problem for a semisubmersible drilling rig. The results indicate that the proposed method can be used as part of a cost-effective strategy for thrust allocation of the rig.

Control of DNA hybridization by photoswitchable molecular glue.

Science.gov (United States)

Dohno, Chikara; Nakatani, Kazuhiko

2011-12-01

Hybridization of DNA is one of the most intriguing events in molecular recognition and is essential for living matter to inherit life beyond generations. In addition to the function of DNA as genetic material, DNA hybridization is a key to control the function of DNA-based materials in nanoscience. Since the hybridization of two single stranded DNAs is a thermodynamically favorable process, dissociation of the once formed DNA duplex is normally unattainable under isothermal conditions. As the progress of DNA-based nanoscience, methodology to control the DNA hybridization process has become increasingly important. Besides many reports using the chemically modified DNA for the regulation of hybridization, we focused our attention on the use of a small ligand as the molecular glue for the DNA. In 2001, we reported the first designed molecule that strongly and specifically bound to the mismatched base pairs in double stranded DNA. Further studies on the mismatch binding molecules provided us a key discovery of a novel mode of the binding of a mismatch binding ligand that induced the base flipping. With these findings we proposed the concept of molecular glue for DNA for the unidirectional control of DNA hybridization and, eventually photoswitchable molecular glue for DNA, which enabled the bidirectional control of hybridization under photoirradiation. In this tutorial review, we describe in detail how we integrated the mismatch binding ligand into photoswitchable molecular glue for DNA, and the application and perspective in DNA-based nanoscience.

Spacecraft Hybrid (Mixed-Actuator) Attitude Control Experiences on NASA Science Missions

Science.gov (United States)

Dennehy, Cornelius J.

2014-01-01

There is a heightened interest within NASA for the design, development, and flight implementation of mixed-actuator hybrid attitude control systems for science spacecraft that have less than three functional reaction wheel actuators. This interest is driven by a number of recent reaction wheel failures on aging, but what could be still scientifically productive, NASA spacecraft if a successful hybrid attitude control mode can be implemented. Over the years, hybrid (mixed-actuator) control has been employed for contingency attitude control purposes on several NASA science mission spacecraft. This paper provides a historical perspective of NASA's previous engineering work on spacecraft mixed-actuator hybrid control approaches. An update of the current situation will also be provided emphasizing why NASA is now so interested in hybrid control. The results of the NASA Spacecraft Hybrid Attitude Control Workshop, held in April of 2013, will be highlighted. In particular, the lessons learned captured from that workshop will be shared in this paper. An update on the most recent experiences with hybrid control on the Kepler spacecraft will also be provided. This paper will close with some future considerations for hybrid spacecraft control.

Control rod position control device

International Nuclear Information System (INIS)

Ubukata, Shinji.

1997-01-01

The present invention provides a control rod position control device which stores data such as of position signals and driving control rod instruction before and after occurrence of abnormality in control for the control rod position for controlling reactor power and utilized the data effectively for investigating the cause of abnormality. Namely, a plurality of individual control devices have an operation mismatching detection circuit for outputting signals when difference is caused between a driving instruction given to the control rod position control device and the control rod driving means and signals from a detection means for detecting an actual moving amount. A general control device collectively controls the individual control devices. In addition, there is also disposed a position storing circuit for storing position signals at least before and after the occurrence of the control rod operation mismatching. With such procedures, the cause of the abnormality can be determined based on the position signals before and after the occurrence of control rod mismatching operation stored in the position storing circuit. Accordingly, the abnormality cause can be determined to conduct restoration in an early stage. (I.S.)

Robust independent modal space control of a coupled nano-positioning piezo-stage

Science.gov (United States)

Zhu, Wei; Yang, Fufeng; Rui, Xiaoting

2018-06-01

In order to accurately control a coupled 3-DOF nano-positioning piezo-stage, this paper designs a hybrid controller. In this controller, a hysteresis observer based on a Bouc-Wen model is established to compensate the hysteresis nonlinearity of the piezoelectric actuator first. Compared to hysteresis compensations using Preisach model and Prandt-Ishlinskii model, the compensation method using the hysteresis observer is computationally lighter. Then, based on the proposed dynamics model, by constructing the modal filter, a robust H∞ independent modal space controller is designed and utilized to decouple the piezo-stage and deal with the unmodeled dynamics, disturbance, and hysteresis compensation error. The effectiveness of the proposed controller is demonstrated experimentally. The experimental results show that the proposed controller can significantly achieve the high-precision positioning.

Full Gradient Solution to Adaptive Hybrid Control

Science.gov (United States)

Bean, Jacob; Schiller, Noah H.; Fuller, Chris

2017-01-01

This paper focuses on the adaptation mechanisms in adaptive hybrid controllers. Most adaptive hybrid controllers update two filters individually according to the filtered reference least mean squares (FxLMS) algorithm. Because this algorithm was derived for feedforward control, it does not take into account the presence of a feedback loop in the gradient calculation. This paper provides a derivation of the proper weight vector gradient for hybrid (or feedback) controllers that takes into account the presence of feedback. In this formulation, a single weight vector is updated rather than two individually. An internal model structure is assumed for the feedback part of the controller. The full gradient is equivalent to that used in the standard FxLMS algorithm with the addition of a recursive term that is a function of the modeling error. Some simulations are provided to highlight the advantages of using the full gradient in the weight vector update rather than the approximation.

A reconfigurable hybrid supervisory system for process control

International Nuclear Information System (INIS)

Garcia, H.E.; Ray, A.; Edwards, R.M.

1994-01-01

This paper presents a reconfigurable approach to decision and control systems for complex dynamic processes. The proposed supervisory control system is a reconfigurable hybrid architecture structured into three functional levels of hierarchy, namely, execution, supervision, and coordination. While the bottom execution level is constituted by either reconfigurable continuously varying or discrete event systems, the top two levels are necessarily governed by reconfigurable sets of discrete event decision and control systems. Based on the process status, the set of active control and supervisory algorithm is chosen. The reconfigurable hybrid system is briefly described along with a discussion on its implementation at the Experimental Breeder Reactor II of Argonne National Laboratory. A process control application of this hybrid system is presented and evaluated in an in-plant experiment

A reconfigurable hybrid supervisory system for process control

International Nuclear Information System (INIS)

Garcia, H.E.; Ray, A.; Edwards, R.M.

1994-01-01

This paper presents a reconfigurable approach to decision and control systems for complex dynamic processes. The proposed supervisory control system is a reconfigurable hybrid architecture structured into three functional levels of hierarchy, namely, execution, supervision, and coordination. While, the bottom execution level is constituted by either reconfigurable continuously varying or discrete event systems, the top two levels are necessarily governed by reconfigurable sets of discrete event decision and control systems. Based on the process status, the set of active control and supervisory algorithm is chosen. The reconfigurable hybrid system is briefly described along with a discussion on its implementation at the Experimental Breeder Reactor 2 of Argonne National Laboratory. A process control application of this hybrid system is presented and evaluated in an in-plant experiment

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.

Automated force controller for amplitude modulation atomic force microscopy

Energy Technology Data Exchange (ETDEWEB)

Miyagi, Atsushi, E-mail: atsushi.miyagi@inserm.fr, E-mail: simon.scheuring@inserm.fr; Scheuring, Simon, E-mail: atsushi.miyagi@inserm.fr, E-mail: simon.scheuring@inserm.fr [U1006 INSERM, Université Aix-Marseille, Parc Scientifique et Technologique de Luminy, 163 Avenue de Luminy, 13009 Marseille (France)

2016-05-15

Atomic Force Microscopy (AFM) is widely used in physics, chemistry, and biology to analyze the topography of a sample at nanometer resolution. Controlling precisely the force applied by the AFM tip to the sample is a prerequisite for faithful and reproducible imaging. In amplitude modulation (oscillating) mode AFM, the applied force depends on the free and the setpoint amplitudes of the cantilever oscillation. Therefore, for keeping the applied force constant, not only the setpoint amplitude but also the free amplitude must be kept constant. While the AFM user defines the setpoint amplitude, the free amplitude is typically subject to uncontrollable drift, and hence, unfortunately, the real applied force is permanently drifting during an experiment. This is particularly harmful in biological sciences where increased force destroys the soft biological matter. Here, we have developed a strategy and an electronic circuit that analyzes permanently the free amplitude of oscillation and readjusts the excitation to maintain the free amplitude constant. As a consequence, the real applied force is permanently and automatically controlled with picoNewton precision. With this circuit associated to a high-speed AFM, we illustrate the power of the development through imaging over long-duration and at various forces. The development is applicable for all AFMs and will widen the applicability of AFM to a larger range of samples and to a larger range of (non-specialist) users. Furthermore, from controlled force imaging experiments, the interaction strength between biomolecules can be analyzed.

Controlling propulsive forces in gait initiation in transfemoral amputees

NARCIS (Netherlands)

van Keeken, Helco G.; Vrieling, Aline H.; Hof, At L.; Halbertsma, Jan P. K.; Schoppen, Tanneke; Postema, Klaas; Otten, Bert

During prosthetic gait initiation, transfemoral (TF) amputees control the spatial and temporal parameters that modulate the propulsive forces, the positions of the center of pressure (CoP), and the center of mass (CoM). Whether their sound leg or the prosthetic leg is leading, the TF amputees reach

Consensus positive position feedback control for vibration attenuation of smart structures

Science.gov (United States)

Omidi, Ehsan; Nima Mahmoodi, S.

2015-04-01

This paper presents a new network-based approach for active vibration control in smart structures. In this approach, a network with known topology connects collocated actuator/sensor elements of the smart structure to one another. Each of these actuators/sensors, i.e., agent or node, is enhanced by a separate multi-mode positive position feedback (PPF) controller. The decentralized PPF controlled agents collaborate with each other in the designed network, under a certain consensus dynamics. The consensus constraint forces neighboring agents to cooperate with each other such that the disagreement between the time-domain actuation of the agents is driven to zero. The controller output of each agent is calculated using state-space variables; hence, optimal state estimators are designed first for the proposed observer-based consensus PPF control. The consensus controller is numerically investigated for a flexible smart structure, i.e., a thin aluminum beam that is clamped at its both ends. Results demonstrate that the consensus law successfully imposes synchronization between the independently controlled agents, as the disagreements between the decentralized PPF controller variables converge to zero in a short time. The new consensus PPF controller brings extra robustness to vibration suppression in smart structures, where malfunctions of an agent can be compensated for by referencing the neighboring agents’ performance. This is demonstrated in the results by comparing the new controller with former centralized PPF approach.

CAUSE-FIT, POSITIVE ATTITUDES AND BEHAVIORS WITHIN HYBRID COLOMBIAN ORGANIZATIONS

Directory of Open Access Journals (Sweden)

Juan Pablo Román-Calderón

2015-06-01

Full Text Available Socially oriented ventures have provided livelihoods and social recognition to disadvantaged communities in different corners of the world. In some cases, these ventures are the result of Corporate Social Responsibility (CSR programs. In Latin America, this type of undertaking has responded positively to unmet social needs. The social cause drives these organizations and their human resources and they give high value to organizational cause-fit. This paper presents empirical evidence of the effects of perceived cause-fit on several worker attitudes and behaviors. Psychological contract theory was adopted as theoretical background. Employees working in a hybrid (for-profit/socially oriented Colombian organization created by a CSR program participated in the survey. Data provided by 218 employees were analyzed using PLS structural equation modeling. The results suggest the ideological components of the employee-employer relationship predict positive attitudes and cooperative organizational behaviors towards hybrid organizations.

Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

Science.gov (United States)

Bean, Jacob; Fuller, Chris; Schiller, Noah

2016-01-01

Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.

An intelligent active force control algorithm to control an upper extremity exoskeleton for motor recovery

Science.gov (United States)

Hasbullah Mohd Isa, Wan; Taha, Zahari; Mohd Khairuddin, Ismail; Majeed, Anwar P. P. Abdul; Fikri Muhammad, Khairul; Abdo Hashem, Mohammed; Mahmud, Jamaluddin; Mohamed, Zulkifli

2016-02-01

This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well as the exoskeleton that consists of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed in this study to investigate its efficacy performing joint-space control objectives. An intelligent AFC algorithm is also incorporated into the PD to investigate the effectiveness of this hybrid system in compensating disturbances. The Mamdani Fuzzy based rule is employed to approximate the estimated inertial properties of the system to ensure the AFC loop responds efficiently. It is found that the IAFC-PD performed well against the disturbances introduced into the system as compared to the conventional PD control architecture in performing the desired trajectory tracking.

Finite-Control-Set Model Predictive Control (FCS-MPC) for Islanded Hybrid Microgrids

OpenAIRE

Yi, Zhehan; Babqi, Abdulrahman J.; Wang, Yishen; Shi, Di; Etemadi, Amir H.; Wang, Zhiwei; Huang, Bibin

2018-01-01

Microgrids consisting of multiple distributed energy resources (DERs) provide a promising solution to integrate renewable energies, e.g., solar photovoltaic (PV) systems. Hybrid AC/DC microgrids leverage the merits of both AC and DC power systems. In this paper, a control strategy for islanded multi-bus hybrid microgrids is proposed based on the Finite-Control-Set Model Predictive Control (FCS-MPC) technologies. The control loops are expedited by predicting the future states and determining t...

Heat Removal Performance of Hybrid Control Rod for Passive In-Core Cooling System

Energy Technology Data Exchange (ETDEWEB)

Kim, Kyung Mo; Jeong, Yeong Shin; Kim, In Guk; Bang, In Cheol [UNIST, Ulsan (Korea, Republic of)

2015-10-15

The two-phase closed heat transfer device can be divided by thermosyphon heat pipe and capillary wicked heat pipe which uses gravitational force or capillary pumping pressure as a driving force of the convection of working fluid. If there is a temperature difference between reactor core and ultimate heat sink, the decay heat removal and reactor shutdown is possible at any accident conditions without external power sources. To apply the hybrid control rod to the commercial nuclear power plants, its modelling about various parameters is the most important work. Also, its unique geometry is coexistence of neutron absorber material and working fluid in a cladding material having annular vapor path. Although thermosyphon heat pipe (THP) or wicked heat pipe (WHP) shows high heat transfer coefficients for limited space, the maximum heat removal capacity is restricted by several phenomena due to their unique heat transfer mechanism. Validation of the existing correlations on the annular vapor path thermosyphon (ATHP) which has different wetted perimeter and heated diameter must be conducted. The effect of inner structure, and fill ratio of the working fluid on the thermal performance of heat pipe has not been investigated. As a first step of the development of hybrid heat pipe, the ATHP which contains neutron absorber in the concentric thermosyphon (CTHP) was prepared and the thermal performance of the annular thermosyphon was experimentally studied. The heat transfer characteristics and flooding limit of the annular vapor path thermosyphon was studied experimentally to model the performance of hybrid control rod. The following results were obtained: (1) The annular vapor path thermosyphon showed better evaporation heat transfer due to the enhanced convection between adiabatic and condenser section. (2) Effect of fill ratio on the heat transfer characteristics was negligible. (3) Existing correlations about flooding limit of thermosyphon could not reflect the annular vapor

Development of the pneumatic service robot with a hybrid type

International Nuclear Information System (INIS)

Choi, Cheol U; Choi, Hyeun Seok; Han, Chang Soo

2001-01-01

In this paper, the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantage of good compliance, high payload-to-weight and payload-to-volume ratios, high speed and force capabilities. Using pneumatic actuators which have low stiffness, the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory, the pneumatic service robot is evaluated and verified

A hybrid flight control for a simulated raptor-30 v2 helicopter

International Nuclear Information System (INIS)

Khizer, A.N.

2015-01-01

This paper presents a hybrid flight control system for a single rotor simulated Raptor-30 V2 helicopter. Hybrid intelligent control system, combination of the conventional and intelligent control methodologies, is applied to small model helicopter. The proposed hybrid control used PID as a traditional control and fuzzy as an intelligent control so as to take the maximum advantage of advanced control theory. The helicopter model used; comes from X-Plane flight simulator and their hybrid flight control system was simulated using MATLAB/SIMULINK in a simulation platform. X-Plane is also used to visualize the performance of this proposed autopilot design. Through a series of numerous experiments, the operation of hybrid control system was investigated. Results verified that the proposed hybrid control has an excellent performance at hovering flight mode. (author)

Modeling and boundary force control of microcantilevers utilized in atomic force microscopy for cellular imaging and characterization

Science.gov (United States)

Eslami, Sohrab

the proposed Euler-Bernoulli model, a more comprehensive model is developed by modeling the probe dynamics and including the effects of the rotary inertia and shear deformation under the same proposed tip-sample interaction force. An extensive comparative study between the Euler-Bernoulli and Timoshenko beam assumptions is conducted for different conditions including different base-excitation amplitudes and higher modes. The results underline that the comprehensive Timoshenko model unveils the effects of the nonlinear interaction force better than the Euler-Bernoulli beam model. In addition to extensive modeling efforts on the microcantilever and its interaction with sample, an adaptive control framework is developed in order to make the microcantilever's tip follow a desired trajectory. This trajectory can further be considered as an important path acquired by the path planning techniques to manipulate the nanoparticles. There is a base excitation considered for this model and can be considered as an input force control to excite the probe by taking advantage of flexibility of the cantilever despite its complexity and under existence of the external nonlinear interaction forces between the tip and sample's surface. When building such complicated controller on top of the proposed comprehensive model, the results could be extended to study a macro-micro hybrid rigid-flexible model of a microrobot to mimic the realistic behavior of the MM3ARTM microrobot. The MM3ARTM microrobot is equipped with a piezoresistive layer which functions as a force sensor and is capable of measuring very slight forces as small as micro to nano-Newton. Two types of controllers are investigated for the case of the tip force control. Lyapunov-based PD and robust adaptive controllers are developed for this purpose and their performances and stabilities are compared. In the experimental part, a platform for performing the automated nanomanipulation and real-time cellular imaging is developed by

Characteristic Analysis and Simulated Test of Hybrid Bearing with the Introduction of Piezoelectric Controller

Directory of Open Access Journals (Sweden)

Runlin Chen

2016-01-01

Full Text Available A novel hybrid bearing with the introduction of piezoelectric controller and tilting pads to control vibration actively is proposed in this paper, and the feasibility of this scheme is verified by theoretical calculation and experimental data. This scheme can control the vibration of bearing actively by using the electromechanical characteristics of piezoelectric ceramic transducer (PZT components. The static internal character of PZT and static external characteristic of piezoelectric control component are analyzed, and the calculation equations of preload coefficient and driving force of the new bearing are given. The simulation setup of the new bearing is designed and developed. The data representing the relationship of displacement of pad pivot, driving force, voltage, and the simulation stiffness of liquid film are obtained in the test, and the feature parameters of piezoelectric control component are amended to analyze the relationship between preload coefficient of the bearing and driving voltage. The proposed new bearing has the function of controlling preload actively. The theoretical and experimental research results provide essential guidance for the detail design of this new bearing and also provide a new idea for the vibration control of high speed rotor systems.

Neural-network hybrid control for antilock braking systems.

Science.gov (United States)

Lin, Chih-Min; Hsu, C F

2003-01-01

The antilock braking systems are designed to maximize wheel traction by preventing the wheels from locking during braking, while also maintaining adequate vehicle steerability; however, the performance is often degraded under harsh road conditions. In this paper, a hybrid control system with a recurrent neural network (RNN) observer is developed for antilock braking systems. This hybrid control system is comprised of an ideal controller and a compensation controller. The ideal controller, containing an RNN uncertainty observer, is the principal controller; and the compensation controller is a compensator for the difference between the system uncertainty and the estimated uncertainty. Since for dynamic response the RNN has capabilities superior to the feedforward NN, it is utilized for the uncertainty observer. The Taylor linearization technique is employed to increase the learning ability of the RNN. In addition, the on-line parameter adaptation laws are derived based on a Lyapunov function, so the stability of the system can be guaranteed. Simulations are performed to demonstrate the effectiveness of the proposed NN hybrid control system for antilock braking control under various road conditions.

Multi-sensor control for precise assembly of optical components

Directory of Open Access Journals (Sweden)

Ma Li

2014-06-01

Full Text Available In order to perform an optical assembly accurately, a multi-sensor control strategy is developed which includes an attitude measurement system, a vision system, a loss measurement system and a force sensor. A 3-DOF attitude measuring method using linear variable differential transformers (LVDT is designed to adjust the relation of position and attitude between the spherical mirror and the resonator. A micro vision feedback system is set up to extract the light beam and the diaphragm, which can achieve the coarse positioning of the spherical mirror in the optical assembly process. A rapid self-correlation method is presented to analyze the spectrum signal for the fine positioning. In order to prevent the damage of the optical components and realize sealing of the resonator, a hybrid force-position control is constructed to control the contact force of the optical components. The experimental results show that the proposed multi-sensor control strategy succeeds in accomplishing the precise assembly of the optical components, which consists of parallel adjustment, macro coarse adjustment, macro approach, micro fine adjustment, micro approach and optical contact. Therefore, the results validate the multi-sensor control strategy.

Range of Motion of the Ankle According to Pushing Force, Gender and Knee Position.

Science.gov (United States)

Cho, Kang Hee; Jeon, Yumi; Lee, Hyunkeun

2016-04-01

To investigate the difference of range of motion (ROM) of ankle according to pushing force, gender and knee position. One hundred and twenty-eight healthy adults (55 men, 73 women) between the ages of 20 and 51, were included in the study. One examiner measured the passive range of motion (PROM) of ankle by Dualer IQ Inclinometers and Commander Muscle Testing. ROM of ankle dorsiflexion (DF) and plantarflexion (PF) according to change of pushing force and knee position were measured at prone position. There was significant correlation between ROM and pushing force, the more pushing force leads the more ROM at ankle DF and ankle PF. Knee flexion of 90° position showed low PF angle and high ankle DF angle, as compared to the at neutral position of knee joint. ROM of ankle DF for female was greater than for male, with no significant difference. ROM of ankle PF for female was greater than male regardless of the pushing force. To our knowledge, this is the first study to assess the relationship between pushing force and ROM of ankle joint. There was significant correlation between ROM of ankle and pushing force. ROM of ankle PF for female estimated greater than male regardless of the pushing force and the number of measurement. The ROM of the ankle is measured differently according to the knee joint position. Pushing force, gender and knee joint position are required to be considered when measuring the ROM of ankle joint.

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

Science.gov (United States)

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

2018-01-01

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

Control of force during rapid visuomotor force-matching tasks can be described by discrete time PID control algorithms.

Science.gov (United States)

Dideriksen, Jakob Lund; Feeney, Daniel F; Almuklass, Awad M; Enoka, Roger M

2017-08-01

Force trajectories during isometric force-matching tasks involving isometric contractions vary substantially across individuals. In this study, we investigated if this variability can be explained by discrete time proportional, integral, derivative (PID) control algorithms with varying model parameters. To this end, we analyzed the pinch force trajectories of 24 subjects performing two rapid force-matching tasks with visual feedback. Both tasks involved isometric contractions to a target force of 10% maximal voluntary contraction. One task involved a single action (pinch) and the other required a double action (concurrent pinch and wrist extension). 50,000 force trajectories were simulated with a computational neuromuscular model whose input was determined by a PID controller with different PID gains and frequencies at which the controller adjusted muscle commands. The goal was to find the best match between each experimental force trajectory and all simulated trajectories. It was possible to identify one realization of the PID controller that matched the experimental force produced during each task for most subjects (average index of similarity: 0.87 ± 0.12; 1 = perfect similarity). The similarities for both tasks were significantly greater than that would be expected by chance (single action: p = 0.01; double action: p = 0.04). Furthermore, the identified control frequencies in the simulated PID controller with the greatest similarities decreased as task difficulty increased (single action: 4.0 ± 1.8 Hz; double action: 3.1 ± 1.3 Hz). Overall, the results indicate that discrete time PID controllers are realistic models for the neural control of force in rapid force-matching tasks involving isometric contractions.

Dynamics and control of hybrid mechanical systems

NARCIS (Netherlands)

Leonov, G.A.; Nijmeijer, H.; Pogromski, A.Y.; Fradkov, A.L.

2010-01-01

The papers in this edited volume aim to provide a better understanding of the dynamics and control of a large class of hybrid dynamical systems that are described by different models in different state space domains. They not only cover important aspects and tools for hybrid systems analysis and

Physical Limits on the Precision of Mitotic Spindle Positioning by Microtubule Pushing forces: Mechanics of mitotic spindle positioning.

Science.gov (United States)

Howard, Jonathon; Garzon-Coral, Carlos

2017-11-01

Tissues are shaped and patterned by mechanical and chemical processes. A key mechanical process is the positioning of the mitotic spindle, which determines the size and location of the daughter cells within the tissue. Recent force and position-fluctuation measurements indicate that pushing forces, mediated by the polymerization of astral microtubules against- the cell cortex, maintain the mitotic spindle at the cell center in Caenorhabditis elegans embryos. The magnitude of the centering forces suggests that the physical limit on the accuracy and precision of this centering mechanism is determined by the number of pushing microtubules rather than by thermally driven fluctuations. In cells that divide asymmetrically, anti-centering, pulling forces generated by cortically located dyneins, in conjunction with microtubule depolymerization, oppose the pushing forces to drive spindle displacements away from the center. Thus, a balance of centering pushing forces and anti-centering pulling forces localize the mitotic spindles within dividing C. elegans cells. © 2017 The Authors. BioEssays published by Wiley Periodicals, Inc.

Analysis and design of permanent magnet biased magnetic bearing based on hybrid factor

Directory of Open Access Journals (Sweden)

Jinji Sun

2016-03-01

Full Text Available In this article, hybrid factor is proposed for hybrid magnetic bearing. The hybrid factor is defined as the ratio of the force produced by the permanent magnet and the forces produced by the permanent magnet and current in hybrid magnetic bearing. It is deduced from a certain radial hybrid magnetic bearing using its important parameters such as the current stiffness and displacement stiffness at first and then the dynamic model of magnetically suspended rotor system is established. The relationship between structural parameters and control system parameters is analyzed based on the hybrid factor. Some influencing factors of hybrid factor in hybrid magnetic bearing, such as the size of the permanent magnet, length of air gap, and area of the stator poles, are analyzed in this article. It can be concluded that larger hybrid factor can be caused by the smaller power loss according to the definition of hybrid factor mentioned above. Meanwhile, the hybrid factor has a maximum value, which is related to control system parameters such as proportional factor expect for structural parameters. Finally, the design steps of parameters of hybrid magnetic bearing can be concluded.

Robust Clamping Force Control of an Electro-Mechanical Brake System for Application to Commercial City Buses

Directory of Open Access Journals (Sweden)

Sangjune Eum

2017-02-01

Full Text Available This paper proposes a sensor-less robust force control method for improving the control performance of an electro-mechanical brake (EMB which is applicable to commercial city buses. The EMB generates the accurate clamping force commanded by a driver through an independent motor control at each wheel instead of using existing mechanical components. In general, an EMB undergoes parameter variation and a backdrivability problem. For this reason, the cascade control strategy (e.g., force-position cascade control structure is proposed and the disturbance observer is employed to enhance control robustness against model variations. Additionally, this paper proposed the clamping force estimation method for a sensor-less control, i.e., the clamping force observer (CFO. Finally, in order to confirm the performance and effectiveness of a proposed robust control method, several experiments are performed and analyzed.

Hybrid Sterility Locus on Chromosome X Controls Meiotic Recombination Rate in Mouse.

Directory of Open Access Journals (Sweden)

Maria Balcova

2016-04-01

Full Text Available Meiotic recombination safeguards proper segregation of homologous chromosomes into gametes, affects genetic variation within species, and contributes to meiotic chromosome recognition, pairing and synapsis. The Prdm9 gene has a dual role, it controls meiotic recombination by determining the genomic position of crossover hotspots and, in infertile hybrids of house mouse subspecies Mus m. musculus (Mmm and Mus m. domesticus (Mmd, it further functions as the major hybrid sterility gene. In the latter role Prdm9 interacts with the hybrid sterility X 2 (Hstx2 genomic locus on Chromosome X (Chr X by a still unknown mechanism. Here we investigated the meiotic recombination rate at the genome-wide level and its possible relation to hybrid sterility. Using immunofluorescence microscopy we quantified the foci of MLH1 DNA mismatch repair protein, the cytological counterparts of reciprocal crossovers, in a panel of inter-subspecific chromosome substitution strains. Two autosomes, Chr 7 and Chr 11, significantly modified the meiotic recombination rate, yet the strongest modifier, designated meiotic recombination 1, Meir1, emerged in the 4.7 Mb Hstx2 genomic locus on Chr X. The male-limited transgressive effect of Meir1 on recombination rate parallels the male-limited transgressive role of Hstx2 in hybrid male sterility. Thus, both genetic factors, the Prdm9 gene and the Hstx2/Meir1 genomic locus, indicate a link between meiotic recombination and hybrid sterility. A strong female-specific modifier of meiotic recombination rate with the effect opposite to Meir1 was localized on Chr X, distally to Meir1. Mapping Meir1 to a narrow candidate interval on Chr X is an important first step towards positional cloning of the respective gene(s responsible for variation in the global recombination rate between closely related mouse subspecies.

Hybrid Sterility Locus on Chromosome X Controls Meiotic Recombination Rate in Mouse.

Science.gov (United States)

Balcova, Maria; Faltusova, Barbora; Gergelits, Vaclav; Bhattacharyya, Tanmoy; Mihola, Ondrej; Trachtulec, Zdenek; Knopf, Corinna; Fotopulosova, Vladana; Chvatalova, Irena; Gregorova, Sona; Forejt, Jiri

2016-04-01

Meiotic recombination safeguards proper segregation of homologous chromosomes into gametes, affects genetic variation within species, and contributes to meiotic chromosome recognition, pairing and synapsis. The Prdm9 gene has a dual role, it controls meiotic recombination by determining the genomic position of crossover hotspots and, in infertile hybrids of house mouse subspecies Mus m. musculus (Mmm) and Mus m. domesticus (Mmd), it further functions as the major hybrid sterility gene. In the latter role Prdm9 interacts with the hybrid sterility X 2 (Hstx2) genomic locus on Chromosome X (Chr X) by a still unknown mechanism. Here we investigated the meiotic recombination rate at the genome-wide level and its possible relation to hybrid sterility. Using immunofluorescence microscopy we quantified the foci of MLH1 DNA mismatch repair protein, the cytological counterparts of reciprocal crossovers, in a panel of inter-subspecific chromosome substitution strains. Two autosomes, Chr 7 and Chr 11, significantly modified the meiotic recombination rate, yet the strongest modifier, designated meiotic recombination 1, Meir1, emerged in the 4.7 Mb Hstx2 genomic locus on Chr X. The male-limited transgressive effect of Meir1 on recombination rate parallels the male-limited transgressive role of Hstx2 in hybrid male sterility. Thus, both genetic factors, the Prdm9 gene and the Hstx2/Meir1 genomic locus, indicate a link between meiotic recombination and hybrid sterility. A strong female-specific modifier of meiotic recombination rate with the effect opposite to Meir1 was localized on Chr X, distally to Meir1. Mapping Meir1 to a narrow candidate interval on Chr X is an important first step towards positional cloning of the respective gene(s) responsible for variation in the global recombination rate between closely related mouse subspecies.

A new, simple electrostatic-acoustic hybrid levitator

Science.gov (United States)

Lierke, E. G.; Loeb, H.; Gross, D.

1990-01-01

Battelle has developed a hybrid levitator by combining the known single-axis acoustic standing wave levitator with a coaxial DC electric field. The resulting Coulomb forces on the charged liquid or solid sample support its weight and, together with the acoustic force, center the sample. Liquid samples with volumes approximately less than 100 micro-liters are deployed from a syringe reservoir into the acoustic pressure node. The sample is charged using a miniature high voltage power supply (approximately less than 20 kV) connected to the syringe needle. As the electric field, generated by a second miniature power supply, is increased, the acoustic intensity is reduced. The combination of both fields allows stable levitation of samples larger than either single technique could position on the ground. Decreasing the acoustic intensity reduces acoustic convection and sample deformation. Neither the electrostatic nor the acoustic field requires sample position sensing or active control. The levitator, now used for static and dynamic fluid physics investigations on the ground, can be easily modified for space operations.

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.

Hybrid FES-robot cooperative control of ambulatory gait rehabilitation exoskeleton.

Science.gov (United States)

del-Ama, Antonio J; Gil-Agudo, Angel; Pons, José L; Moreno, Juan C

2014-03-04

Robotic and functional electrical stimulation (FES) approaches are used for rehabilitation of walking impairment of spinal cord injured individuals. Although devices are commercially available, there are still issues that remain to be solved. Control of hybrid exoskeletons aims at blending robotic exoskeletons and electrical stimulation to overcome the drawbacks of each approach while preserving their advantages. Hybrid actuation and control have a considerable potential for walking rehabilitation but there is a need of novel control strategies of hybrid systems that adequately manage the balance between FES and robotic controllers. Combination of FES and robotic control is a challenging issue, due to the non-linear behavior of muscle under stimulation and the lack of developments in the field of hybrid control. In this article, a cooperative control strategy of a hybrid exoskeleton is presented. This strategy is designed to overcome the main disadvantages of muscular stimulation: electromechanical delay and change in muscle performance over time, and to balance muscular and robotic actuation during walking.Experimental results in healthy subjects show the ability of the hybrid FES-robot cooperative control to balance power contribution between exoskeleton and muscle stimulation. The robotic exoskeleton decreases assistance while adequate knee kinematics are guaranteed. A new technique to monitor muscle performance is employed, which allows to estimate muscle fatigue and implement muscle fatigue management strategies. Kinesis is therefore the first ambulatory hybrid exoskeleton that can effectively balance robotic and FES actuation during walking. This represents a new opportunity to implement new rehabilitation interventions to induce locomotor activity in patients with paraplegia.Acronym list: 10 mWT: ten meters walking test; 6 MWT: six minutes walking test; FSM: finite-state machine; t-FSM: time-domain FSM; c-FSM: cycle-domain FSM; FES: functional electrical

Design and control of hybrid actuation lower limb exoskeleton

Directory of Open Access Journals (Sweden)

Hipolito Aguilar-Sierra

2015-06-01

Full Text Available In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artificial muscle. It provides both high accuracy position control and high ratio of strength and weight. The shortcomings of the two actuators are overcome by the hybrid actuation, for example, low control accuracy and modeling difficult of pneumatic artificial muscle, compactness, and structural flexibility of DC motors. The design and modeling processes are discussed to show the proposed exoskeleton can increase the strength of human lower limbs. Experiments and analysis of the exoskeleton are given to evaluate the effectiveness of the design and modeling.

Multi-Agent System based Event-Triggered Hybrid Controls for High-Security Hybrid Energy Generation Systems

DEFF Research Database (Denmark)

Dou, Chun-Xia; Yue, Dong; Guerrero, Josep M.

2017-01-01

This paper proposes multi-agent system based event- triggered hybrid controls for guaranteeing energy supply of a hybrid energy generation system with high security. First, a mul-ti-agent system is constituted by an upper-level central coordi-nated control agent combined with several lower......-level unit agents. Each lower-level unit agent is responsible for dealing with internal switching control and distributed dynamic regula-tion for its unit system. The upper-level agent implements coor-dinated switching control to guarantee the power supply of over-all system with high security. The internal...

Influenece of the CPRmeter on angular position of elbows and generated forces during cardiopulmonary resuscitation

Directory of Open Access Journals (Sweden)

Karolina Kopacz

2017-10-01

Full Text Available Objectives: It is commonly known that ergonomics in emergency medical services (EMS is very important. Emergency medical services workers are exposed to different conditions and they should perform a variety of tasks. Material and Methods: The aim of the work has been to analyze the angular position of elbows and forces generated by the upper limbs during cardiopulmonary resuscitation with and without the CPRmeter based on feedback technology. Ten male paramedics and 10 male non-paramedics, in a kneeling position, performed cardiopulmonary resuscitation (CPR on an Ambu Megacode manikin placed on the ground. Measurements were taken after 1 min and 4 min following the beginning of the trial. The angular position of the elbows was evaluated with a BTS Smart DX 7000 motion capture system. Kistler platforms 9286BA were used for measuring forces. Results: In the paramedic group, one statistically significant difference was observed in the mean difference between maximal and minimal right elbow angle in the 1st min without the device vs. the mean difference in the 4th min without the device. In the paramedic group, a 25% force decrease was observed after 4 min of resuscitation in trials without the CPRmeter in comparison to the 1st min. In trials with the CPRmeter, the force parameters were similar in the 1st and 4th min and more stable. No statistically significant differences were noticed in the control group. Conclusions: The CPRmeter has influence on the magnitude of the forces applied by the upper limbs and on the optimization of the rescuer effort during cardiopulmonary resuscitation. The CPRmeter had no influence on the position of the upper part of the kinematic chain. Int J Occup Med Environ Health 2017;30(6:909–916

Model Predictive Control for Connected Hybrid Electric Vehicles

Directory of Open Access Journals (Sweden)

Kaijiang Yu

2015-01-01

Full Text Available This paper presents a new model predictive control system for connected hybrid electric vehicles to improve fuel economy. The new features of this study are as follows. First, the battery charge and discharge profile and the driving velocity profile are simultaneously optimized. One is energy management for HEV for Pbatt; the other is for the energy consumption minimizing problem of acc control of two vehicles. Second, a system for connected hybrid electric vehicles has been developed considering varying drag coefficients and the road gradients. Third, the fuel model of a typical hybrid electric vehicle is developed using the maps of the engine efficiency characteristics. Fourth, simulations and analysis (under different parameters, i.e., road conditions, vehicle state of charge, etc. are conducted to verify the effectiveness of the method to achieve higher fuel efficiency. The model predictive control problem is solved using numerical computation method: continuation and generalized minimum residual method. Computer simulation results reveal improvements in fuel economy using the proposed control method.

Hybridization affects life-history traits and host specificity in Diorhabda spp

Science.gov (United States)

Hybridization is an influential evolutionary process that has been viewed alternatively as an evolutionary dead-end or as an important creative evolutionary force. In colonizing species, such as introduced biological control agents, hybridization can negate the effects of bottlenecks and genetic dri...

Filtering and control of stochastic jump hybrid systems

CERN Document Server

Yao, Xiuming; Zheng, Wei Xing

2016-01-01

This book presents recent research work on stochastic jump hybrid systems. Specifically, the considered stochastic jump hybrid systems include Markovian jump Ito stochastic systems, Markovian jump linear-parameter-varying (LPV) systems, Markovian jump singular systems, Markovian jump two-dimensional (2-D) systems, and Markovian jump repeated scalar nonlinear systems. Some sufficient conditions are first established respectively for the stability and performances of those kinds of stochastic jump hybrid systems in terms of solution of linear matrix inequalities (LMIs). Based on the derived analysis conditions, the filtering and control problems are addressed. The book presents up-to-date research developments and novel methodologies on stochastic jump hybrid systems. The contents can be divided into two parts: the first part is focused on robust filter design problem, while the second part is put the emphasis on robust control problem. These methodologies provide a framework for stability and performance analy...

MAS Based Event-Triggered Hybrid Control for Smart Microgrids

DEFF Research Database (Denmark)

Dou, Chunxia; Liu, Bin; Guerrero, Josep M.

2013-01-01

This paper is focused on an advanced control for autonomous microgrids. In order to improve the performance regarding security and stability, a hierarchical decentralized coordinated control scheme is proposed based on multi-agents structure. Moreover, corresponding to the multi-mode and the hybrid...... haracteristics of microgrids, an event-triggered hybrid control, including three kinds of switching controls, is designed to intelligently reconstruct operation mode when the security stability assessment indexes or the constraint conditions are violated. The validity of proposed control scheme is demonstrated...

Event-triggered hybrid control based on multi-Agent systems for Microgrids

DEFF Research Database (Denmark)

Dou, Chun-xia; Liu, Bin; Guerrero, Josep M.

2014-01-01

This paper is focused on a multi-agent system based event-triggered hybrid control for intelligently restructuring the operating mode of an microgrid (MG) to ensure the energy supply with high security, stability and cost effectiveness. Due to the microgrid is composed of different types...... of distributed energy resources, thus it is typical hybrid dynamic network. Considering the complex hybrid behaviors, a hierarchical decentralized coordinated control scheme is firstly constructed based on multi-agent sys-tem, then, the hybrid model of the microgrid is built by using differential hybrid Petri...

Supermarket Refrigeration System - Benchmark for Hybrid System Control

DEFF Research Database (Denmark)

Sloth, Lars Finn; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal

2007-01-01

This paper presents a supermarket refrigeration system as a benchmark for development of new ideas and a comparison of methods for hybrid systems' modeling and control. The benchmark features switch dynamics and discrete valued input making it a hybrid system, furthermore the outputs are subjected...

Follow up Evaluation of Air Force Blood Donors Screening Positive for Chagas Disease

Science.gov (United States)

2017-10-05

59 MDW/SGVU SUBJECT: Professional Presentation Approval 31 JULY2017 Your paper, entitled Follow-up Evaluation of Air Force Blood Donors Screening...PUBLISHED OR PRESENTED: Follow-up Evaluation of Air Force Blood Donors Screening Positive for Chagas Disease 7. FUNDING RECEIVED FOR THIS STUDY? 0...PREVIOUS EDITIONS ARE OBSOLETE 50. DATE Page 3 of 3 Pages Follow-up Evaluation of Air Force Blood Donors Screening Positive for Chagas Disease

Preparation and antibacterial properties of hybrid-zirconia films with silver nanoparticles

International Nuclear Information System (INIS)

Azócar, Ignacio; Vargas, Esteban; Duran, Nicole; Arrieta, Abel; González, Evelyn

2012-01-01

The antimicrobial effect of incorporating silver nanoparticles (AgNps) into zirconia matrix–polyether glycol was studied. AgNps of 4–6 nm in size were synthesized using the inverse micelles method, and different doses of metallic nanoparticles were incorporated into zirconia–polyether glycol mixtures during the ageing procedure. Atomic force microscopy (AFM) of the modified hybrid film showed a homogenous distribution of 20–80 nm diameter AgNps, indicating agglomeration of these structures during film modification; such agglomerations were greater when increasing the dosage of the colloidal system. The AgNps-hybrid films showed higher antimicrobial activity against Gram-positive bacteria than for Gram-negative bacteria. Hybrid films prepared with dioctyl sodium sulfosuccinate (AOT) stabilized AgNps presented enhanced antibacterial activity compared to that obtained through the addition of a high AgNO 3 concentration (0.3 wt%). -- Graphical abstract: Atomic Force Micrographs, top and cross section view, showing silver nanoparticles embedded in a zirconia–polyether glycol hybrid film. Highlights: ► Antibacterial activity of films (zirconia–polyether glycol) modified with silver nanoparticles. ► Biofilm formation is prevented. ► High sensibility against gram positive bacteria.

Preparation and antibacterial properties of hybrid-zirconia films with silver nanoparticles

Energy Technology Data Exchange (ETDEWEB)

Azocar, Ignacio, E-mail: manuel.azocar@usach.cl [Departamento de Quimica de los Materiales, Facultad de Quimica y Biologia, Universidad de Santiago de Chile, USACH, Avenida Bernardo O' Higgins 3363, Casilla 40, Correo 33, Santiago (Chile); Vargas, Esteban [Facultad de Ingenieria, Departamento de Metalurgia, Universidad de Santiago de Chile, USACH (Chile); Duran, Nicole [Departamento de Quimica de los Materiales, Facultad de Quimica y Biologia, Universidad de Santiago de Chile, USACH, Avenida Bernardo O' Higgins 3363, Casilla 40, Correo 33, Santiago (Chile); Arrieta, Abel [Departamento de Biologia, Facultad de Quimica y Biologia, Universidad de Santiago de Chile, USACH (Chile); Gonzalez, Evelyn [Departamento de Quimica de los Materiales, Facultad de Quimica y Biologia, Universidad de Santiago de Chile, USACH, Avenida Bernardo O' Higgins 3363, Casilla 40, Correo 33, Santiago (Chile); Facultad de Ingenieria, Departamento de Metalurgia, Universidad de Santiago de Chile, USACH (Chile); Departamento de Biologia, Facultad de Quimica y Biologia, Universidad de Santiago de Chile, USACH (Chile); Departamento de Quimica Farmacologica y Toxicologica, Facultad de Ciencias Quimicas, Universidad de Chile, Sergio Livingstone Polhammer 1007, Santiago (Chile); and others

2012-11-15

The antimicrobial effect of incorporating silver nanoparticles (AgNps) into zirconia matrix-polyether glycol was studied. AgNps of 4-6 nm in size were synthesized using the inverse micelles method, and different doses of metallic nanoparticles were incorporated into zirconia-polyether glycol mixtures during the ageing procedure. Atomic force microscopy (AFM) of the modified hybrid film showed a homogenous distribution of 20-80 nm diameter AgNps, indicating agglomeration of these structures during film modification; such agglomerations were greater when increasing the dosage of the colloidal system. The AgNps-hybrid films showed higher antimicrobial activity against Gram-positive bacteria than for Gram-negative bacteria. Hybrid films prepared with dioctyl sodium sulfosuccinate (AOT) stabilized AgNps presented enhanced antibacterial activity compared to that obtained through the addition of a high AgNO{sub 3} concentration (0.3 wt%). -- Graphical abstract: Atomic Force Micrographs, top and cross section view, showing silver nanoparticles embedded in a zirconia-polyether glycol hybrid film. Highlights: Black-Right-Pointing-Pointer Antibacterial activity of films (zirconia-polyether glycol) modified with silver nanoparticles. Black-Right-Pointing-Pointer Biofilm formation is prevented. Black-Right-Pointing-Pointer High sensibility against gram positive bacteria.

Infinite Dimensional Differential Games with Hybrid Controls

Indian Academy of Sciences (India)

... zero-sum infinite dimensional differential game of infinite duration with discounted payoff involving hybrid controls is studied. The minimizing player is allowed to take continuous, switching and impulse controls whereas the maximizing player is allowed to take continuous and switching controls. By taking strategies in the ...

The Dynamics of Finite-Dimensional Systems Under Nonconservative Position Forces

Science.gov (United States)

Lobas, L. G.

2001-01-01

General theorems on the stability of stationary states of mechanical systems subjected to nonconservative position forces are presented. Specific mechanical problems on gyroscopic systems, a double-link pendulum with a follower force and elastically fixed upper tip, multilink pneumowheel vehicles, a monorail car, and rail-guided vehicles are analyzed. Methods for investigation of divergent bifurcations and catastrophes of stationary states are described

Novel hybrid adaptive controller for manipulation in complex perturbation environments.

Directory of Open Access Journals (Sweden)

Alex M C Smith

Full Text Available In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.

DSP Control of Line Hybrid Active Filter

DEFF Research Database (Denmark)

Dan, Stan George; Benjamin, Doniga Daniel; Magureanu, R.

2005-01-01

Active Power Filters have been intensively explored in the past decade. Hybrid active filters inherit the efficiency of passive filters and the improved performance of active filters, and thus constitute a viable improved approach for harmonic compensation. In this paper a parallel hybrid filter...... is studied for current harmonic compensation. The hybrid filter is formed by a single tuned Le filter and a small-rated power active filter, which are directly connected in series without any matching transformer. Thus the required rating of the active filter is much smaller than a conventional standalone...... active filter. Simulation and experimental results obtained in laboratory confirmed the validity and effectiveness of the control....

Control of hybrid fuel cell/energy storage distributed generation system against voltage sag

Energy Technology Data Exchange (ETDEWEB)

Hajizadeh, Amin; Golkar, Masoud Aliakbar [Electrical Engineering Department, K.N. Toosi University of Technology, Seyedkhandan, Dr. Shariati Ave, P.O. Box 16315-1355, Tehran (Iran)

2010-06-15

Fuel cell (FC) and energy storage (ES) based hybrid distributed power generation systems appear to be very promising for satisfying high energy and high power requirements of power quality problems in distributed generation (DG) systems. In this study, design of control strategy for hybrid fuel cell/energy storage distributed power generation system during voltage sag has been presented. The proposed control strategy allows hybrid distributed generation system works properly when a voltage disturbance occurs in distribution system and hybrid system stays connected to the main grid. Hence, modeling, controller design, and simulation study of a hybrid distributed generation system are investigated. The physical model of the fuel cell stack, energy storage and the models of power conditioning units are described. Then the control design methodology for each component of the hybrid system is proposed. Simulation results are given to show the overall system performance including active power control and voltage sag ride-through capability of the hybrid distributed generation system. (author)

Functional divergence caused by ancient positive selection of a Drosophila hybrid incompatibility locus.

Directory of Open Access Journals (Sweden)

Daniel A Barbash

2004-06-01

Full Text Available Interspecific hybrid lethality and sterility are a consequence of divergent evolution between species and serve to maintain the discrete identities of species. The evolution of hybrid incompatibilities has been described in widely accepted models by Dobzhansky and Muller where lineage-specific functional divergence is the essential characteristic of hybrid incompatibility genes. Experimentally tractable models are required to identify and test candidate hybrid incompatibility genes. Several Drosophila melanogaster genes involved in hybrid incompatibility have been identified but none has yet been shown to have functionally diverged in accordance with the Dobzhansky-Muller model. By introducing transgenic copies of the X-linked Hybrid male rescue (Hmr gene into D. melanogaster from its sibling species D. simulans and D. mauritiana, we demonstrate that Hmr has functionally diverged to cause F1 hybrid incompatibility between these species. Consistent with the Dobzhansky-Muller model, we find that Hmr has diverged extensively in the D. melanogaster lineage, but we also find extensive divergence in the sibling-species lineage. Together, these findings implicate over 13% of the amino acids encoded by Hmr as candidates for causing hybrid incompatibility. The exceptional level of divergence at Hmr cannot be explained by neutral processes because we use phylogenetic methods and population genetic analyses to show that the elevated amino-acid divergence in both lineages is due to positive selection in the distant past-at least one million generations ago. Our findings suggest that multiple substitutions driven by natural selection may be a general phenomenon required to generate hybrid incompatibility alleles.

Adaptive hybrid optimal quantum control for imprecisely characterized systems.

Science.gov (United States)

Egger, D J; Wilhelm, F K

2014-06-20

Optimal quantum control theory carries a huge promise for quantum technology. Its experimental application, however, is often hindered by imprecise knowledge of the input variables, the quantum system's parameters. We show how to overcome this by adaptive hybrid optimal control, using a protocol named Ad-HOC. This protocol combines open- and closed-loop optimal control by first performing a gradient search towards a near-optimal control pulse and then an experimental fidelity estimation with a gradient-free method. For typical settings in solid-state quantum information processing, adaptive hybrid optimal control enhances gate fidelities by an order of magnitude, making optimal control theory applicable and useful.

Active flywheel control for hybrid vehicle; Compensation active des pulsations de couple dans un vehicule hybride

Energy Technology Data Exchange (ETDEWEB)

Tnani, S.; Coirault, P.; Champenois, G. [Ecole Superieure d' Ingenieurs, Lab. d' Automatique et d' Informatique Industrielle, 86 - Poitiers (France)

2005-01-01

In the paper, the authors propose a novel control strategy of torque ripple on hybrid vehicle. The combustion engine ripple's are reduced by using an active filter and an AC machine which is mounted on the crank-shaft to generate on inverse torque sequence. The control strategy is based on a multi-objectives state feedback synthesis. A complete modelling of the hybrid propulsion of the vehicle is achieved. Simulation results highlight the interest of the control scheme. (authors)

Managing hybrid marketing systems.

Science.gov (United States)

Moriarty, R T; Moran, U

1990-01-01

As competition increases and costs become critical, companies that once went to market only one way are adding new channels and using new methods - creating hybrid marketing systems. These hybrid marketing systems hold the promise of greater coverage and reduced costs. But they are also hard to manage; they inevitably raise questions of conflict and control: conflict because marketing units compete for customers; control because new indirect channels are less subject to management authority. Hard as they are to manage, however, hybrid marketing systems promise to become the dominant design, replacing the "purebred" channel strategy in all kinds of businesses. The trick to managing the hybrid is to analyze tasks and channels within and across a marketing system. A map - the hybrid grid - can help managers make sense of their hybrid system. What the chart reveals is that channels are not the basic building blocks of a marketing system; marketing tasks are. The hybrid grid forces managers to consider various combinations of channels and tasks that will optimize both cost and coverage. Managing conflict is also an important element of a successful hybrid system. Managers should first acknowledge the inevitability of conflict. Then they should move to bound it by creating guidelines that spell out which customers to serve through which methods. Finally, a marketing and sales productivity (MSP) system, consisting of a central marketing database, can act as the central nervous system of a hybrid marketing system, helping managers create customized channels and service for specific customer segments.

Continuity controlled Hybrid Automata

NARCIS (Netherlands)

Bergstra, J.A.; Middelburg, C.A.

We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation

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

Science.gov (United States)

Wang, Xingjian; Shi, Cun; Wang, Shaoping

2017-07-01

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

Chemical/Light-Powered Hybrid Micromotors with "On-the-Fly" Optical Brakes.

Science.gov (United States)

Chen, Chuanrui; Tang, Songsong; Teymourian, Hazhir; Karshalev, Emil; Zhang, Fangyu; Li, Jinxing; Mou, Fangzhi; Liang, Yuyan; Guan, Jianguo; Wang, Joseph

2018-07-02

Hybrid micromotors capable of both chemically powered propulsion and fuel-free light-driven actuation and offering built-in optical brakes for chemical propulsion are described. The new hybrid micromotors are designed by combining photocatalytic TiO 2 and catalytic Pt surfaces into a Janus microparticle. The chemical reactions on the different surfaces of the Janus particle hybrid micromotor can be tailored by using chemical or light stimuli that generate counteracting propulsion forces on the catalytic Pt and photocatalytic TiO 2 sides. Such modulation of the surface chemistry on a single micromotor leads to switchable propulsion modes and reversal of the direction of motion that reflect the tuning of the local ion concentration and hence the dominant propulsion force. An intermediate Au layer (under the Pt surface) plays an important role in determining the propulsion mechanism and operation of the hybrid motor. The built-in optical braking system allows "on-the-fly" control of the chemical propulsion through a photocatalytic reaction on the TiO 2 side to counterbalance the chemical propulsion force generated on the Pt side. The adaptive dual operation of these chemical/light hybrid micromotors, associated with such control of the surface chemistry, holds considerable promise for designing smart nanomachines that autonomously reconfigure their propulsion mode for various on-demand operations. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Continuity Controlled Hybrid Automata

NARCIS (Netherlands)

Bergstra, J.A.; Middelburg, C.A.

2004-01-01

We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of

Continuity controlled hybrid automata

NARCIS (Netherlands)

Bergstra, J.A.; Middelburg, C.A.

2004-01-01

We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of

Continuity controlled hybrid automata

NARCIS (Netherlands)

Bergstra, J.A.; Middelburg, C.A.

2006-01-01

We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of

Design and Evaluation of Autonomous Hybrid Frequency-Voltage Sensitive Load Controller

DEFF Research Database (Denmark)

Douglass, Philip James; Garcia-Valle, Rodrigo; Sossan, Fabrizio

2013-01-01

The paper introduces an algorithm for control of autonomous loads without digital communication interfaces to provide both frequency regulation and voltage regulation services. This hybrid controller can be used to enhance frequency sensitive loads to mitigate line overload arising from reduced l...... load diversity. Numerical simulations of the hybrid controller in a representative distribution system show the peak system load was reduced by 12% compared to a purely frequency sensitive load controller.......The paper introduces an algorithm for control of autonomous loads without digital communication interfaces to provide both frequency regulation and voltage regulation services. This hybrid controller can be used to enhance frequency sensitive loads to mitigate line overload arising from reduced...

Robotics in hostile environment I. S. I. S. robot - automatic positioning and docking with proximity and force feed back sensors

Energy Technology Data Exchange (ETDEWEB)

Gery, D

1987-01-01

Recent improvements in control command systems and the development of tactile proximity and force feed back sensors make it possible to robotize complex inspection and maintenance operations in hostile environment, which could have not been possible by classical remotely operated manipulators. We describe the I.S.I.S. robot characteristics, the control command system software principles and the tactile and force-torque sensors which have been developed for the different sequences of an hostile environment inspection and repair: access trajectories generation with obstacles shunning, final positioning and docking using parametric algorithms taking into account measurement of the end of arm proximity and force-torque sensors.

Hybrid Chaos Synchronization of Four-Scroll Systems via Active Control

Science.gov (United States)

Karthikeyan, Rajagopal; Sundarapandian, Vaidyanathan

2014-03-01

This paper investigates the hybrid chaos synchronization of identical Wang four-scroll systems (Wang, 2009), identical Liu-Chen four-scroll systems (Liu and Chen, 2004) and non-identical Wang and Liu-Chen four-scroll systems. Active control method is the method adopted to achieve the hybrid chaos synchronization of the four-scroll chaotic systems addressed in this paper and our synchronization results are established using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the active control method is effective and convenient to hybrid synchronize identical and different Wang and Liu-Chen four-scroll chaotic systems. Numerical simulations are also shown to illustrate and validate the hybrid synchronization results derived in this paper.

Control-relevant modeling and simulation of a SOFC-GT hybrid system

OpenAIRE

Rambabu Kandepu; Lars Imsland; Christoph Stiller; Bjarne A. Foss; Vinay Kariwala

2006-01-01

In this paper, control-relevant models of the most important components in a SOFC-GT hybrid system are described. Dynamic simulations are performed on the overall hybrid system. The model is used to develop a simple control structure, but the simulations show that more elaborate control is needed.

Vision-based adaptive cruise control using pattern matching

CSIR Research Space (South Africa)

Kanjee, R

2013-10-01

Full Text Available input generated by the control system does not directly induce a traction force on the car tires. In an electric vehicle, the throttle position is processed by the engine controller and is mapped proportionally to the motor’s angular velocity. For our... simulation, this mapping was obtained from the manufacturer’s datasheet of the electric motor controller being used in the hybrid car. The manufacturer also supplies a speed-torque curve. An approximate equation was obtained using a linear curve fitting...

The potential of hybrid micro-vortex generators to control flow separation of NACA 4415 airfoil in subsonic flow

Science.gov (United States)

Jumahadi, Muhammad Taufiq; Saad, Mohd Rashdan; Idris, Azam Che; Sujipto, Suriyadi; Rahman, Mohd Rosdzimin Abdul

2018-02-01

Boundary layer separation is detrimental to the lift and drag of most aeronautical applications. Many vortex generators (VG), both passive and active have been designed to reduce these drawbacks. This study targets to investigate the effectiveness of hybrid micro-VGs, which combine both active and passive micro-VGs in controlling separation under subsonic conditions. NACA 4415 airfoils installed with passive, active and hybrid micro-VGs each are designed, 3D printed, and tested in a wind tunnel at 26.19 m/s under Re = 2.5x105. The lift and drag measurements from a 3-component force balance prove that hybrid micro-VGs increase lift by up to 21.2%, increase drag by more than 11.3% and improve lift-to-drag ratio by at least 8.6% until up to 33.7%. From this research, it is believed that hybrid micro-VGs are competitive to the performance of active VGs and a better configuration is to be considered to reduce parasitic drag and outstand active VGs.

Hybrid fuzzy logic control of laser surface heat treatments

International Nuclear Information System (INIS)

Perez, Jose Antonio; Ocana, Jose Luis; Molpeceres, Carlos

2007-01-01

This paper presents an advanced hybrid fuzzy logic control system for laser surface heat treatments, which allows to increase significantly the uniformity and final quality of the obtained product, reducing the rejection rate and increasing the productivity and efficiency of the treatment. Basically, the proposed hybrid control structure combines a fuzzy logic controller, with a pure integral action, both fully decoupled, improving the performances of the process with a reasonable design cost, since the system nonlinearities are fully compensated by the fuzzy component of the controller, while the integral action contributes to eliminate the steady-state error

Employee satisfaction: creating a positive work force.

Science.gov (United States)

Wright, M

1998-01-01

In the early 1990s, El Camino Hospital (ECH) streamlined its operations in order to remain competitive. In 1992, the hospital's District Board voted to turn the hospital's management over to a nonprofit company and it became an integrated delivery system (IDS). Hospital employees continued to suffer as their work and work schedules changed in ongoing efforts by the new administration to streamline. Finally, in early 1997, the IDS, Camino Healthcare, was dissolved. The director of radiology and radiation oncology services became aware of increasing employee problems, from high turnover rates and increased absenteeism, to morale and productivity issues. Employees also worried about job redesign, re-engineering and a lack of clear direction and expectations from department leadership. The director of the department created a task force to respond to the needs of staff members. With so much anger directed at department leadership, supervisory staff were not included in the task force. The task force worked first to identify rumors and innuendos and followed with a plan to resolve such issues. The second step was to agree to focus on issues that they could change and to let go of those they couldn't. They selected five priority issues or concerns. The group met weekly and made progress by replacing negative talk and attitudes with positive ones. Meanwhile, the director researched employee satisfaction issues so she would be prepared to discuss such issues and concerns with employees. She focused on a common theme, of having a personal mission or goal for one's self. She encouraged staff members to be aware of their own behavior when communicating with others. Although several informal surveys proved there was still much work to be done, there was positive response--a light at the end of the long tunnel.

Hybrid vehicle optimal control : Linear interpolation and singular control

NARCIS (Netherlands)

Delprat, S.; Hofman, T.

2015-01-01

Hybrid vehicle energy management can be formulated as an optimal control problem. Considering that the fuel consumption is often computed using linear interpolation over lookup table data, a rigorous analysis of the necessary conditions provided by the Pontryagin Minimum Principle is conducted. For

Control-relevant modeling and simulation of a SOFC-GT hybrid system

Directory of Open Access Journals (Sweden)

Rambabu Kandepu

2006-07-01

Full Text Available In this paper, control-relevant models of the most important components in a SOFC-GT hybrid system are described. Dynamic simulations are performed on the overall hybrid system. The model is used to develop a simple control structure, but the simulations show that more elaborate control is needed.

Robust multi-objective control of hybrid renewable microgeneration systems with energy storage

International Nuclear Information System (INIS)

Allison, John

2017-01-01

Highlights: • A hybrid energy system of micro-CHP, solar PV, and battery storage is presented. • Possible to exploit synergy of systems to fulfil the thermal and electrical demands. • Can control to minimise the interaction with the local electrical network. • Three different control approaches were compared. • The nonlinear inversion-based control strategy exhibits optimum performance. - Abstract: Microgeneration technologies are positioned to address future building energy efficiency requirements and facilitate the integration of renewables into buildings to ensure a sustainable, energy-secure future. This paper explores the development of a robust multi-input multi-output (MIMO) controller applicable to the control of hybrid renewable microgeneration systems with the objective of minimising the electrical grid utilisation of a building while fulfilling the thermal demands. The controller employs the inverse dynamics of the building, servicing systems, and energy storage with a robust control methodology. These inverse dynamics provides the control system with knowledge of the complex cause and effect relationships between the system, the controlled inputs, and the external disturbances, while an outer-loop control ensures robust, stable control in the presence of modelling deficiencies/uncertainty and unknown disturbances. Variable structure control compensates for the physical limitations of the systems whereby the control strategy employed switches depending on the current utilisation and availability of the energy supplies. Preliminary results presented for a system consisting of a micro-CHP unit, solar PV, and battery storage indicate that the control strategy is effective in minimising the interaction with the local electrical network and maximising the utilisation of the available renewable energy.

Adaptive powertrain control for plugin hybrid electric vehicles

Science.gov (United States)

Kedar-Dongarkar, Gurunath; Weslati, Feisel

2013-10-15

A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

Model predictive control of hybrid systems : stability and robustness

NARCIS (Netherlands)

Lazar, M.

2006-01-01

This thesis considers the stabilization and the robust stabilization of certain classes of hybrid systems using model predictive control. Hybrid systems represent a broad class of dynamical systems in which discrete behavior (usually described by a finite state machine) and continuous behavior

Plasma position control device

International Nuclear Information System (INIS)

Takase, Haruhiko.

1987-01-01

Purpose: To conduct position control stably to various plasmas and reduce the burden on the control coil power source. Constitution: Among the proportional, integration and differentiation controls, a proportional-differentiation control section and an integration control section are connected in parallel. Then, a signal switching circuit is disposed to the control signal input section for the proportional-differentiation control section such that either a present position of plasmas or deviation between the present plasma position and an aimed value can be selected as a control signal depending on the control procedures or the state of the plasmas. For instance, if a rapid response is required for the control, the deviation between the present plasma position and the aimed value is selected as the input signal to conduct proportional, integration and differentiation controls. While on the other hand, if it is intended to reduce the burden on the control coil power source, it is adapted such that the control signal inputted to the proportional-differentiation control section itself can select the present plasma position. (Yoshihara, H.)

Position and attitude tracking control for a quadrotor UAV.

Science.gov (United States)

Xiong, Jing-Jing; Zheng, En-Hui

2014-05-01

A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Optimal control applied to the control strategy of a parallel hybrid vehicle; Commande optimale appliquee a la strategie de commande d'un vehicule hybride parallele

Energy Technology Data Exchange (ETDEWEB)

Delprat, S.; Guerra, T.M. [Universite de Valenciennes et du Hainaut-Cambresis, LAMIH UMR CNRS 8530, 59 - Valenciennes (France); Rimaux, J. [PSA Peugeot Citroen, DRIA/SARA/EEES, 78 - Velizy Villacoublay (France); Paganelli, G. [Center for Automotive Research, Ohio (United States)

2002-07-01

Control strategies are algorithms that calculate the power repartition between the engine and the motor of an hybrid vehicle in order to minimize the fuel consumption and/or emissions. Some algorithms are devoted to real time application whereas others are designed for global optimization in stimulation. The last ones provide solutions which can be used to evaluate the performances of a given hybrid vehicle or a given real time control strategy. The control strategy problem is firstly written into the form of an optimization under constraints problem. A solution based on optimal control is proposed. Results are given for the European Normalized Cycle and a parallel single shaft hybrid vehicle built at the LAMIH (France). (authors)

Performance and Usability of Various Robotic Arm Control Modes from Human Force Signals

Directory of Open Access Journals (Sweden)

Sébastien Mick

2017-10-01

Full Text Available Elaborating an efficient and usable mapping between input commands and output movements is still a key challenge for the design of robotic arm prostheses. In order to address this issue, we present and compare three different control modes, by assessing them in terms of performance as well as general usability. Using an isometric force transducer as the command device, these modes convert the force input signal into either a position or a velocity vector, whose magnitude is linearly or quadratically related to force input magnitude. With the robotic arm from the open source 3D-printed Poppy Humanoid platform simulating a mobile prosthesis, an experiment was carried out with eighteen able-bodied subjects performing a 3-D target-reaching task using each of the three modes. The subjects were given questionnaires to evaluate the quality of their experience with each mode, providing an assessment of their global usability in the context of the task. According to performance metrics and questionnaire results, velocity control modes were found to perform better than position control mode in terms of accuracy and quality of control as well as user satisfaction and comfort. Subjects also seemed to favor quadratic velocity control over linear (proportional velocity control, even if these two modes did not clearly distinguish from one another when it comes to performance and usability assessment. These results highlight the need to take into account user experience as one of the key criteria for the design of control modes intended to operate limb prostheses.

Hybrid magnet devices for molecule manipulation and small scale high gradient-field applications

Science.gov (United States)

Humphries, David E [El Cerrito, CA; Hong, Seok-Cheol [Seoul, KR; Cozzarelli, legal representative, Linda A.; Pollard, Martin J [El Cerrito, CA; Cozzarelli, Nicholas R [Berkeley, CA

2009-01-06

The present disclosure provides a high performance hybrid magnetic structure made from a combination of permanent magnets and ferromagnetic pole materials which are assembled in a predetermined array. The hybrid magnetic structure provides means for separation and other biotechnology applications involving holding, manipulation, or separation of magnetizable molecular structures and targets. Also disclosed are hybrid magnetic tweezers able to exert approximately 1 nN of force to 4.5 .mu.m magnetic bead. The maximum force was experimentally measured to be .about.900 pN which is in good agreement with theoretical estimations and other measurements. In addition, a new analysis scheme that permits fast real-time position measurement in typical geometry of magnetic tweezers has been developed and described in detail.

Dielectrophoretic positioning of single nanoparticles on atomic force microscope tips for tip-enhanced Raman spectroscopy.

Science.gov (United States)

Leiterer, Christian; Deckert-Gaudig, Tanja; Singh, Prabha; Wirth, Janina; Deckert, Volker; Fritzsche, Wolfgang

2015-05-01

Tip-enhanced Raman spectroscopy, a combination of Raman spectroscopy and scanning probe microscopy, is a powerful technique to detect the vibrational fingerprint of molecules at the nanometer scale. A metal nanoparticle at the apex of an atomic force microscope tip leads to a large enhancement of the electromagnetic field when illuminated with an appropriate wavelength, resulting in an increased Raman signal. A controlled positioning of individual nanoparticles at the tip would improve the reproducibility of the probes and is quite demanding due to usually serial and labor-intensive approaches. In contrast to commonly used submicron manipulation techniques, dielectrophoresis allows a parallel and scalable production, and provides a novel approach toward reproducible and at the same time affordable tip-enhanced Raman spectroscopy tips. We demonstrate the successful positioning of an individual plasmonic nanoparticle on a commercial atomic force microscope tip by dielectrophoresis followed by experimental proof of the Raman signal enhancing capabilities of such tips. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Modelling and control of a light-duty hybrid electric truck

OpenAIRE

Park, Jong-Kyu

2006-01-01

This study is concentrated on modelling and developing the controller for the light-duty hybrid electric truck. The hybrid electric vehicle has advantages in fuel economy. However, there have been relatively few studies on commercial HEVs, whilst a considerable number of studies on the hybrid electric system have been conducted in the field of passenger cars. So the current status and the methodologies to develop the LD hybrid electric truck model have been studied through the ...

Position Control Method For Pick And Place Robot Arm For Object Sorting System

Directory of Open Access Journals (Sweden)

Khin Moe Myint

2015-08-01

Full Text Available The more increase the number of industries in developing countries the more require labourers or workers in that. To reduce the cost of labour force and to increase the manufacturing capacity of industries the advanced robot arms are more needed. The aim of this journal is to eliminate the manual control for object sorting system.Robot arm design in this research uses two joints three links and servo motors to drive. Microcontroller is used to generate required PWM signal for servo motors. In this research the position control of robot arm was designed by using kinematic control methods. There are two types of kinematic control methods which are forward and reverse kinematic methods. In forward kinematic method the input parameters are the joint angles and link length of robot arm and then the output is the position at XYZ coordinate of tool or gripper. In inverse kinematic the input parameters are position at XYZ coordinate of gripper and the link length of robot arm and then the output parameters are the joint angles. So kinematic methods can explain the analytical description of the geometry motion of the manipulator with reference to a robot coordinate system fixed to a frame without consideration of the forces or the moments causing the movements. For sorting system Metal detector is used to detect the metal or non-metal. This position control of pick and place robot arm is fully tested and the result is obtained more precisely.

Decamber Morphing Concepts by Using a Hybrid Trailing Edge Control Surface

Directory of Open Access Journals (Sweden)

Yavuz Yaman

2015-07-01

Full Text Available The idea of morphing is drawing extensive attention in aerospace technologies. Several different approaches like span, camber, twist, and sweep are finding applications. In this work, the concept of a trailing edge control surface which is capable of performing decamber morphing is explained. The upper and lower parts of the control surface undergo different chordwise elongations and the difference between these displacements gives rise to either camber or decamber morphing. The necessary force is achieved by the help of servo actuators. During the design, the structural analyses were done to determine the best viable options for the number of servo actuators, the location of the servo actuators, and the material properties used in the control surface. The control surface was designed of aluminum, composite and compliant materials hence was called a hybrid one. The structural analyses were conducted by using ANSYS® Workbench v14.0 package program. After finding the best viable design, which was made for in vacuo condition, the proposed design was also verified under the simulated aerodynamic loading. The aerodynamic loads were obtained from CFD analyses which were done with SU2 V3.2.3 open-source flow solver.

Hybrid Testing of Composite Structures with Single-Axis Control

DEFF Research Database (Denmark)

Waldbjørn, Jacob Paamand; Høgh, Jacob Herold; Stang, Henrik

2013-01-01

Correlation (DIC) is therefore implemented for displacement control of the experimental setup. The hybrid testing setup was verified on a multicomponent structure consisting of a beam loaded in three point bending and a numerical structure of a frame. Furthermore, the stability of the hybrid testing loop......Hybrid testing is a substructuring technique where a structure is emulated by modelling a part of it in a numerical model while testing the remainder experimentally. Previous research in hybrid testing has been performed on multi-component structures e.g. damping fixtures, however in this paper...... a hybrid testing platform is introduced for single-component hybrid testing. In this case, the boundary between the numerical model and experimental setup is defined by multiple Degrees-Of-Freedoms (DOFs) which highly complicate the transferring of response between the two substructures. Digital Image...

Nonlinear control of ships minimizing the position tracking errors

Directory of Open Access Journals (Sweden)

Svein P. Berge

1999-07-01

Full Text Available In this paper, a nonlinear tracking controller with integral action for ships is presented. The controller is based on state feedback linearization. Exponential convergence of the vessel-fixed position and velocity errors are proven by using Lyapunov stability theory. Since we only have two control devices, a rudder and a propeller, we choose to control the longship and the sideship position errors to zero while the heading is stabilized indirectly. A Virtual Reference Point (VRP is defined at the bow or ahead of the ship. The VRP is used for tracking control. It is shown that the distance from the center of rotation to the VRP will influence on the stability of the zero dynamics. By selecting the VRP at the bow or even ahead of the bow, the damping in yaw can be increased and the zero dynamics is stabilized. Hence, the heading angle will be less sensitive to wind, currents and waves. The control law is simulated by using a nonlinear model of the Japanese training ship Shiojimaru with excellent results. Wind forces are added to demonstrate the robustness and performance of the integral controller.

A Hybrid Interpolation Method for Geometric Nonlinear Spatial Beam Elements with Explicit Nodal Force

Directory of Open Access Journals (Sweden)

Huiqing Fang

2016-01-01

Full Text Available Based on geometrically exact beam theory, a hybrid interpolation is proposed for geometric nonlinear spatial Euler-Bernoulli beam elements. First, the Hermitian interpolation of the beam centerline was used for calculating nodal curvatures for two ends. Then, internal curvatures of the beam were interpolated with a second interpolation. At this point, C1 continuity was satisfied and nodal strain measures could be consistently derived from nodal displacement and rotation parameters. The explicit expression of nodal force without integration, as a function of global parameters, was founded by using the hybrid interpolation. Furthermore, the proposed beam element can be degenerated into linear beam element under the condition of small deformation. Objectivity of strain measures and patch tests are also discussed. Finally, four numerical examples are discussed to prove the validity and effectivity of the proposed beam element.

Software-in-the-loop simulation of a quadcopter portion for hybrid aircraft control

Science.gov (United States)

Mansoor, Shoaib; Saedan, Mana

2018-01-01

In this paper, we present the design of the software-in-the-loop simulation framework for a quadcopter that is incorporated in our hybrid aircraft. The hybrid aircraft comprises a quad-copter and a fixed wing with one forward thrust rotor. We need to develop a split control system that utilizes a typical quadcopter controller to control four motors/propellers and a supervisor controller to control a forward thrust rotor. The supervisor controller shall take feedback signals from the quadcopter and will command the fifth rotor for stabilizing the hybrid aircraft and resolves problems like thrust saturation. The simulation simulates the control algorithm and verifies the quadcopter’s behavior using MATLAB and Simulink together. Achieving these results, we come to know how our hybrid controller will be implemented, what results to expect once the forward thrust rotor is attached to the quadcopter. The software-in-the-loop simulation of a quadcopter is one of the most effective methods for verifying overall control performance and safety of the hybrid aircraft before actual hardware implementation and flight test.

14 CFR 23.155 - Elevator control force in maneuvers.

Science.gov (United States)

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Elevator control force in maneuvers. 23.155 Section 23.155 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Controllability and Maneuverability § 23.155 Elevator control force in maneuvers. (a) The elevator control force...

Automated Controller Synthesis for non-Deterministic Piecewise-Affine Hybrid Systems

DEFF Research Database (Denmark)

Grunnet, Jacob Deleuran

formations. This thesis uses a hybrid systems model of a satellite formation with possible actuator faults as a motivating example for developing an automated control synthesis method for non-deterministic piecewise-affine hybrid systems (PAHS). The method does not only open an avenue for further research...... in fault tolerant satellite formation control, but can be used to synthesise controllers for a wide range of systems where external events can alter the system dynamics. The synthesis method relies on abstracting the hybrid system into a discrete game, finding a winning strategy for the game meeting...... game and linear optimisation solvers for controller refinement. To illustrate the efficacy of the method a reoccurring satellite formation example including actuator faults has been used. The end result is the application of PAHSCTRL on the example showing synthesis and simulation of a fault tolerant...

NASA Workshop on Hybrid (Mixed-Actuator) Spacecraft Attitude Control

Science.gov (United States)

Dennehy, Cornelius J.; Kunz, Nans

2014-01-01

At the request of the Science Mission Directorate Chief Engineer, the NASA Technical Fellow for Guidance, Navigation & Control assembled and facilitated a workshop on Spacecraft Hybrid Attitude Control. This multi-Center, academic, and industry workshop, sponsored by the NASA Engineering and Safety Center (NESC), was held in April 2013 to unite nationwide experts to present and discuss the various innovative solutions, techniques, and lessons learned regarding the development and implementation of the various hybrid attitude control system solutions investigated or implemented. This report attempts to document these key lessons learned with the 16 findings and 9 NESC recommendations.

A hybrid electromagnetic-acoustic levitator for the containerless processing of undercooled melts

Science.gov (United States)

Hmelo, Anthony B.; Banerjee, Sharbari; Wang, Taylor G.

1992-01-01

The hybrid, acoustic-EM levitator discussed provides a small lifting force independently of its EM component by exciting an acoustic resonance that serves as a pressure node at the position of the EM-levitated specimen. The system also stabilizes and damps chaotic oscillations during specimen positioning, and can excite forced oscillations of levitated molten metals for drop-physics and thermophysical property measurements. Attention is given to the character and function of the atmosphere in the levitator. Noncontact temperature measurement is via single-color optical pyrometer.

The BWR Hybrid 4 control rod

International Nuclear Information System (INIS)

Gross, H.; Fuchs, H.P.; Lippert, H.J.; Dambietz, W.

1988-01-01

The service life of BWR control rods designed in the past has been unsatisfactory. The main reason was irradiation assisted stress corrosion cracking of B 4 C rods caused by external swelling of the B 4 C powder. By this reason KWU developed an improved BWR control rod (Hybrid 4 control rod) with extended service life and increased control rod worth. It also allows the procedure for replacing and rearranging fuel assemblies to be considerably simplified. A complete set of Hydbrid 4 control rods is expected to last throughout the service life of a plant (assumption: ca. 40 years) if an appropriate control rod reshuffling management program is used. (orig.)

Advanced Nano hybrid Materials: Surface Modification and Applications

International Nuclear Information System (INIS)

Liu, L.H.; Metivier, R.; Wang, Sh.; Wang, Sh.; Hui Wang

2012-01-01

The field of functional nano scale hybrid materials is one of the most promising and rapidly emerging research areas in materials chemistry. Nano scale hybrid materials can be broadly defined as synthetic materials with organic and inorganic components that are linked together by noncovalent bonds (Class I, linked by hydrogen bond, electrostatic force, or van der Waals force) or covalent bonds (Class II) at nanometer scale. The unlimited possible combinations of the distinct properties of inorganic, organic, or even bioactive components in a single material, either in molecular or nano scale dimensions, have attracted considerable attention. This approach provides an opportunity to create a vast number of novel advanced materials with well-controlled structures and multiple functions. The unique properties of advanced hybrid nano materials can be advantageous to many fields, such as optical and electronic materials, biomaterials, catalysis, sensing, coating, and energy storage. In this special issue, the breadth of papers shows that the hybrid materials is attracting attention, because of both growing fundamental interest, and a route to new materials. Two review articles and seven research papers that report new results of hybrid materials should gather widespread interest.

Hybrid Droop Control Strategy Applied to Grid-Supporting Converters in DC Microgrids

DEFF Research Database (Denmark)

Han, Renke; Meng, Lexuan; Guerrero, Josep M.

2017-01-01

The paper proposes a hybrid droop control strategy to enhance the stability and increase maximum constant power loads (CPLs) capability of DC microgrids in a realistic scenario. By capturing the detailed model of inner control loops and hybrid droop control and general dc MG topology, a thorough...

Follow-up Evaluation of Air Force Blood Donors Screening Positive for Chagas Disease

Science.gov (United States)

2017-08-27

Blood Donors Screening Positive for Cbagas Disease presented at/published to Military Health System Research Symposium (Florida, 27-30 Aug 2017) in...disease upon blood donation at JBSA -Lackland 6. TITLE OF MATERIAL TO BE PUBLISHED OR PRESENTED: Follow-up evaluation of Air Force blood donors ...Designated Exempt Reviewer Follow-up evaluation of Air Force blood donors screening positive for Chagas disease Joseph Marcus1, Bryant Webber2, Leo Cropper2

Route-Based Control of Hybrid Electric Vehicles: Preprint

Energy Technology Data Exchange (ETDEWEB)

Gonder, J. D.

2008-01-01

Today's hybrid electric vehicle controls cannot always provide maximum fuel savings over all drive cycles. Route-based controls could improve HEV fuel efficiency by 2%-4% and help save nearly 6.5 million gallons of fuel annually.

A study of nitroxide polyradical/activated carbon composite as the positive electrode material for electrochemical hybrid capacitor

Energy Technology Data Exchange (ETDEWEB)

Li, Hui-qiao; Zou, Ying; Xia, Yong-yao [Chemistry Department and Shanghai Key Laboratory of Molecular Catalysis and Innovative Materials, Fudan University, Shanghai 200433 (China)

2007-01-01

We present a new concept of the hybrid electrochemical capacitor technology in which a poly(2,2,6,6-tetramethylpiperidinyloxy methacrylate) nitroxide polyradical/activated carbon composite (PTMA-AC) is used as the positive electrode material and activated carbon is used as the negative electrode material. On the positive electrode, both reversible reduction and oxidation of nitroxide polyradical and non-faradic ion sorption/de-sorption of activated carbon are involved during charge and discharge process. The capacity of the composite electrode is 30% larger than that of the pure activated carbon electrode. A hybrid capacitor fabricated by the PTMA-AC composite positive electrode and the activated carbon negative electrode shows a good cycling life, it can be charged/discharged for over 1000 cycles with slight capacity loss. The hybrid capacitor also has a good rate capability, it maintains 80% of the initial capacity even at the high discharge current of up to 20C. (author)

Imposing motion constraints to a force reflecting tele-robot through real-time simulation of a virtual mechanism

Energy Technology Data Exchange (ETDEWEB)

Joly, L.; Andriot, C.

1995-12-31

In a tele-operation system, assistance can be given to the operator by constraining the tele-robot position to remain within a restricted subspace of its workspace. A new approach to motion constraint is presented in this paper. The control law is established simulating a virtual ideal mechanism acting as a jig, and connected to the master and slave arms via springs and dampers. Using this approach, it is possible to impose any (sufficiently smooth) motion constraint to the system, including non linear constraints (complex surfaces) involving coupling between translations and rotations and physical equivalence ensures that the controller is passive. Experimental results obtained with a 6-DOF tele-operation system are given. Other applications of the virtual mechanism concept include hybrid position-force control and haptic interfaces. (authors). 11 refs., 7 figs.

Imposing motion constraints to a force reflecting tele-robot through real-time simulation of a virtual mechanism

International Nuclear Information System (INIS)

Joly, L.; Andriot, C.

1995-01-01

In a tele-operation system, assistance can be given to the operator by constraining the tele-robot position to remain within a restricted subspace of its workspace. A new approach to motion constraint is presented in this paper. The control law is established simulating a virtual ideal mechanism acting as a jig, and connected to the master and slave arms via springs and dampers. Using this approach, it is possible to impose any (sufficiently smooth) motion constraint to the system, including non linear constraints (complex surfaces) involving coupling between translations and rotations and physical equivalence ensures that the controller is passive. Experimental results obtained with a 6-DOF tele-operation system are given. Other applications of the virtual mechanism concept include hybrid position-force control and haptic interfaces. (authors). 11 refs., 7 figs

Precision Force Control for an Electro-Hydraulic Press Machine

Directory of Open Access Journals (Sweden)

Hong-Ming Chen

2014-08-01

Full Text Available This thesis is primarily intended to design a PC-based control system to control the force of an electro-hydraulic servo press system for implementing precision force control. The main feature is to develop a composite control by using the relief valve and the flow servo valve. Using feedback from a force sensor, a fuzzy controller was designed with LabVIEW software as the system control core for achieving a precision force control for the hydraulic cylinder on its travel and output. The weakness of hydraulic systems is that hydraulic oil is compressible and prone to leaking, and its characteristics can vary with oil temperature, thus making it difficult for a general linear controller to achieve accurate control. Therefore, a fuzzy controller was designed with LabVIEW along with a NI-PCI_6221 interface card and a load cell to control the servo valve flow and the relief valve to control the pressure source. The testing results indicate that accurate force control output of an electro-hydraulic servo press system can be obtained.

Visualized Multiprobe Electrical Impedance Measurements with STM Tips Using Shear Force Feedback Control

Directory of Open Access Journals (Sweden)

Luis Botaya

2016-05-01

Full Text Available Here we devise a multiprobe electrical measurement system based on quartz tuning forks (QTFs and metallic tips capable of having full 3D control over the position of the probes. The system is based on the use of bent tungsten tips that are placed in mechanical contact (glue-free solution with a QTF sensor. Shear forces acting in the probe are measured to control the tip-sample distance in the Z direction. Moreover, the tilting of the tip allows the visualization of the experiment under the optical microscope, allowing the coordination of the probes in X and Y directions. Meanwhile, the metallic tips are connected to a current–voltage amplifier circuit to measure the currents and thus the impedance of the studied samples. We discuss here the different aspects that must be addressed when conducting these multiprobe experiments, such as the amplitude of oscillation, shear force distance control, and wire tilting. Different results obtained in the measurement of calibration samples and microparticles are presented. They demonstrate the feasibility of the system to measure the impedance of the samples with a full 3D control on the position of the nanotips.

Modeling and Optimal Control of a Class of Warfare Hybrid Dynamic Systems Based on Lanchester (n,1) Attrition Model

OpenAIRE

Chen, Xiangyong; Zhang, Ancai

2014-01-01

For the particularity of warfare hybrid dynamic process, a class of warfare hybrid dynamic systems is established based on Lanchester equation in a (n,1) battle, where a heterogeneous force of n different troop types faces a homogeneous force. This model can be characterized by the interaction of continuous-time models (governed by Lanchester equation), and discrete event systems (described by variable tactics). Furthermore, an expository discussion is presented on an optimal variable tact...

An overview of current developments in position-sensitive hybrid photon detectors and photo-multiplier tubes

CERN Document Server

Gys, Thierry

1999-01-01

Current developments in position-sensitive hybrid photon detectors and photo-multiplier tubes have stimulated increased interest from a variety of fields such as astronomy, biomedical imaging and high- energy physics. These devices are sensitive to single photons over a photon energy spectrum defined by the transmission of the optical entrance window and the photo-cathode type. Their spatial resolution ranges from a few millimeters for pad hybrid photon detectors and multi-anode photo-multiplier tubes down to a few tens of microns for pixel hybrid photon detectors and electron-bombarded charge-coupled devices. Basic technological and design aspects are assessed in this paper. (21 refs).

MODELLING AND CONTROL OF POWER-SPLIT HYBRID ELECTRIC VEHICLE USING FUZZY LOGIC METHOD

OpenAIRE

Mohammadpour, Ebrahim; Khajavi, Mehrdad Nouri

2014-01-01

Nowadays, automotive manufactures increasingly have lead to development of hybrid vehicles due to energy consumption growing and increased emissions. the power-split hybrids due to the simultaneous using of speed and torque couplings has integrated advantage of series and parallel hybrid systems and minimize their disadvantages , however the power-split hybrids control strategy is far more complex than other types. Generally the control strategy tries to use the optimize operating point of HE...

Ad-Coop Positioning System (ACPS)

DEFF Research Database (Denmark)

Frattasi, Simone; Monti, Marco

2008-01-01

In this paper, we propose an innovative solution for positioning determination in 4G wireless networks by introducing the Ad-Coop Positioning System (ACPS). The ACPS is supported by a hybrid cellular ad-hoc architecture, where the cellular network has a centralized control over the ad-hoc connect......In this paper, we propose an innovative solution for positioning determination in 4G wireless networks by introducing the Ad-Coop Positioning System (ACPS). The ACPS is supported by a hybrid cellular ad-hoc architecture, where the cellular network has a centralized control over the ad...... method for the ACPS, which appropriately combines and weights the long- and short-range location information in a non-linear least square (NLLS) minimization procedure. The numerical results shown in the paper demonstrate that the ACPS enhances the location estimation accuracy with respect...

Force characteristics in continuous path controlled crankpin grinding

Science.gov (United States)

Zhang, Manchao; Yao, Zhenqiang

2015-03-01

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

Controlling Force and Depth in Friction Stir Welding

Science.gov (United States)

Adams, Glynn; Loftus, Zachary; McCormac, Nathan; Venable, Richard

2005-01-01

Feedback control of the penetration force applied to a pin tool in friction stir welding has been found to be a robust and reliable means for controlling the depth of penetration of the tool. This discovery has made it possible to simplify depth control and to weld with greater repeatability, even on workpieces with long weld joints. Prior to this discovery, depths of penetration in friction stir welding were controlled by hard-tooled roller assemblies or by depth actuators controlled by feedback from such external sensors as linear variable-differential transformers or laser-based devices. These means of control are limited: A hard-tooled roller assembly confines a pin tool to a preset depth that cannot be changed easily during the welding process. A measurement by an external sensor is only an indirect indicative of the depth of penetration, and computations to correlate such a measurement with a depth of penetration are vulnerable to error. The present force-feedback approach exploits the proportionality between the depth and the force of penetration Unlike a depth measurement taken by an external sensor, a force measurement can be direct because it can be taken by a sensor coupled directly to the pin tool. The reading can be processed through a modern electronic servo control system to control an actuator to keep the applied penetration force at the desired level. In comparison with the older depth-control methods described above, this method offers greater sensitivity to plasticizing of the workpiece metal and is less sensitive to process noise, resulting in a more consistent process. In an experiment, a tapered panel was friction stir welded while controlling the force of penetration according to this method. The figure is a plot of measurements taken during the experiment, showing that force was controlled with a variation of 200 lb (890 N), resulting in control of the depth of penetration with a variation of 0.004 in. (0.1 mm).

Hybrid Adaptive Flight Control with Model Inversion Adaptation

Science.gov (United States)

Nguyen, Nhan

2011-01-01

This study investigates a hybrid adaptive flight control method as a design possibility for a flight control system that can enable an effective adaptation strategy to deal with off-nominal flight conditions. The hybrid adaptive control blends both direct and indirect adaptive control in a model inversion flight control architecture. The blending of both direct and indirect adaptive control provides a much more flexible and effective adaptive flight control architecture than that with either direct or indirect adaptive control alone. The indirect adaptive control is used to update the model inversion controller by an on-line parameter estimation of uncertain plant dynamics based on two methods. The first parameter estimation method is an indirect adaptive law based on the Lyapunov theory, and the second method is a recursive least-squares indirect adaptive law. The model inversion controller is therefore made to adapt to changes in the plant dynamics due to uncertainty. As a result, the modeling error is reduced that directly leads to a decrease in the tracking error. In conjunction with the indirect adaptive control that updates the model inversion controller, a direct adaptive control is implemented as an augmented command to further reduce any residual tracking error that is not entirely eliminated by the indirect adaptive control.

Force analysis of magnetic bearings with power-saving controls

International Nuclear Information System (INIS)

Johnson, D.; Brown, G.V.; Inman, D.J.

1992-01-01

Most magnetic bearing control schemes use a bias current with a superimposed control current to linearize the relationship between the control current and the force it delivers. For most operating conditions, the existence of the bias current requires more power than alternative methods that do not use conventional bias. Two such methods are examined which diminish or eliminate bias current. In the typical bias control scheme it is found that for a harmonic control force command into a voltage limited transconductance amplifier, the desired force output is obtained only up to certain combinations of force amplitude and frequency. Above these values, the force amplitude is reduced and a phase lag occurs. The power saving alternative control schemes typically exhibit such deficiencies at even lower command frequencies and amplitudes. To assess the severity of these effects, a time history analysis of the force output is performed for the bias method and the alternative methods. Results of the analysis show that the alternative approaches may be viable. The various control methods examined were mathematically modeled using nondimensionalized variables to facilitate comparison of the various methods

Method and apparatus for controlling battery charging in a hybrid electric vehicle

Science.gov (United States)

Phillips, Anthony Mark; Blankenship, John Richard; Bailey, Kathleen Ellen; Jankovic, Miroslava

2003-06-24

A starter/alternator system (24) for hybrid electric vehicle (10) having an internal combustion engine (12) and an energy storage device (34) has a controller (30) coupled to the starter/alternator (26). The controller (30) has a state of charge manager (40) that monitors the state of charge of the energy storage device. The controller has eight battery state-of-charge threshold values that determine the hybrid operating mode of the hybrid electric vehicle. The value of the battery state-of-charge relative to the threshold values is a factor in the determination of the hybrid mode, for example; regenerative braking, charging, battery bleed, boost. The starter/alternator may be operated as a generator or a motor, depending upon the mode.

A force-based protein biochip

Science.gov (United States)

Blank, K.; Mai, T.; Gilbert, I.; Schiffmann, S.; Rankl, J.; Zivin, R.; Tackney, C.; Nicolaus, T.; Spinnler, K.; Oesterhelt, F.; Benoit, M.; Clausen-Schaumann, H.; Gaub, H. E.

2003-09-01

A parallel assay for the quantification of single-molecule binding forces was developed based on differential unbinding force measurements where ligand-receptor interactions are compared with the unzipping forces of DNA hybrids. Using the DNA zippers as molecular force sensors, the efficient discrimination between specific and nonspecific interactions was demonstrated for small molecules binding to specific receptors, as well as for protein-protein interactions on protein arrays. Finally, an antibody sandwich assay with different capture antibodies on one chip surface and with the detection antibodies linked to a congruent surface via the DNA zippers was used to capture and quantify a recombinant hepatitis C antigen from solution. In this case, the DNA zippers enable not only discrimination between specific and nonspecific binding, but also allow for the local application of detection antibodies, thereby eliminating false-positive results caused by cross-reactive antibodies and nonspecific binding.

Robust Power Management Control for Stand-Alone Hybrid Power Generation System

International Nuclear Information System (INIS)

Kamal, Elkhatib; Adouane, Lounis; Aitouche, Abdel; Mohammed, Walaa

2017-01-01

This paper presents a new robust fuzzy control of energy management strategy for the stand-alone hybrid power systems. It consists of two levels named centralized fuzzy supervisory control which generates the power references for each decentralized robust fuzzy control. Hybrid power systems comprises: a photovoltaic panel and wind turbine as renewable sources, a micro turbine generator and a battery storage system. The proposed control strategy is able to satisfy the load requirements based on a fuzzy supervisor controller and manage power flows between the different energy sources and the storage unit by respecting the state of charge and the variation of wind speed and irradiance. Centralized controller is designed based on If-Then fuzzy rules to manage and optimize the hybrid power system production by generating the reference power for photovoltaic panel and wind turbine. Decentralized controller is based on the Takagi-Sugeno fuzzy model and permits us to stabilize each photovoltaic panel and wind turbine in presence of disturbances and parametric uncertainties and to optimize the tracking reference which is given by the centralized controller level. The sufficient conditions stability are formulated in the format of linear matrix inequalities using the Lyapunov stability theory. The effectiveness of the proposed Strategy is finally demonstrated through a SAHPS (stand-alone hybrid power systems) to illustrate the effectiveness of the overall proposed method. (paper)

MIL-STD-1553 dynamic bus controller/remote terminal hybrid set

Science.gov (United States)

Friedman, S. N.

This paper describes the performance, physical and electrical requirements of a Dual Redundant BUS Interface Unit (BIU) acting as a BUS Controller Interface Unit (BCIU) or Remote Terminal Unit (RTU) between a Motorola 68000 VME BUS and MIL-STD-1553B Multiplex Data Bus. A discussion of how the BIU Hybrid set is programmed, and operates as a BCIU or RTU, will be included. This paper will review Dynamic Bus Control and other Mode Code capabilities. The BIU Hybrid Set interfaces to a 68000 Microprocessor with a VME Bus using programmed I/O transfers. This special interface will be discussed along with the internal Dual Access Memory (4K x 16) used to support the data exchanges between the CPU and the BIU Hybrid Set. The hybrid set's physical size and power requirements will be covered. This includes the present Double Eurocard the BIU function is presently being offered on.

Hybrid Intelligent Control for Submarine Stabilization

Directory of Open Access Journals (Sweden)

Minghui Wang

2013-05-01

Full Text Available Abstract While sailing near the sea surface, submarines will often undergo rolling motion caused by wave disturbance. Fierce rolling motion seriously affects their normal operation and even threatens their security. We propose a new control method for roll stabilization. This paper studies hybrid intelligent control combining a fuzzy control, a neural network and extension control technology. Every control strategy can achieve the ideal control effect within the scope of its effective control. The neuro-fuzzy control strategy is used to improve the robustness of the controller. The speed control strategy and the course control strategy are conducted to extend the control range. The paper also proposes the design of the controller and carries out the simulation experiment in different sea conditions. The simulation results show that the control method proposed can indeed effectively improve the control performance of submarine stabilization.

Experimental investigation of the dynamics of a hybrid morphing wing: time resolved particle image velocimetry and force measures

Science.gov (United States)

Jodin, Gurvan; Scheller, Johannes; Rouchon, Jean-François; Braza, Marianna; Mit Collaboration; Imft Collaboration; Laplace Collaboration

2016-11-01

A quantitative characterization of the effects obtained by high frequency-low amplitude trailing edge actuation is performed. Particle image velocimetry, as well as pressure and aerodynamic force measurements, are carried out on an airfoil model. This hybrid morphing wing model is equipped with both trailing edge piezoelectric-actuators and camber control shape memory alloy actuators. It will be shown that this actuation allows for an effective manipulation of the wake turbulent structures. Frequency domain analysis and proper orthogonal decomposition show that proper actuating reduces the energy dissipation by favoring more coherent vortical structures. This modification in the airflow dynamics eventually allows for a tapering of the wake thickness compared to the baseline configuration. Hence, drag reductions relative to the non-actuated trailing edge configuration are observed. Massachusetts Institute of Technology.

A Hybrid Smartphone Indoor Positioning Solution for Mobile LBS

Directory of Open Access Journals (Sweden)

Heidi Kuusniemi

2012-12-01

Full Text Available Smartphone positioning is an enabling technology used to create new business in the navigation and mobile location-based services (LBS industries. This paper presents a smartphone indoor positioning engine named HIPE that can be easily integrated with mobile LBS. HIPE is a hybrid solution that fuses measurements of smartphone sensors with wireless signals. The smartphone sensors are used to measure the user’s motion dynamics information (MDI, which represent the spatial correlation of various locations. Two algorithms based on hidden Markov model (HMM problems, the grid-based filter and the Viterbi algorithm, are used in this paper as the central processor for data fusion to resolve the position estimates, and these algorithms are applicable for different applications, e.g., real-time navigation and location tracking, respectively. HIPE is more widely applicable for various motion scenarios than solutions proposed in previous studies because it uses no deterministic motion models, which have been commonly used in previous works. The experimental results showed that HIPE can provide adequate positioning accuracy and robustness for different scenarios of MDI combinations. HIPE is a cost-efficient solution, and it can work flexibly with different smartphone platforms, which may have different types of sensors available for the measurement of MDI data. The reliability of the positioning solution was found to increase with increasing precision of the MDI data.

A hybrid smartphone indoor positioning solution for mobile LBS.

Science.gov (United States)

Liu, Jingbin; Chen, Ruizhi; Pei, Ling; Guinness, Robert; Kuusniemi, Heidi

2012-12-12

Smartphone positioning is an enabling technology used to create new business in the navigation and mobile location-based services (LBS) industries. This paper presents a smartphone indoor positioning engine named HIPE that can be easily integrated with mobile LBS. HIPE is a hybrid solution that fuses measurements of smartphone sensors with wireless signals. The smartphone sensors are used to measure the user's motion dynamics information (MDI), which represent the spatial correlation of various locations. Two algorithms based on hidden Markov model (HMM) problems, the grid-based filter and the Viterbi algorithm, are used in this paper as the central processor for data fusion to resolve the position estimates, and these algorithms are applicable for different applications, e.g., real-time navigation and location tracking, respectively. HIPE is more widely applicable for various motion scenarios than solutions proposed in previous studies because it uses no deterministic motion models, which have been commonly used in previous works. The experimental results showed that HIPE can provide adequate positioning accuracy and robustness for different scenarios of MDI combinations. HIPE is a cost-efficient solution, and it can work flexibly with different smartphone platforms, which may have different types of sensors available for the measurement of MDI data. The reliability of the positioning solution was found to increase with increasing precision of the MDI data.

sEMG-based joint force control for an upper-limb power-assist exoskeleton robot.

Science.gov (United States)

Li, Zhijun; Wang, Baocheng; Sun, Fuchun; Yang, Chenguang; Xie, Qing; Zhang, Weidong

2014-05-01

This paper investigates two surface electromyogram (sEMG)-based control strategies developed for a power-assist exoskeleton arm. Different from most of the existing position control approaches, this paper develops force control methods to make the exoskeleton robot behave like humans in order to provide better assistance. The exoskeleton robot is directly attached to a user's body and activated by the sEMG signals of the user's muscles, which reflect the user's motion intention. In the first proposed control method, the forces of agonist and antagonist muscles pair are estimated, and their difference is used to produce the torque of the corresponding joints. In the second method, linear discriminant analysis-based classifiers are introduced as the indicator of the motion type of the joints. Then, the classifier's outputs together with the estimated force of corresponding active muscle determine the torque control signals. Different from the conventional approaches, one classifier is assigned to each joint, which decreases the training time and largely simplifies the recognition process. Finally, the extensive experiments are conducted to illustrate the effectiveness of the proposed approaches.

Implementation of an optimal control energy management strategy in a hybrid truck

NARCIS (Netherlands)

Mullem, D. van; Keulen, T. van; Kessels, J.T.B.A.; Jager, B. de; Steinbuch, M.

2010-01-01

Energy Management Strategies for hybrid powertrains control the power split, between the engine and electric motor, of a hybrid vehicle, with fuel consumption or emission minimization as objective. Optimal control theory can be applied to rewrite the optimization problem to an optimization

Design and performance analysis of position-based impedance control for an electrohydrostatic actuation system

Directory of Open Access Journals (Sweden)

Yongling FU

2018-03-01

Full Text Available Electrohydrostatic actuator (EHA is a type of power-by-wire actuator that is widely implemented in the aerospace industry for flight control, landing gears, thrust reversers, thrust vector control, and space robots. This paper presents the development and evaluation of position-based impedance control (PBIC for an EHA. Impedance control provides the actuator with compliance and facilitates the interaction with the environment. Most impedance control applications utilize electrical or valve-controlled hydraulic actuators, whereas this work realizes impedance control via a compact and efficient EHA. The structures of the EHA and PBIC are firstly introduced. A mathematical model of the actuation system is established, and values of its coefficients are identified by particle swarm optimization. This model facilitates the development of a position controller and the selection of target impedance parameters. A nonlinear proportional-integral position controller is developed for the EHA to achieve the accurate positioning requirement of PBIC. The controller compensates for the adverse effect of stiction, and a position accuracy of 0.08 mm is attained. Various experimental results are presented to verify the applicability of PBIC to the EHA. The compliance of the actuator is demonstrated in an impact test. Keywords: Actuation system, Aerospace, Electrohydrostatic actuator, Force control, Nonlinear dynamics, Particle swarm optimization, Position control

Grid-connected Photovoltaic Micro-inverter with New Hybrid Control LLC Resonant Converter

DEFF Research Database (Denmark)

Xingkui, Mao; Qisheng, Huang; Qingbo, Ke

2016-01-01

A high-efficiency photovoltaic (PV) micro-inverter consisting of two power stages i.e. a LLC resonant converter with a new hybrid control scheme and a dc-ac inverter is proposed, studied and designed in this paper. In the first power stage, the new hybrid control combining pulse-frequency modulat......A high-efficiency photovoltaic (PV) micro-inverter consisting of two power stages i.e. a LLC resonant converter with a new hybrid control scheme and a dc-ac inverter is proposed, studied and designed in this paper. In the first power stage, the new hybrid control combining pulse......-frequency modulation (PFM) and phase-shift pulse-width modulation (PS-PWM) is employed on a full-bridge LLC dc-dc converter, in order to achieve high efficiency when PV output voltage varies in a wide range. Moreover, a maximum power point tracking (MPPT) method based on power perturbation is implemented in the dc...

Controlling Casimir force via coherent driving field

Science.gov (United States)

Ahmad, Rashid; Abbas, Muqaddar; Ahmad, Iftikhar; Qamar, Sajid

2016-04-01

A four level atom-field configuration is used to investigate the coherent control of Casimir force between two identical plates made up of chiral atomic media and separated by vacuum of width d. The electromagnetic chirality-induced negative refraction is obtained via atomic coherence. The behavior of Casimir force is investigated using Casimir-Lifshitz formula. It is noticed that Casimir force can be switched from repulsive to attractive and vice versa via coherent control of the driving field. This switching feature provides new possibilities of using the repulsive Casimir force in the development of new emerging technologies, such as, micro-electro-mechanical and nano-electro-mechanical systems, i.e., MEMS and NEMS, respectively.

A Novel Integral 5-DOFs Hybrid Magnetic Bearing with One Permanent Magnet Ring Used for Turboexpander

Directory of Open Access Journals (Sweden)

Bangcheng Han

2014-01-01

Full Text Available We propose a novel combined five-degrees-of-freedom (5-DOFs hybrid magnetic bearing (HMB with only one permanent magnet ring (PMR used for turboexpanders. It has two radial magnetic bearing (RMB units; each has four poles and one thrust magnetic bearing (TMB to control 5-DOFs. Based on one PMR, the bias flux of the two radial magnetic bearing units and the one thrust magnetic bearing unit is constructed. As a result, ultra-high-speed, lower power loss, small size, and low cost can be achieved. Furthermore, the equivalent magnetic circuit method and 3D finite element method (FEM are used to model and analyze the combined 5-DOFs HMB. The force-current, force-position, torque-coil currents, the torque-angle position, and the stiffness models of the combined 5-DOFs HMB are given. Moreover, its coupling problems between the RMB units and the AMB unit are also proposed in this paper. An example is given to clarify the mathematical models and the coupling problems, and the linearized models are proposed for the follow-up controller design.

Hybrid Electric Vehicle Experimental Model with CAN Network Real Time Control

Directory of Open Access Journals (Sweden)

RATOI, M.

2010-05-01

Full Text Available In this paper an experimental model with a distributed control system of a hybrid electrical vehicle is presented. A communication CAN network of high speed (1 Mbps assures a distributed control of the all components. The modeling and the control of different operating regimes are realized on an experimental test-bench of a hybrid electrical vehicle. The experimental results concerning the variations of the mains variables (currents, torques, speeds are presented.

Systematic spatial bias in DNA microarray hybridization is caused by probe spot position-dependent variability in lateral diffusion.

Science.gov (United States)

Steger, Doris; Berry, David; Haider, Susanne; Horn, Matthias; Wagner, Michael; Stocker, Roman; Loy, Alexander

2011-01-01

The hybridization of nucleic acid targets with surface-immobilized probes is a widely used assay for the parallel detection of multiple targets in medical and biological research. Despite its widespread application, DNA microarray technology still suffers from several biases and lack of reproducibility, stemming in part from an incomplete understanding of the processes governing surface hybridization. In particular, non-random spatial variations within individual microarray hybridizations are often observed, but the mechanisms underpinning this positional bias remain incompletely explained. This study identifies and rationalizes a systematic spatial bias in the intensity of surface hybridization, characterized by markedly increased signal intensity of spots located at the boundaries of the spotted areas of the microarray slide. Combining observations from a simplified single-probe block array format with predictions from a mathematical model, the mechanism responsible for this bias is found to be a position-dependent variation in lateral diffusion of target molecules. Numerical simulations reveal a strong influence of microarray well geometry on the spatial bias. Reciprocal adjustment of the size of the microarray hybridization chamber to the area of surface-bound probes is a simple and effective measure to minimize or eliminate the diffusion-based bias, resulting in increased uniformity and accuracy of quantitative DNA microarray hybridization.

Wideband Motion Control by Position and Acceleration Input Based Disturbance Observer

Science.gov (United States)

Irie, Kouhei; Katsura, Seiichiro; Ohishi, Kiyoshi

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

Report on technological achievements in fiscal 1999. Institutions for research and development of new environmental industry creating type technologies (Development of hybrid construction machines); 1999 nendo shinki kankyo sangyo soshutsugata gijutsu kenkyu kaihatsu seido seika hokokusho. Hybrid kensetsu kiki no kenkyu kaihatsu

Energy Technology Data Exchange (ETDEWEB)

NONE

2000-03-01

Energy efficiency of construction machines is extremely low, because engines cannot follow sudden load changes. Solution is sought by developing a construction machine using as the motive force source a hybrid unit composed of an engine, a generator and batteries. The activities were advanced in the following five fields: (1) analysis on loads on existing construction machines, (2) development of hybrid move force unit, (3) development of an actuator device, (4) development of a control system, and (5) development of a hybrid construction machine simulating system. In Item (1), a control work on a 6-ton class hydraulic shovel was selected as a representative work, whereas the work was divided into seven modes to measure such output characteristics as fuel consumption and actuator output in each work, and the standard work load modes were established. In Item (2), motive force in the set load modes was measured to discover functional requirements on the motive force unit. In Item (5), the simulation model for the existing machines was used to evaluate the fuel consumption performance of the motive force unit. (NEDO)

Optimal Control of Engine Warmup in Hybrid Vehicles

Directory of Open Access Journals (Sweden)

van Reeven Vital

2016-01-01

Full Text Available An Internal Combustion Engine (ICE under cold conditions experiences increased friction losses due to a high viscosity of the lubricant. With the additional control freedom present in hybrid electric vehicles, the losses during warmup can be minimized and fuel can be saved. In this paper, firstly, a control-oriented model of the ICE, describing the warmup behavior, is developed and validated on measured vehicle data. Secondly, the two-state, non-autonomous fuel optimization, for a parallel hybrid electric vehicle with stop-start functionality, is solved using optimal control theory. The principal behavior of the Lagrange multipliers is explicitly derived, including the discontinuities (jumps that are caused by the constraints on the lubricant temperature and the energy in the battery system. The minimization of the Hamiltonian for this two-state problem is also explicitly solved, resulting in a computationally efficient algorithm. The optimal controller shows the fuel benefit, as a function of the initial temperature, for a long-haul truck simulated on the FTP-75.

Fuel cell-gas turbine hybrid system design part II: Dynamics and control

Science.gov (United States)

McLarty, Dustin; Brouwer, Jack; Samuelsen, Scott

2014-05-01

Fuel cell gas turbine hybrid systems have achieved ultra-high efficiency and ultra-low emissions at small scales, but have yet to demonstrate effective dynamic responsiveness or base-load cost savings. Fuel cell systems and hybrid prototypes have not utilized controls to address thermal cycling during load following operation, and have thus been relegated to the less valuable base-load and peak shaving power market. Additionally, pressurized hybrid topping cycles have exhibited increased stall/surge characteristics particularly during off-design operation. This paper evaluates additional control actuators with simple control methods capable of mitigating spatial temperature variation and stall/surge risk during load following operation of hybrid fuel cell systems. The novel use of detailed, spatially resolved, physical fuel cell and turbine models in an integrated system simulation enables the development and evaluation of these additional control methods. It is shown that the hybrid system can achieve greater dynamic response over a larger operating envelope than either individual sub-system; the fuel cell or gas turbine. Results indicate that a combined feed-forward, P-I and cascade control strategy is capable of handling moderate perturbations and achieving a 2:1 (MCFC) or 4:1 (SOFC) turndown ratio while retaining >65% fuel-to-electricity efficiency, while maintaining an acceptable stack temperature profile and stall/surge margin.

Optimal Energy Control Strategy Design for a Hybrid Electric Vehicle

Directory of Open Access Journals (Sweden)

Yuan Zou

2013-01-01

Full Text Available A heavy-duty parallel hybrid electric truck is modeled, and its optimal energy control is studied in this paper. The fundamental architecture of the parallel hybrid electric truck is modeled feed-forwardly, together with necessary dynamic features of subsystem or components. Dynamic programming (DP technique is adopted to find the optimal control strategy including the gear-shifting sequence and the power split between the engine and the motor subject to a battery SOC-sustaining constraint. Improved control rules are extracted from the DP-based control solution, forming near-optimal control strategies. Simulation results demonstrate that a significant improvement on the fuel economy can be achieved in the heavy-duty vehicle cycle from the natural driving statistics.

Energy control of supercapacitor/fuel cell hybrid power source

International Nuclear Information System (INIS)

Payman, Alireza; Pierfederici, Serge; Meibody-Tabar, Farid

2008-01-01

This paper deals with a flatness based control principle in a hybrid system utilizing a fuel cell as a main power source and a supercapacitor as an auxiliary power source. The control strategy is based on regulation of the dc bus capacitor energy and, consequently, voltage regulation. The proposed control algorithm does not use a commutation algorithm when the operating mode changes with the load power variation and, thus, avoids chattering effects. Using the flatness based control method, the fuel cell dynamic and its delivered power is perfectly controlled, and the fuel cell can operate in a safe condition. In the hybrid system, the supercapacitor functions during transient energy delivery or during energy recovery situations. To validate the proposed method, the control algorithms are executed in dSPACE hardware, while analogical current loops regulators are employed in the experimental environment. The experimental results prove the validity of the proposed approach

Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV.

Science.gov (United States)

Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

2016-05-09

In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.

Force sensing based on coherent quantum noise cancellation in a hybrid optomechanical cavity with squeezed-vacuum injection

Science.gov (United States)

Motazedifard, Ali; Bemani, F.; Naderi, M. H.; Roknizadeh, R.; Vitali, D.

2016-07-01

We propose and analyse a feasible experimental scheme for a quantum force sensor based on the elimination of backaction noise through coherent quantum noise cancellation (CQNC) in a hybrid atom-cavity optomechanical setup assisted with squeezed vacuum injection. The force detector, which allows for a continuous, broadband detection of weak forces well below the standard quantum limit (SQL), is formed by a single optical cavity simultaneously coupled to a mechanical oscillator and to an ensemble of ultracold atoms. The latter acts as a negative-mass oscillator so that atomic noise exactly cancels the backaction noise from the mechanical oscillator due to destructive quantum interference. Squeezed vacuum injection enforces this cancellation and allows sub-SQL sensitivity to be reached in a very wide frequency band, and at much lower input laser powers.

Force sensing based on coherent quantum noise cancellation in a hybrid optomechanical cavity with squeezed-vacuum injection

International Nuclear Information System (INIS)

Motazedifard, Ali; Bemani, F; Naderi, M H; Roknizadeh, R; Vitali, D

2016-01-01

We propose and analyse a feasible experimental scheme for a quantum force sensor based on the elimination of backaction noise through coherent quantum noise cancellation (CQNC) in a hybrid atom-cavity optomechanical setup assisted with squeezed vacuum injection. The force detector, which allows for a continuous, broadband detection of weak forces well below the standard quantum limit (SQL), is formed by a single optical cavity simultaneously coupled to a mechanical oscillator and to an ensemble of ultracold atoms. The latter acts as a negative-mass oscillator so that atomic noise exactly cancels the backaction noise from the mechanical oscillator due to destructive quantum interference. Squeezed vacuum injection enforces this cancellation and allows sub-SQL sensitivity to be reached in a very wide frequency band, and at much lower input laser powers. (paper)

Hybrid vehicle energy management: singular optimal control

NARCIS (Netherlands)

Delprat, S.; Hofman, T.; Paganelli, S.

2017-01-01

Hybrid vehicle energymanagement is often studied in simulation as an optimal control problem. Under strict convexity assumptions, a solution can be developed using Pontryagin’s minimum principle. In practice, however, many engineers do not formally check these assumptions resulting in the possible

Direct switching control of DC-DC power electronic converters using hybrid system theory

Energy Technology Data Exchange (ETDEWEB)

Zhao, J.; Lin, F. [Wayne State Univ., Detroit, MI (United States). Dept. of Electrical and Computer Engineering; Wang, C. [Wayne State Univ., Detroit, MI (United States). Dept. of Electrical and Computer Engineering; Wayne State Univ., Detroit, MI (United States). Div. of Engineering Technology

2010-07-01

A direct switching control (DSC) scheme for power electronics converters was described. The system was designed for use in both traditional and renewable energy applications as well as in electric drive vehicles. The proposed control scheme was based on a detailed hybrid system converter model that used model predictive control (MPC), piecewise affine (PWA) approximations and constrained optimal control methods. A DC-DC converter was modelled as a hybrid machine. Switching among different modes of the DC-DC converter were modelled as discrete events controlled by the hybrid controller. The modelling scheme was applied to a Buck converter. The DSC was used to control the switch of the power converter based on a hybrid machine model. Results of the study showed that the method can be used to regulate output voltage and inductor currents. The method also provides fast transient responses and effectively regulates both currents and voltage. The controller can be used to provide immediate responses to dynamic disturbances and output voltage fluctuations. 23 refs., 7 figs.

Method and apparatus for controlling hybrid powertrain system in response to engine temperature

Science.gov (United States)

Martini, Ryan D; Spohn, Brian L; Lehmen, Allen J; Cerbolles, Teresa L

2014-10-07

A method for controlling a hybrid powertrain system including an internal combustion engine includes controlling operation of the hybrid powertrain system in response to a preferred minimum coolant temperature trajectory for the internal combustion engine.

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

DEFF Research Database (Denmark)

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

2014-01-01

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

External force/velocity control for an autonomous rehabilitation robot

Science.gov (United States)

Saekow, Peerayuth; Neranon, Paramin; Smithmaitrie, Pruittikorn

2018-01-01

Stroke is a primary cause of death and the leading cause of permanent disability in adults. There are many stroke survivors, who live with a variety of levels of disability and always need rehabilitation activities on daily basis. Several studies have reported that usage of rehabilitation robotic devices shows the better improvement outcomes in upper-limb stroke patients than the conventional therapy-nurses or therapists actively help patients with exercise-based rehabilitation. This research focuses on the development of an autonomous robotic trainer designed to guide a stroke patient through an upper-limb rehabilitation task. The robotic device was designed and developed to automate the reaching exercise as mentioned. The designed robotic system is made up of a four-wheel omni-directional mobile robot, an ATI Gamma multi-axis force/torque sensor used to measure contact force and a microcontroller real-time operating system. Proportional plus Integral control was adapted to control the overall performance and stability of the autonomous assistive robot. External force control was successfully implemented to establish the behavioral control strategy for the robot force and velocity control scheme. In summary, the experimental results indicated satisfactorily stable performance of the robot force and velocity control can be considered acceptable. The gain tuning for proportional integral (PI) velocity control algorithms was suitably estimated using the Ziegler-Nichols method in which the optimized proportional and integral gains are 0.45 and 0.11, respectively. Additionally, the PI external force control gains were experimentally tuned using the trial and error method based on a set of experiments which allow a human participant moves the robot along the constrained circular path whilst attempting to minimize the radial force. The performance was analyzed based on the root mean square error (E_RMS) of the radial forces, in which the lower the variation in radial

Electrokinetic acceleration of DNA hybridization in microsystems.

Science.gov (United States)

Lei, Kin Fong; Wang, Yun-Hsiang; Chen, Huai-Yi; Sun, Jia-Hong; Cheng, Ji-Yen

2015-06-01

In this work, electrokinetic acceleration of DNA hybridization was investigated by different combinations of frequencies and amplitudes of actuating electric signals. Because the frequencies from low to high can induce different kinds of electrokinetic forces, i.e., electroosmotic to electrothermal forces, this work provides an in-depth investigation of electrokinetic enhanced hybridization. Concentric circular Cr/Au microelectrodes of 350 µm in diameter were fabricated on a glass substrate and probe DNA was immobilized on the electrode surface. Target DNA labeled with fluorescent dyes suspending in solution was then applied to the electrode. Different electrokinetic forces were induced by the application of different electric signals to the circular microelectrodes. Local microfluidic vortexes were generated to increase the collision efficiency between the target DNA suspending in solution and probe DNA immobilized on the electrode surface. DNA hybridization on the electrode surface could be accelerated by the electrokinetic forces. The level of hybridization was represented by the fluorescent signal intensity ratio. Results revealed that such 5-min dynamic hybridization increased 4.5 fold of signal intensity ratio as compared to a 1-h static hybridization. Moreover, dynamic hybridization was found to have better differentiation ability between specific and non-specific target DNA. This study provides a strategy to accelerate DNA hybridization in microsystems. Copyright © 2015 Elsevier B.V. All rights reserved.

A study on the control of a hybrid MTDC system supplying a passive network

DEFF Research Database (Denmark)

Kotb, Omar; Ghandhari, Mehrdad; Eriksson, Robert

2014-01-01

A hybrid Multi-Terminal DC (MTDC) system can combine the benefits of both Line Commutated Converter (LCC) and Voltage Source Converter (VSC) technologies in the form of reduced losses and flexibility to connect to weak and passive grids. In this paper, an analysis of control strategies used...... in a hybrid MTDC system is presented. A case study of a four terminal hybrid MTDC system supplying a passive AC network was considered for simulation study. A control scheme based on voltage margin was developed to cope with the condition of main DC voltage controlling station tripping. Two various control...... scenarios for controlling the VSCs connected to the passive network were presented and compared. The system performance was studied through EMTP-RV simulations under different disturbances. The results show the ability of selected converter control modes and proposed control schemes to operate the hybrid...

Photoresponsive lipid-polymer hybrid nanoparticles for controlled doxorubicin release

Science.gov (United States)

Yao, Cuiping; Wu, Ming; Zhang, Cecheng; Lin, Xinyi; Wei, Zuwu; Zheng, Youshi; Zhang, Da; Zhang, Zhenxi; Liu, Xiaolong

2017-06-01

Currently, photoresponsive nanomaterials are particularly attractive due to their spatial and temporal controlled drug release abilities. In this work, we report a photoresponsive lipid-polymer hybrid nanoparticle for remote controlled delivery of anticancer drugs. This hybrid nanoparticle comprises three distinct functional components: (i) a poly(D,L-lactide-co-glycolide) (PLGA) core to encapsulate doxorubicin; (ii) a soybean lecithin monolayer at the interface of the core and shell to act as a molecular fence to prevent drug leakage; (iii) a photoresponsive polymeric shell with anti-biofouling properties to enhance nanoparticle stability, which could be detached from the nanoparticle to trigger the drug release via a decrease in the nanoparticle’s stability under light irradiation. In vitro results revealed that this core-shell nanoparticle had excellent light-controlled drug release behavior (76% release with light irradiation versus 10% release without light irradiation). The confocal microscopy and flow cytometry results also further demonstrated the light-controlled drug release behavior inside the cancer cells. Furthermore, a CCK8 assay demonstrated that light irradiation could significantly improve the efficiency of killing cancer cells. Meanwhile, whole-animal fluorescence imaging of a tumor-bearing mouse also confirmed that light irradiation could trigger drug release in vivo. Taken together, our data suggested that a hybrid nanoparticle could be a novel light controlled drug delivery system for cancer therapy.

Electrically driven hybrid photonic metamaterials for multifunctional control

Science.gov (United States)

Kang, Lei; Liu, Liu; Campbell, Sawyer D.; Yue, Taiwei; Ren, Qiang; Mayer, Theresa S.; Werner, Douglas H.

2017-08-01

The unique light-matter interaction in metamaterials, a type of artificial medium in which the geometrical features of subunits dominate their optical responses, have been utilized to achieve exotic material properties that are rare or nonexistent in natural materials. Furthermore, to extend their behaviors, active materials have been introduced into metamaterial systems to advance tunability, switchability and nonlinearity. Nevertheless, practical examples of versatile photonic metamaterials remain exceedingly rare for two main reasons. On the one hand, in sharp contrast to the broad material options available at lower frequencies, it is less common to find active media in the optical regime that can provide pronounced dielectric property changes under external stimuli, such as electric and magnetic fields. Vanadium dioxide (VO2), offering a large refractive index variation over a broad frequency range due to its near room temperature insulator-to-metal transition (IMT), has been favored in recent studies on tunable metamaterials. On the other hand, it turns out that regulating responses of hybrid metamaterials to external forces in an integrated manner is not a straightforward task. Recently, metamaterial-enabled devices (i.e., metadevices) with `self-sufficient' or `self-contained' electrical and optical properties have enabled complex functionalities. Here, we present a design methodology along with the associated experimental validation of a VO2 thin film integrated optical metamaterial absorber as a hybrid photonic platform for electrically driven multifunctional control, including reflectance switching, a rewritable memory process and manageable localized camouflage. The nanoengineered topologically continuous metal structure simultaneously supports the optical resonance and electrical functionality that actuates the phase transition in VO2 through the process of Joule heating. This work provides a universal approach to creating self-sufficient and highly

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.

D1 and D2 Inhibitions of the Soleus H-Reflex Are Differentially Modulated during Plantarflexion Force and Position Tasks.

Directory of Open Access Journals (Sweden)

Fernando Henrique Magalhães

Full Text Available Presynaptic inhibition (PSI has been shown to modulate several neuronal pathways of functional relevance by selectively gating the connections between sensory inputs and spinal motoneurons, thereby regulating the contribution of the stretch reflex circuitry to the ongoing motor activity. In this study, we investigated whether a differential regulation of Ia afferent inflow by PSI may be associated with the performance of two types of plantarflexion sensoriomotor tasks. The subjects (in a seated position controlled either: 1 the force level exerted by the foot against a rigid restraint (force task, FT; or 2 the angular position of the ankle when sustaining inertial loads (position task, PT that required the same level of muscle activation observed in FT. Subjects were instructed to maintain their force/position at target levels set at ~10% of maximum isometric voluntary contraction for FT and 90° for PT, while visual feedback of the corresponding force/position signals were provided. Unconditioned H-reflexes (i.e. control reflexes and H-reflexes conditioned by electrical pulses applied to the common peroneal nerve with conditioning-to-test intervals of 21 ms and 100 ms (corresponding to D1 and D2 inhibitions, respectively were evoked in a random fashion. A significant main effect for the type of the motor task (FT vs PT (p = 0.005, η2p = 0.603 indicated that PTs were undertaken with lower levels of Ia PSI converging onto the soleus motoneuron pool. Additionally, a significant interaction between the type of inhibition (D1 vs D2 and the type of motor task (FT vs PT (p = 0.038, η2p = 0.395 indicated that D1 inhibition was associated with a significant reduction in PSI levels from TF to TP (p = 0.001, η2p = 0.731, whereas no significant difference between the tasks was observed for D2 inhibition (p = 0.078, η2p = 0.305. These results suggest that D1 and D2 inhibitions of the soleus H-reflex are differentially modulated during the performance of

A Novel Method for Rapid Hybridization of DNA to a Solid Support

Science.gov (United States)

Pettersson, Erik; Ahmadian, Afshin; Ståhl, Patrik L.

2013-01-01

Here we present a novel approach entitled Magnetic Forced Hybridization (MFH) that provides the means for efficient and direct hybridization of target nucleic acids to complementary probes immobilized on a glass surface in less than 15 seconds at ambient temperature. In addition, detection is carried out instantly since the beads become visible on the surface. The concept of MFH was tested for quality control of array manufacturing, and was combined with a multiplex competitive hybridization (MUCH) approach for typing of Human Papilloma Virus (HPV). Magnetic Forced Hybridization of bead-DNA constructs to a surface achieves a significant reduction in diagnostic testing time. In addition, readout of results by visual inspection of the unassisted eye eliminates the need for additional expensive instrumentation. The method uses the same set of beads throughout the whole process of manipulating and washing DNA constructs prior to detection, as in the actual detection step itself. PMID:23950946

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.

Control of hybrid AC/DC microgrid under islanding operational conditions

DEFF Research Database (Denmark)

Ding, G.; Gao, F.; Zhang, S.

2014-01-01

This paper presents control methods for hybrid AC/DC microgrid under islanding operation condition. The control schemes for AC sub-microgrid and DC sub-microgrid are investigated according to the power sharing requirement and operational reliability. In addition, the key control schemes...... of interlinking converter with DC-link capacitor or energy storage, which will devote to the proper power sharing between AC and DC sub-microgrids to maintain AC and DC side voltage stable, is reviewed. Combining the specific control methods developed for AC and DC sub-microgrids with interlinking converter......, the whole hybrid AC/DC microgrid can manage the power flow transferred between sub-microgrids for improving on the operational quality and efficiency....

Regenerative Braking Compensatory Control Strategy Considering CVT Power Loss for Hybrid Electric Vehicles

Directory of Open Access Journals (Sweden)

Yang Yang

2018-02-01

Full Text Available Hybrid electric vehicles (HEV equipped with continuously variable transmission (CVT adjust the motor operating point continuously to achieve the optimal motor operating efficiency during regenerative braking. Traditional control strategies consider the CVT efficiency as constant, while the CVT efficiency varies in different operating conditions. In order to reflect the transmission efficiency more accurately during regenerative braking, the CVT theoretical torque loss model is firstly established which then leads to the battery–front motor–CVT joint operating efficiency model. The joint operating efficiency model indicates that the system efficiency is influenced by input speed, input torque, CVT speed ratio, and battery SOC (state of charge. The compensatory strategy for the front motor barking force is proposed to make full use of its braking power and the CVT speed ratio control strategy is modified to maintain the optimal operating efficiency of the system. The simulations are performed under three typical braking conditions and UDDS, NYCC, US06 respectively, the results show that the modified control strategy increases the front motor braking power and improves the system operating efficiency.

A remote handling rate-position controller for telemanipulating in a large workspace

International Nuclear Information System (INIS)

Barrio, Jorge; Ferre, Manuel; Suárez-Ruiz, Francisco; Aracil, Rafael

2014-01-01

This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task

A remote handling rate-position controller for telemanipulating in a large workspace

Energy Technology Data Exchange (ETDEWEB)

Barrio, Jorge, E-mail: jordi.barrio@upm.es; Ferre, Manuel, E-mail: m.ferre@upm.es; Suárez-Ruiz, Francisco, E-mail: fa.suarez@upm.es; Aracil, Rafael, E-mail: rafael.aracil@upm.es

2014-01-15

This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task.

Design of a hybrid command and control mobile botnet: Presentation

CSIR Research Space (South Africa)

Pieterse, H

2013-03-01

Full Text Available smartphones controlled by a botmaster through a command and control network to serve a malicious purpose. This study presents the design of a hybrid command and control mobile botnet. It describes the propagation vectors, command and control channels...

A novel adaptive force control method for IPMC manipulation

International Nuclear Information System (INIS)

Hao, Lina; Sun, Zhiyong; Su, Yunquan; Gao, Jianchao; Li, Zhi

2012-01-01

IPMC is a type of electro-active polymer material, also called artificial muscle, which can generate a relatively large deformation under a relatively low input voltage (generally speaking, less than 5 V), and can be implemented in a water environment. Due to these advantages, IPMC can be used in many fields such as biomimetics, service robots, bio-manipulation, etc. Until now, most existing methods for IPMC manipulation are displacement control not directly force control, however, under most conditions, the success rate of manipulations for tiny fragile objects is limited by the contact force, such as using an IPMC gripper to fix cells. Like most EAPs, a creep phenomenon exists in IPMC, of which the generated force will change with time and the creep model will be influenced by the change of the water content or other environmental factors, so a proper force control method is urgently needed. This paper presents a novel adaptive force control method (AIPOF control—adaptive integral periodic output feedback control), based on employing a creep model of which parameters are obtained by using the FRLS on-line identification method. The AIPOF control method can achieve an arbitrary pole configuration as long as the plant is controllable and observable. This paper also designs the POF and IPOF controller to compare their test results. Simulation and experiments of micro-force-tracking tests are carried out, with results confirming that the proposed control method is viable. (paper)

Design of a hybrid command and control mobile botnet

CSIR Research Space (South Africa)

Pieterse, H

2013-05-01

Full Text Available and control mobile botnet. The hybrid design explores the efficiency of multiple command and control channels against the following objectives: no single point of failure within the topology, low cost for command dissemination, limited network activities...

Design of a real-time hybrid controller

NARCIS (Netherlands)

Lim, K.W.; Preisig, H.A.; Rauch, H.E.

1998-01-01

This paper describes the framework of an automated supervisory control system realisation. It is developed to support rapid prototyping of real time hybrid con trol systems, described using a simple and flexible set of text descriptors. The design is versatile in allow ing the user to define

Feed forward and feedback control for over-ground locomotion in anaesthetized cats

Science.gov (United States)

Mazurek, K. A.; Holinski, B. J.; Everaert, D. G.; Stein, R. B.; Etienne-Cummings, R.; Mushahwar, V. K.

2012-04-01

The biological central pattern generator (CPG) integrates open and closed loop control to produce over-ground walking. The goal of this study was to develop a physiologically based algorithm capable of mimicking the biological system to control multiple joints in the lower extremities for producing over-ground walking. The algorithm used state-based models of the step cycle each of which produced different stimulation patterns. Two configurations were implemented to restore over-ground walking in five adult anaesthetized cats using intramuscular stimulation (IMS) of the main hip, knee and ankle flexor and extensor muscles in the hind limbs. An open loop controller relied only on intrinsic timing while a hybrid-CPG controller added sensory feedback from force plates (representing limb loading), and accelerometers and gyroscopes (representing limb position). Stimulation applied to hind limb muscles caused extension or flexion in the hips, knees and ankles. A total of 113 walking trials were obtained across all experiments. Of these, 74 were successful in which the cats traversed 75% of the 3.5 m over-ground walkway. In these trials, the average peak step length decreased from 24.9 ± 8.4 to 21.8 ± 7.5 (normalized units) and the median number of steps per trial increased from 7 (Q1 = 6, Q3 = 9) to 9 (8, 11) with the hybrid-CPG controller. Moreover, within these trials, the hybrid-CPG controller produced more successful steps (step length ≤ 20 cm ground reaction force ≥ 12.5% body weight) than the open loop controller: 372 of 544 steps (68%) versus 65 of 134 steps (49%), respectively. This supports our previous preliminary findings, and affirms that physiologically based hybrid-CPG approaches produce more successful stepping than open loop controllers. The algorithm provides the foundation for a neural prosthetic controller and a framework to implement more detailed control of locomotion in the future.

Evaluation and Control of Thiol-ene/Thiol-epoxy Hybrid Networks.

Science.gov (United States)

Carioscia, Jacquelyn A; Stansbury, Jeffrey W; Bowman, Christopher N

2007-03-08

The development of thiol-ene/thiol-epoxy hybrid networks offers the advantage of tailorable polymerization kinetics while producing a highly crosslinked, high T(g) polymer that has significantly reduced shrinkage stress. Stoichiometric mixtures of pentaerythritol tetra(3-mercaptopropionate) (PETMP)/triallyl-1,3,5-triazine-2,4,6-trione (TATATO) (thiol-ene, mixture 1) and PETMP/bisphenol a diglycidyl ether (BADGE) (thiol-epoxy, mixture 2) were prepared and hybrid mixtures of 75/25, 50/50, 25/75, and 10/90 w/w of mixtures 1 and 2 were polymerized using a combination of both radical and anionic initiation. The light exposure timing and the relative initiation conditions of the two types were used to control the order and relative rates of the radical and anionic polymerizations. The 50/50 w/w thiol-ene/thiol-epoxy hybrid material exhibited a final stress of only 0.2 MPa, which is 90 % lower than the stress developed in a control dimethacrylate resin. Kinetic analysis indicates composition affects network development in thiol-ene/thiol-epoxy hybrid networks and produces materials with robust mechanical properties.

Hybrid control rooms: the effects of introducing new technology into existing control rooms

International Nuclear Information System (INIS)

Morisseau, Dolores S.

2001-02-01

The goal of this part of the Hybrid Control Room Project is to gain a perspective on the issues and problems that are an integral part of introducing new technology, automated systems, or support systems into nuclear power plant (NPP) control rooms, particularly when they are introduced on a system-by-system basis. For purposes of this project, hybrid control rooms are defined as those into which new technology, such as digital and computer-based controls are gradually incorporated as opposed to those that are completely, or nearly completely, refitted with new technology. Although the focus of this project is the introduction of computer based, digital systems into NPP control rooms, it is not possible to exclude the effects throughout the process that are inevitable when new technology is introduced anywhere in complex process control systems. Thus, this document examines the effects of such changes within the context of the organisation in which they occur, including the management of change, work procedures and work methods, communications and crew interaction, training, and the interdependent functions in the operational context. (Author)

Outcome of the First wwPDB Hybrid/Integrative Methods Task Force Workshop

Science.gov (United States)

Sali, Andrej; Berman, Helen M.; Schwede, Torsten; Trewhella, Jill; Kleywegt, Gerard; Burley, Stephen K.; Markley, John; Nakamura, Haruki; Adams, Paul; Bonvin, Alexandre M.J.J.; Chiu, Wah; Dal Peraro, Matteo; Di Maio, Frank; Ferrin, Thomas E.; Grünewald, Kay; Gutmanas, Aleksandras; Henderson, Richard; Hummer, Gerhard; Iwasaki, Kenji; Johnson, Graham; Lawson, Catherine L.; Meiler, Jens; Marti-Renom, Marc A.; Montelione, Gaetano T.; Nilges, Michael; Nussinov, Ruth; Patwardhan, Ardan; Rappsilber, Juri; Read, Randy J.; Saibil, Helen; Schröder, Gunnar F.; Schwieters, Charles D.; Seidel, Claus A. M.; Svergun, Dmitri; Topf, Maya; Ulrich, Eldon L.; Velankar, Sameer; Westbrook, John D.

2016-01-01

Summary Structures of biomolecular systems are increasingly computed by integrative modeling that relies on varied types of experimental data and theoretical information. We describe here the proceedings and conclusions from the first wwPDB Hybrid/Integrative Methods Task Force Workshop held at the European Bioinformatics Institute in Hinxton, UK, October 6 and 7, 2014. At the workshop, experts in various experimental fields of structural biology, experts in integrative modeling and visualization, and experts in data archiving addressed a series of questions central to the future of structural biology. How should integrative models be represented? How should the data and integrative models be validated? What data should be archived? How should the data and models be archived? What information should accompany the publication of integrative models? PMID:26095030

Dynamic force profile in hydraulic hybrid vehicles: a numerical investigation

Science.gov (United States)

Mohaghegh-Motlagh, Amin; Elahinia, Mohammad H.

2010-04-01

A hybrid hydraulic vehicle (HHV) combines a hydraulic sub-system with the conventional drivetrain in order to improve fuel economy for heavy vehicles. The added hydraulic module manages the storage and release of fluid power necessary to assist the motion of the vehicle. The power collected by a pump/motor (P/M) from the regenerative braking phase is stored in a high-pressure accumulator and then released by the P/M to the driveshaft during the acceleration phase. This technology is effective in significantly improving fuel-economy for heavy-class vehicles with frequent stop-and-go drive schedules. Despite improved fuel economy and higher vehicle acceleration, noise and vibrations are one of the main problems of these vehicles. The dual function P/Ms are the main source of noise and vibration in a HHV. This study investigates the dynamics of a P/M and particularly the profile and frequency-dependence of the dynamic forces generated by a bent-axis P/M unit. To this end, the fluid dynamics side of the problem has been simplified for investigating the system from a dynamics perspective. A mathematical model of a bent axis P/M has been developed to investigate the cause of vibration and noise in HHVs. The forces are calculated in time and frequency domains. The results of this work can be used to study the vibration response of the chassis and to design effective vibration isolation systems for HHVs.

Design of a smart haptic system for repulsive force control under irregular manipulation environment

International Nuclear Information System (INIS)

Lee, Sang-Rock; Choi, Seung-Hyun; Choi, Seung-Bok; Cho, Myeong-Woo

2014-01-01

This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator’s movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented. (paper)

A Parallel Energy-Sharing Control Strategy for Fuel Cell Hybrid Vehicle

Directory of Open Access Journals (Sweden)

Nik Rumzi Nik Idris

2011-08-01

Full Text Available This paper presents a parallel energy-sharing control strategy for the application of fuel cell hybrid vehicles (FCHVs. The hybrid source discussed consists of a fuel cells (FCs generator and energy storage units (ESUs which composed by the battery and ultracapacitor (UC modules. A direct current (DC bus is used to interface between the energy sources and the electric vehicles (EV propulsion system (loads. Energy sources are connected to the DC bus using of power electronics converters. A total of six control loops are designed in the supervisory system in order to regulate the DC bus voltage, control of current flow and to monitor the state of charge (SOC of each energy storage device at the same time. Proportional plus integral (PI controllers are employed to regulate the output from each control loop referring to their reference signals. The proposed energy control system is simulated in MATLAB/Simulink environment. Results indicated that the proposed parallel energy-sharing control system is capable to provide a practical hybrid vehicle in respond to the vehicle traction response and avoids the FC and battery from overstressed at the same time.

Control of a nursing bed based on a hybrid brain-computer interface.

Science.gov (United States)

Nengneng Peng; Rui Zhang; Haihua Zeng; Fei Wang; Kai Li; Yuanqing Li; Xiaobin Zhuang

2016-08-01

In this paper, we propose an intelligent nursing bed system which is controlled by a hybrid brain-computer interface (BCI) involving steady-state visual evoked potential (SSVEP) and P300. Specifically, the hybrid BCI includes an asynchronous brain switch based on SSVEP and P300, and a P300-based BCI. The brain switch is used to turn on/off the control system of the electric nursing bed through idle/control state detection, whereas the P300-based BCI is for operating the nursing bed. At the beginning, the user may focus on one group of flashing buttons in the graphic user interface (GUI) of the brain switch, which can simultaneously evoke SSVEP and P300, to switch on the control system. Here, the combination of SSVEP and P300 is used for improving the performance of the brain switch. Next, the user can control the nursing bed using the P300-based BCI. The GUI of the P300-based BCI includes 10 flashing buttons, which correspond to 10 functional operations, namely, left-side up, left-side down, back up, back down, bedpan open, bedpan close, legs up, legs down, right-side up, and right-side down. For instance, he/she can focus on the flashing button "back up" in the GUI of the P300-based BCI to activate the corresponding control such that the nursing bed is adjusted up. Eight healthy subjects participated in our experiment, and obtained an average accuracy of 93.75% and an average false positive rate (FPR) of 0.15 event/min. The effectiveness of our system was thus demonstrated.

Robust Force Control of Series Elastic Actuators

Directory of Open Access Journals (Sweden)

Andrea Calanca

2014-07-01

Full Text Available Force-controlled series elastic actuators (SEA are widely used in novel human-robot interaction (HRI applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control approach that guarantees the stability and robustness of the coupled human-robot system, based on sliding-mode control (SMC, considering the human dynamics as a disturbance to reject. We propose a chattering free solution that employs simple task models to obtain high performance, comparable with second order solutions. Theoretical stability is proven within the sliding mode framework, and predictability is reached by avoiding the reaching phase by design. Furthermore, safety is introduced by a proper design of the sliding surface. The practical feasibility of the approach is shown using an SEA prototype coupled with a human impedance in severe stress tests. To show the quality of the approach, we report a comparison with state-of-the-art second order SMC, passivity-based control and adaptive control solutions.

Design and implementation of co-operative control strategy for hybrid AC/DC microgrids

Science.gov (United States)

Mahmud, Rasel

This thesis is mainly divided in two major sections: 1) Modeling and control of AC microgrid, DC microgrid, Hybrid AC/DC microgrid using distributed co-operative control, and 2) Development of a four bus laboratory prototype of an AC microgrid system. At first, a distributed cooperative control (DCC) for a DC microgrid considering the state-of-charge (SoC) of the batteries in a typical plug-in-electric-vehicle (PEV) is developed. In DC microgrids, this methodology is developed to assist the load sharing amongst the distributed generation units (DGs), according to their ratings with improved voltage regulation. Subsequently, a DCC based control algorithm for AC microgrid is also investigated to improve the performance of AC microgrid in terms of power sharing among the DGs, voltage regulation and frequency deviation. The results validate the advantages of the proposed methodology as compared to traditional droop control of AC microgrid. The DCC-based control methodology for AC microgrid and DC microgrid are further expanded to develop a DCC-based power management algorithm for hybrid AC/DC microgrid. The developed algorithm for hybrid microgrid controls the power flow through the interfacing converter (IC) between the AC and DC microgrids. This will facilitate the power sharing between the DGs according to their power ratings. Moreover, it enables the fixed scheduled power delivery at different operating conditions, while maintaining good voltage regulation and improved frequency profile. The second section provides a detailed explanation and step-by-step design and development of an AC/DC microgrid testbed. Controllers for the three-phase inverters are designed and tested on different generation units along with their corresponding inductor-capacitor-inductor (LCL) filters to eliminate the switching frequency harmonics. Electric power distribution line models are developed to form the microgrid network topology. Voltage and current sensors are placed in the proper

Workspace Safe Operation of a Force- or Impedance-Controlled Robot

Science.gov (United States)

Abdallah, Muhammad E. (Inventor); Hargrave, Brian (Inventor); Yamokoski, John D. (Inventor); Strawser, Philip A. (Inventor)

2013-01-01

A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

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

CERN Document Server

Ghalyan, Ibrahim Fahad Jasim

2016-01-01

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

Experimental Evaluation of Superconductor Flywheel Energy Storage System with Hybrid Type Active Magnetic Bearing

International Nuclear Information System (INIS)

Lee, J. P.; Kim, H. G.; Han, S. C.

2012-01-01

In this paper, we designed Active Magnetic Bearing (AMB) for large scale Superconductor Flywheel Energy Storage System (SFESS) and PD controller for AMB. And we experimentally evaluated SFESS including hybrid type AMB. The radial AMB was designed to provide force slew rate that was sufficient for the unbalance disturbances at the maximum operating speed. The thrust AMB is a hybrid type where a permanent magnet carries the weight of the flywheel and an electromagnetic actuator generates the dynamic control force. We evaluated the design performance of the manufactured AMB through comparison of FEM analysis and the results of experimental force measurement. In order to obtain gains of PD controller and design a notch filter, the system identification was performed through measuring frequency response including dynamics for the AMBs, a power amp and a sensor using a sine swept test method after levitating the flywheel. Through measuring the current input of the AMBs and the orbit of a flywheel according to rotational speed, we verified excellent control performance of the AMBs with small amount current for the large scale SFESS.

Development of lathe tool dynamometer and finding cutting forces using negative and positive rake angle cutting tool

International Nuclear Information System (INIS)

Zeb, M.A.; Irfan, M.A.

2005-01-01

Most output parameters in machining, such as cutting forces, temperatures, strains and the work-hardening of the chip material, are directly related to the chip formation process. The characteristics of machining processes can be well understood if the forces and strains during chip formation are known. In this research a lathe tool dynamometer was used to measure cutting forces involved in machining of Steel 1045 and Aluminum 2219 T62. High Speed Steel (HSS), cutting tools with positive and negative rake angles were used. It was observed that more cutting forces are experienced by the cutting tool with positive rake angle as compared to the forces experienced by the cutting tool with negative rake angle. For steel 1045 the cutting forces using positive rake angle cutting tool were much higher. This suggested that for harder materials using a negative rake angle is more suitable for cutting. (author)

Reorganised force control in elbow pain patients during isometric wrist extension

DEFF Research Database (Denmark)

Mista, Christian Ariel; Monterde, Sonia; Inglés, Montserrat

2018-01-01

INTRODUCTION: Reorganised force control may be an important adaptation following painful traumas. In this study, force control adaptations were assessed in elbow pain patients. Increasing the contraction demand may overcome pain interference on the motor control and as such act as an internal...... voluntary contraction. Pressure pain thresholds were recorded at the lateral epicondyle and tibialis anterior muscle. Contraction force was recorded using a three-directional force transducer. Participants performed contractions according with visual feedback of the task-related force intensity (main...... direction of wrist extension) and another set of contractions with feedback of the three force directions. Going from the simple to the detailed force feedback will increase the demand of the motor task. Force steadiness in all 3 dimensions and force direction was extracted. RESULTS: Compared with controls...

Control of tokamak plasma current and equilibrium with hybrid poloidal field coils

International Nuclear Information System (INIS)

Shimada, Ryuichi

1982-01-01

A control method with hybrid poloidal field system is considered, which comprehensively implements the control of plasma equilibrium and plasma current, those have been treated independently in Tokamak divices. Tokamak equilibrium requires the condition that the magnetic flux function value on plasma surface must be constant. From this, the current to be supplied to each coil is determined. Therefore, each coil current is the resultant of the component related to plasma current excitation and the component required for holding equilibrium. Here, it is intended to show a method by which the current to be supplied to each coil can easily be calculated by the introduction of hybrid control matrix. The text first considers the equilibrium of axi-symmetrical plasma and the equilibrium magnetic field outside plasma, next describes the determination of current using the above hybrid control matrix, and indicates an example of controlling Tokamak plasma current and equilibrium by the hybrid poloidal field coils. It also shows that the excitation of plasma current and the maintenance of plasma equilibrium can basically be available with a single power supply by the appropriate selection of the number of turns of each coil. These considerations determine the basic system configuration as well as decrease the installed capacity of power source for the poloidal field of a Tokamak fusion reactor. Finally, the actual configuration of the power source for hybrid poloidal field coils is shown for the above system. (Wakatsuki, Y.)

Requirements for Control Room Computer-Based Procedures for use in Hybrid Control Rooms

Energy Technology Data Exchange (ETDEWEB)

Le Blanc, Katya Lee [Idaho National Lab. (INL), Idaho Falls, ID (United States); Oxstrand, Johanna Helene [Idaho National Lab. (INL), Idaho Falls, ID (United States); Joe, Jeffrey Clark [Idaho National Lab. (INL), Idaho Falls, ID (United States)

2015-05-01

Many plants in the U.S. are currently undergoing control room modernization. The main drivers for modernization are the aging and obsolescence of existing equipment, which typically results in a like-for-like replacement of analogue equipment with digital systems. However, the modernization efforts present an opportunity to employ advanced technology that would not only extend the life, but enhance the efficiency and cost competitiveness of nuclear power. Computer-based procedures (CBPs) are one example of near-term advanced technology that may provide enhanced efficiencies above and beyond like for like replacements of analog systems. Researchers in the LWRS program are investigating the benefits of advanced technologies such as CBPs, with the goal of assisting utilities in decision making during modernization projects. This report will describe the existing research on CBPs, discuss the unique issues related to using CBPs in hybrid control rooms (i.e., partially modernized analog control rooms), and define the requirements of CBPs for hybrid control rooms.

Hybrid control of bifurcation and chaos in stroboscopic model of Internet congestion control system

International Nuclear Information System (INIS)

Ding Dawei; Zhu Jie; Luo Xiaoshu

2008-01-01

Interaction between transmission control protocol (TCP) and random early detection (RED) gateway in the Internet congestion control system has been modelled as a discrete-time dynamic system which exhibits complex bifurcating and chaotic behaviours. In this paper, a hybrid control strategy using both state feedback and parameter perturbation is employed to control the bifurcation and stabilize the chaotic orbits embedded in this discrete-time dynamic system of TCP/RED. Theoretical analysis and numerical simulations show that the bifurcation is delayed and the chaotic orbits are stabilized to a fixed point, which reliably achieves a stable average queue size in an extended range of parameters and even completely eliminates the chaotic behaviour in a particular range of parameters. Therefore it is possible to decrease the sensitivity of RED to parameters. By using the hybrid strategy, we may improve the stability and performance of TCP/RED congestion control system significantly

Hybrid damper with stroke amplification for damping of offshore wind turbines

DEFF Research Database (Denmark)

Brodersen, Mark L.; Høgsberg, Jan

2016-01-01

tower. The proposed hybrid damper consists of a passive viscous dashpot placed in series with a load cell and an active actuator. By integrated force feedback control of the actuator motion, the associated displacement amplitude over the viscous damper can be increased compared with the passive viscous......The magnitude of tower vibrations of offshore wind turbines is a key design driver for the feasibility of the monopilesupport structure. A novel control concept for the damping of these tower vibrations is proposed, where viscous-type hybrid dampers are installed at the bottom of the wind turbine...... case, hereby significantly increasing the feasibility of viscous dampers acting at the bottom of the wind turbine tower. To avoid drift in the actuator displacement, a filtered time integration of the measured force signal is introduced. Numerical examples demonstrate that the filtered time integration...

Spontaneous emission control in a tunable hybrid photonic system

NARCIS (Netherlands)

Frimmer, M.; Koenderink, A.F.

2013-01-01

We experimentally demonstrate control of the rate of spontaneous emission in a tunable hybrid photonic system that consists of two canonical building blocks for spontaneous emission control, an optical antenna and a mirror, each providing a modification of the local density of optical states (LDOS).

Optimal Control of Hybrid Systems in Air Traffic Applications

Science.gov (United States)

Kamgarpour, Maryam

Growing concerns over the scalability of air traffic operations, air transportation fuel emissions and prices, as well as the advent of communication and sensing technologies motivate improvements to the air traffic management system. To address such improvements, in this thesis a hybrid dynamical model as an abstraction of the air traffic system is considered. Wind and hazardous weather impacts are included using a stochastic model. This thesis focuses on the design of algorithms for verification and control of hybrid and stochastic dynamical systems and the application of these algorithms to air traffic management problems. In the deterministic setting, a numerically efficient algorithm for optimal control of hybrid systems is proposed based on extensions of classical optimal control techniques. This algorithm is applied to optimize the trajectory of an Airbus 320 aircraft in the presence of wind and storms. In the stochastic setting, the verification problem of reaching a target set while avoiding obstacles (reach-avoid) is formulated as a two-player game to account for external agents' influence on system dynamics. The solution approach is applied to air traffic conflict prediction in the presence of stochastic wind. Due to the uncertainty in forecasts of the hazardous weather, and hence the unsafe regions of airspace for aircraft flight, the reach-avoid framework is extended to account for stochastic target and safe sets. This methodology is used to maximize the probability of the safety of aircraft paths through hazardous weather. Finally, the problem of modeling and optimization of arrival air traffic and runway configuration in dense airspace subject to stochastic weather data is addressed. This problem is formulated as a hybrid optimal control problem and is solved with a hierarchical approach that decouples safety and performance. As illustrated with this problem, the large scale of air traffic operations motivates future work on the efficient

Electromagnetic Properties Analysis on Hybrid-driven System of Electromagnetic Motor

Science.gov (United States)

Zhao, Jingbo; Han, Bingyuan; Bei, Shaoyi

2018-01-01

The hybrid-driven system made of permanent-and electromagnets applied in the electromagnetic motor was analyzed, equivalent magnetic circuit was used to establish the mathematical models of hybrid-driven system, based on the models of hybrid-driven system, the air gap flux, air-gap magnetic flux density, electromagnetic force was proposed. Taking the air-gap magnetic flux density and electromagnetic force as main research object, the hybrid-driven system was researched. Electromagnetic properties of hybrid-driven system with different working current modes is studied preliminary. The results shown that analysis based on hybrid-driven system can improve the air-gap magnetic flux density and electromagnetic force more effectively and can also guarantee the output stability, the effectiveness and feasibility of the hybrid-driven system are verified, which proved theoretical basis for the design of hybrid-driven system.

Robust approach to maximize the range and accuracy of force application in atomic force microscopes with nonlinear position-sensitive detectors

International Nuclear Information System (INIS)

Silva, E C C M; Vliet, K J van

2006-01-01

The atomic force microscope is used increasingly to investigate the mechanical properties of materials via sample displacement under an applied force. However, both the extent of forces attainable and the accuracy of those forces measurements are significantly limited by the optical lever configuration that is commonly used to infer nanoscale deflection of the cantilever. We present a robust and general approach to characterize and compensate for the nonlinearity of the position-sensitive optical device via data processing, requiring no modification of existing instrumentation. We demonstrate that application of this approach reduced the maximum systematic error on the gradient of a force-displacement response from 50% to 5%, and doubled the calibrated force application range. Finally, we outline an experimental protocol that optimizes the use of the quasi-linear range of the most commonly available optical feedback configurations and also accounts for the residual systematic error, allowing the user to benefit from the full detection range of these indirect force sensors

Computer Simulations of Contact Forces for Airbags with Different Folding Patterns During Deployment Phase

Directory of Open Access Journals (Sweden)

King H. Yang

1995-01-01

Full Text Available An explicit finite element method was used to study the neck load and the contact force between an occupant and an airbag during an out-of-position frontal automobile crash. Two different folding patterns and two different mounting angles of the airbag were simulated. For the four cases simulated, the occupant’s neck axial force ranged from 156 to 376% of the data obtained from in-position sled tests using the Hybrid III dummy. The neck shear force ranged from 87 to 229% and the neck flexion moment ranged from 68 to 127% of in-position experimental results. In both 300 mounting angle simulations, the neck axial forces were higher than that of the two simulations with 00 mounting angles, but the trend for the neck shear force was the opposite. Although the kinematics of the model appear reasonable, the numbers generated by the model must be reviewed with great caution because the model has not been fully validated.

Power coordinated control method with frequency support capability for hybrid single/three-phase microgrid

DEFF Research Database (Denmark)

Zhou, Xiaoping; Chen, Yandong; Zhou, Leming

2018-01-01

storage unit (ESU) are added into hybrid single/three-phase microgrid, and a power coordinated control method with frequency support capability is proposed for hybrid single/three-phase microgrid in this study. PEU is connected with three single-phase microgrids to coordinate power exchange among three...... phases and provide frequency support for hybrid microgrid. Meanwhile, a power coordinated control method based on the droop control is proposed for PEU to alleviate three-phase power imbalance and reduce voltage fluctuation of hybrid microgrid. Besides, ESU is injected into the DC-link to buffer......Due to the intermittent output power of distributed generations (DGs) and the variability of loads, voltage fluctuation and three-phase power imbalance easily occur when hybrid single/three-phase microgrid operates in islanded mode. To address these issues, the power exchange unit (PEU) and energy...

The effects of practice on movement distance and final position reproduction: implications for the equilibrium-point control of movements.

Science.gov (United States)

Jaric, S; Corcos, D M; Gottlieb, G L; Ilic, D B; Latash, M L

1994-01-01

Predictions of two views on single-joint motor control, namely programming of muscle force patterns and equilibrium-point control, were compared with the results of experiments with reproduction of movement distance and final location during fast unidirectional elbow flexions. Two groups of subjects were tested. The first group practiced movements over a fixed distance (36 degrees), starting from seven different initial positions (distance group, DG). The second group practiced movements from the same seven initial positions to a fixed final location (location group, LG). Later, all the subjects were tested at the practiced task with their eyes closed, and then, unexpectedly for the subjects, they were tested at the other, unpracticed task. In both groups, the task to reproduce final position had lower indices of final position variability than the task to reproduce movement distance. Analysis of the linear regression lines between initial position and final position (or movement distance) also demonstrated a better (more accurate) performance during final position reproduction than during distance reproduction. The data are in a good correspondence with the predictions of the equilibrium-point hypothesis, but not with the predictions of the force-pattern control approach.

Evaluation of Force-Time Changes During Impact of Hybrid Laminates Made of Titanium and Fibrous Composite

Directory of Open Access Journals (Sweden)

Jakubczak P.

2016-06-01

Full Text Available Fibre metal laminates (FML are the modern hybrid materials with potential wide range of applications in aerospace technology due to their excellent mechanical properties (particularly fatigue strength, resistance to impacts and also excellent corrosion resistance. The study describes the resistance to low velocity impacts in Ti/CFRP laminates. Tested laminates were produced in autoclave process. The laminates were characterized in terms of their response to impacts in specified energy range (5J, 10J, 20J. The tests were performed in accordance with ASTM D7137 standard. The laminates were subjected to impacts by means of hemispherical impactor with diameter of 12,7 mm. The following values have been determined: impact force vs. time, maximum force and the force at which the material destruction process commences (Pi. It has been found that fibre titanium laminates are characterized by high resistance to impacts. This feature is associated with elasto-plastic properties of metal and high rigidity of epoxy - fibre composite. It has been observed that Ti/CFRP laminates are characterized by more instable force during impact in stage of stabilization of impactor-laminate system and stage of force growth that glass fibre laminates. It has been observed more stable force decrease in stage of stress relaxation and withdrawal of the impactor. In energy range under test, the laminates based on titanium with glass and carbon fibres reinforcement demonstrate similar and high resistance to low-velocity impact, measured by means of failure initiation force and impact maximum force.

Hybrid SPECT/CT: Principle, dosimetry and quality control; Imagerie hybride: principe, dosimetrie et controle de qualite

Energy Technology Data Exchange (ETDEWEB)

Hapdey, S.; Gardin, I.; Salles, A.; Rousseliere, F.; Edet-Sanson, A.; Vera, P

2009-05-15

The recent introduction of hybrid systems combining a SPECT and a CT in nuclear medicine, greatly improved the diagnostic accuracy for particular clinical indications, due to the possible attenuation and/or scatter correction of the SPECT functional images and the availability of helpful anatomic information. Although the gamma cameras performances are noticeably comparable, the associated CT furnished by the manufacturer are relatively different from each other. Whatever the system is, the introduction of CT in the nuclear diagnostic process results in a significant increase of the patient dose. This dose increase should be justified and optimized considering both the clinical question and the CT settings available on these systems. The installation of a hybrid system must be accompanied by the management of a documentary quality insurance program, jointly developed by the technologists, physicists and physicians, both covering its clinical use and the associated dosimetry issues as monitoring its performances. Particular quality control procedures have to be defined because of the coupling between the two devices. (authors)

Control strategy of hydraulic/electric synergy system in heavy hybrid vehicles

Energy Technology Data Exchange (ETDEWEB)

Sun Hui; Yang Lifu; Junqing Jing; Yanling Luo [Jiangsu Xuzhou Construction Machinery Research Institute, Jiangsu (China)

2011-01-15

Energy consumption and exhaust emissions of hybrid vehicles strongly depend on the energy storage source and the applied control strategy. Heavy vehicles have the characteristics of frequent starts/stops and significant amounts of braking energy, which needs to find a more efficient way to store and use the high power flow. A novel parallel hybrid vehicles configuration consisting of hydraulic/electric synergy system is proposed to overcome the existing drawbacks of single energy storage source in heavy hybrid vehicles. A control strategy combining a logic threshold approach and key parameters optimization algorithm is developed to achieve acceptable vehicle performance while simultaneously maximizing engine fuel economy and maintaining the battery state of charge in its rational operation range at all times. The experimental and simulation results illustrate the potential of the proposed control strategy in terms of fuel economy and in keeping the deviations of SOC at high efficiency range. (author)

Control strategy of hydraulic/electric synergy system in heavy hybrid vehicles

International Nuclear Information System (INIS)

Sun Hui; Yang Lifu; Jing Junqing; Luo Yanling

2011-01-01

Energy consumption and exhaust emissions of hybrid vehicles strongly depend on the energy storage source and the applied control strategy. Heavy vehicles have the characteristics of frequent starts/stops and significant amounts of braking energy, which needs to find a more efficient way to store and use the high power flow. A novel parallel hybrid vehicles configuration consisting of hydraulic/electric synergy system is proposed to overcome the existing drawbacks of single energy storage source in heavy hybrid vehicles. A control strategy combining a logic threshold approach and key parameters optimization algorithm is developed to achieve acceptable vehicle performance while simultaneously maximizing engine fuel economy and maintaining the battery state of charge in its rational operation range at all times. The experimental and simulation results illustrate the potential of the proposed control strategy in terms of fuel economy and in keeping the deviations of SOC at high efficiency range.

Stillwater Hybrid Geo-Solar Power Plant Optimization Analyses

Energy Technology Data Exchange (ETDEWEB)

Wendt, Daniel S.; Mines, Gregory L.; Turchi, Craig S.; Zhu, Guangdong; Cohan, Sander; Angelini, Lorenzo; Bizzarri, Fabrizio; Consoli, Daniele; De Marzo, Alessio

2015-09-02

The Stillwater Power Plant is the first hybrid plant in the world able to bring together a medium-enthalpy geothermal unit with solar thermal and solar photovoltaic systems. Solar field and power plant models have been developed to predict the performance of the Stillwater geothermal / solar-thermal hybrid power plant. The models have been validated using operational data from the Stillwater plant. A preliminary effort to optimize performance of the Stillwater hybrid plant using optical characterization of the solar field has been completed. The Stillwater solar field optical characterization involved measurement of mirror reflectance, mirror slope error, and receiver position error. The measurements indicate that the solar field may generate 9% less energy than the design value if an appropriate tracking offset is not employed. A perfect tracking offset algorithm may be able to boost the solar field performance by about 15%. The validated Stillwater hybrid plant models were used to evaluate hybrid plant operating strategies including turbine IGV position optimization, ACC fan speed and turbine IGV position optimization, turbine inlet entropy control using optimization of multiple process variables, and mixed working fluid substitution. The hybrid plant models predict that each of these operating strategies could increase net power generation relative to the baseline Stillwater hybrid plant operations.

Force-field compensation in a manual tracking task.

Directory of Open Access Journals (Sweden)

Valentina Squeri

2010-06-01

Full Text Available This study addresses force/movement control in a dynamic "hybrid" task: the master sub-task is continuous manual tracking of a target moving along an eight-shaped Lissajous figure, with the tracking error as the primary performance index; the slave sub-task is compensation of a disturbing curl viscous field, compatibly with the primary performance index. The two sub-tasks are correlated because the lateral force the subject must exert on the eight-shape must be proportional to the longitudinal movement speed in order to perform a good tracking. The results confirm that visuo-manual tracking is characterized by an intermittent control mechanism, in agreement with previous work; the novel finding is that the overall control patterns are not altered by the presence of a large deviating force field, if compared with the undisturbed condition. It is also found that the control of interaction-forces is achieved by a combination of arm stiffness properties and direct force control, as suggested by the systematic lateral deviation of the trajectories from the nominal path and the comparison between perturbed trials and catch trials. The coordination of the two sub-tasks is quickly learnt after the activation of the deviating force field and is achieved by a combination of force and the stiffness components (about 80% vs. 20%, which is a function of the implicit accuracy of the tracking task.

Hybrid AC-High Voltage DC Grid Stability and Controls

Science.gov (United States)

Yu, Jicheng

The growth of energy demands in recent years has been increasing faster than the expansion of transmission facility construction. This tendency cooperating with the continuous investing on the renewable energy resources drives the research, development, and construction of HVDC projects to create a more reliable, affordable, and environmentally friendly power grid. Constructing the hybrid AC-HVDC grid is a significant move in the development of the HVDC techniques; the form of dc system is evolving from the point-to-point stand-alone dc links to the embedded HVDC system and the multi-terminal HVDC (MTDC) system. The MTDC is a solution for the renewable energy interconnections, and the MTDC grids can improve the power system reliability, flexibility in economic dispatches, and converter/cable utilizing efficiencies. The dissertation reviews the HVDC technologies, discusses the stability issues regarding the ac and HVDC connections, proposes a novel power oscillation control strategy to improve system stability, and develops a nonlinear voltage droop control strategy for the MTDC grid. To verify the effectiveness the proposed power oscillation control strategy, a long distance paralleled AC-HVDC transmission test system is employed. Based on the PSCAD/EMTDC platform simulation results, the proposed power oscillation control strategy can improve the system dynamic performance and attenuate the power oscillations effectively. To validate the nonlinear voltage droop control strategy, three droop controls schemes are designed according to the proposed nonlinear voltage droop control design procedures. These control schemes are tested in a hybrid AC-MTDC system. The hybrid AC-MTDC system, which is first proposed in this dissertation, consists of two ac grids, two wind farms and a five-terminal HVDC grid connecting them. Simulation studies are performed in the PSCAD/EMTDC platform. According to the simulation results, all the three design schemes have their unique salient

The hybrid UNIX controller for real-time data acquisition

International Nuclear Information System (INIS)

Huesman, R.H.; Klein, G.J.; Fleming, T.K.

1996-01-01

The authors describe a hybrid data acquisition architecture integrating a conventional UNIX workstation with CAMAC-based real-time hardware. The system combines the high-level programming simplicity and user interface of a UNIX workstation with the low-level timing control available from conventional real-time hardware. They detail this architecture as it has been implemented for control of the Donner 600-Crystal Positron Tomograph (PET600). Low-level data acquisition is carried out in this system using eight LeCroy 3588 histogrammers, which together after derandomization, acquire events at rates up to 4 MHz, and two dedicated Motorola 6809 microprocessors, which arbitrate fine timing control during acquisition. A SUN Microsystems UNIX workstation is used for high-level control, allowing an easily extensible user interface in an X-Windows environment, as well as real-time communications to the low-level acquisition units. Communication between the high- and low-level units is carried out via a Jorway 73A SCSI-CAMAC crate controller and a serial interface. For this application, the hybrid configuration segments low from high-level control for ease of maintenance and provided a low-cost upgrade from dated high-level control hardware

Pull-pull position control of dual motor wire rope transmission.

Science.gov (United States)

Guo, Quan; Jiao, Zongxia; Yan, Liang; Yu, Qian; Shang, Yaoxing

2016-08-01

Wire rope transmission is very efficient because of the small total moving object mass. The wire rope could only transmit pulling force. Therefore it has to be kept in a tightened state during transmission; in high speed applications the dynamic performance depends on the rope's stiffness, which can be adjusted by the wire rope tension. To improve the system dynamic performance output, this paper proposes a novel pull-pull method based on dual motors connected by wire ropes, for precise, high speed position control applications. The method can regulate target position and wire rope tension simultaneously. Wire ropes remain in a pre-tightening state at all times, which prevents the influence of elasticity and reduces the position tracking error in the changing direction process. Simulations and experiments were conducted; the results indicate that both position precision and superior dynamic performance can be synchronously achieved. The research is relevant to space craft precision pointing instruments.

Hybrid magnetorheological fluid–elastomeric lag dampers for helicopter stability augmentation

International Nuclear Information System (INIS)

Hu Wei; Wereley, Norman M

2008-01-01

A laboratory demonstration of a hybrid magnetorheological fluid–elastomeric (MRFE) damper is investigated for adjustable or programmable lag mode damping in helicopters, so that damping requirements can be varied as a function of different flight conditions. The laboratory demonstration of this hybrid MRFE lag damper consists of a double lap shear elastomeric damper in parallel with two magnetorheological (MR) flow mode dampers. This is compared to a damper where only elastomeric materials are implemented, i.e., a double lap shear specimen. The relationship between the output force and the quasi-steady harmonic displacement input to a flow mode MR damper is exploited, where the output force can be adjusted as a function of applied magnetic field. Equivalent viscous damping is used to compare the damping characteristics of the hybrid damper to a conventional elastomeric damper under steady-state sinusoidal displacement excitation. To demonstrate feasibility, a hybrid MRFE damper test setup is designed, and single frequency (lag frequency or rotor in-plane bending frequency) and dual frequency (lag frequency and rotor frequency) tests are conducted under different magnetic fields. The hybrid MRFE damper exhibits amplitude-dependent damping behavior. However, with application of a magnetic field, the damping level is controlled to a specific damping level objective as a function of displacement amplitude. Similarly, under dual frequency conditions, damping degradation at the lag frequency, because of lag motion at the rotor frequency, can also be recovered by increasing magnetic field. A time-domain analysis is developed to study the nonlinear dynamic behavior of the hybrid MRFE damper. Using rate-dependent elasto-slides, the amplitude-dependent behavior of the hybrid MRFE damper is accurately reconstructed using both constant and current-dependent (i.e. controllable) parameters. The analysis is physically motivated and can be applied to the elastomer and MR fluid

The Use of Atomic Force Microscopy for 3D Analysis of Nucleic Acid Hybridization on Microarrays.

Science.gov (United States)

Dubrovin, E V; Presnova, G V; Rubtsova, M Yu; Egorov, A M; Grigorenko, V G; Yaminsky, I V

2015-01-01

Oligonucleotide microarrays are considered today to be one of the most efficient methods of gene diagnostics. The capability of atomic force microscopy (AFM) to characterize the three-dimensional morphology of single molecules on a surface allows one to use it as an effective tool for the 3D analysis of a microarray for the detection of nucleic acids. The high resolution of AFM offers ways to decrease the detection threshold of target DNA and increase the signal-to-noise ratio. In this work, we suggest an approach to the evaluation of the results of hybridization of gold nanoparticle-labeled nucleic acids on silicon microarrays based on an AFM analysis of the surface both in air and in liquid which takes into account of their three-dimensional structure. We suggest a quantitative measure of the hybridization results which is based on the fraction of the surface area occupied by the nanoparticles.

Polymer degradation rate control of hybrid rocket combustion

Science.gov (United States)

Stickler, D. B.; Ramohalli, K. N. R.

1970-01-01

Polymer degradation to small fragments is treated as a rate controlling step in hybrid rocket combustion. Both numerical and approximate analytical solutions of the complete energy and polymer chain bond conservation equations for the condensed phase are obtained. Comparison with inert atmosphere data is very good. It is found that the intersect of curves of pyrolysis rate versus interface temperature for hybrid combustors, with the thermal degradation theory, falls at a pyrolysis rate very close to that for which a pressure dependence begins to be observable. Since simple thermal degradation cannot give sufficient depolymerization at higher pyrolysis rates, it is suggested that oxidative catalysis of the process occurs at the surface, giving a first order dependence on reactive species concentration at the wall. Estimates of the ratio of this activation energy and interface temperature are in agreement with best fit procedures for hybrid combustion data. Requisite active species concentrations and flux are shown to be compatible with turbulent transport. Pressure dependence of hybrid rocket fuel regression rate is thus shown to be describable in a consistent manner in terms of reactive species catalysis of polymer degradation.

Hybrid Analytical and Data-Driven Modeling for Feed-Forward Robot Control.

Science.gov (United States)

Reinhart, René Felix; Shareef, Zeeshan; Steil, Jochen Jakob

2017-02-08

Feed-forward model-based control relies on models of the controlled plant, e.g., in robotics on accurate knowledge of manipulator kinematics or dynamics. However, mechanical and analytical models do not capture all aspects of a plant's intrinsic properties and there remain unmodeled dynamics due to varying parameters, unmodeled friction or soft materials. In this context, machine learning is an alternative suitable technique to extract non-linear plant models from data. However, fully data-based models suffer from inaccuracies as well and are inefficient if they include learning of well known analytical models. This paper thus argues that feed-forward control based on hybrid models comprising an analytical model and a learned error model can significantly improve modeling accuracy. Hybrid modeling here serves the purpose to combine the best of the two modeling worlds. The hybrid modeling methodology is described and the approach is demonstrated for two typical problems in robotics, i.e., inverse kinematics control and computed torque control. The former is performed for a redundant soft robot and the latter for a rigid industrial robot with redundant degrees of freedom, where a complete analytical model is not available for any of the platforms.

Hierarchical control of vehicular fuel cell / battery hybrid powertrain

OpenAIRE

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

2010-01-01

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

Simulation of VDE under intervention of vertical stability control and vertical electromagnetic force on the ITER vacuum vessel

International Nuclear Information System (INIS)

Miyamoto, S.; Sugihara, M.; Shinya, K.; Nakamura, Y.; Toshimitsu, S.; Lukash, V.E.; Khayrutdinov, R.R.; Sugie, T.; Kusama, Y.; Yoshino, R.

2012-01-01

Highlights: ► Taking account of intervention of VS control, VDE simulations were carried out. ► Malfunctioning of VS circuit (positive feedback) enhances the vertical force. ► The worst case was explored for vertical force on the ITER vacuum vessel. ► We confirmed the force is still within the design margin even if the worst case. - Abstract: Vertical displacement events (VDEs) and disruptions usually take place under intervention of vertical stability (VS) control and the vertical electromagnetic force induced on vacuum vessels is potentially influenced. This paper presents assessment of the force that arises from the VS control in ITER VDEs using a numerical simulation code DINA. The focus is on a possible malfunctioning of the ex-vessel VS control circuit: radial magnetic field is unintentionally applied to the direction of enhancing the vertical displacement further. Since this type of failure usually causes the largest forces (or halo currents) observed in the present experiments, this situation must be properly accommodated in the design of the ITER vacuum vessel. DINA analysis shows that although the ex-vessel VS control modifies radial field, it does not affect plasma motion and current quench behavior including halo current generation because the vacuum vessel shields the field created by the ex-vessel coils. Nevertheless, the VS control modifies the force on the vessel by directly acting on the eddy current carried by the conducting structures of the vessel. Although the worst case was explored in a range of plasma inductance and pattern of VS control in combination with the in-vessel VS control circuit, the result confirmed that the force is still within the design margin.

Controllable chaos in hybrid electro-optomechanical systems

Science.gov (United States)

Wang, Mei; Lü, Xin-You; Ma, Jin-Yong; Xiong, Hao; Si, Liu-Gang; Wu, Ying

2016-01-01

We investigate the nonlinear dynamics of a hybrid electro-optomechanical system (EOMS) that allows us to realize the controllable opto-mechanical nonlinearity by driving the microwave LC resonator with a tunable electric field. A controllable optical chaos is realized even without changing the optical pumping. The threshold and lifetime of the chaos could be optimized by adjusting the strength, frequency, or phase of the electric field. This study provides a method of manipulating optical chaos with an electric field. It may offer the prospect of exploring the controllable chaos in on-chip optoelectronic devices and its applications in secret communication. PMID:26948505

Controllable chaos in hybrid electro-optomechanical systems.

Science.gov (United States)

Wang, Mei; Lü, Xin-You; Ma, Jin-Yong; Xiong, Hao; Si, Liu-Gang; Wu, Ying

2016-03-07

We investigate the nonlinear dynamics of a hybrid electro-optomechanical system (EOMS) that allows us to realize the controllable opto-mechanical nonlinearity by driving the microwave LC resonator with a tunable electric field. A controllable optical chaos is realized even without changing the optical pumping. The threshold and lifetime of the chaos could be optimized by adjusting the strength, frequency, or phase of the electric field. This study provides a method of manipulating optical chaos with an electric field. It may offer the prospect of exploring the controllable chaos in on-chip optoelectronic devices and its applications in secret communication.

Energy Conservation Analysis and Control of Hybrid Active Semiactive Suspension with Three Regulating Damping Levels

Directory of Open Access Journals (Sweden)

Long Chen

2016-01-01

Full Text Available Active suspension has not been popularized for high energy consumption. To address this issue, this paper introduces the concept of a new kind of suspension. The linear motor is considered to be integrated into an adjustable shock absorber to form the hybrid active semiactive suspension (HASAS. To realize the superiority of HASAS, its energy consumption and regeneration mechanisms are revealed. And the system controller which is composed of linear quadratic regulator (LQR controller, mode decision and switch controller, and the sliding mode control based thrust controller is developed. LQR controller is designed to maintain the suspension control objectives, while mode decision and switch controller decides the optimal damping level to tune motor thrust. The thrust controller ensures motor thrust tracking. An adjustable shock absorber with three regulating levels to be used in HASAS is trial produced and tested to obtain its working characteristics. Finally, simulation analysis is made with the experimental three damping characteristics. The impacts of adjustable damping on the motor force and energy consumption are investigated. Simulation results demonstrate the advantages of HASAS in energy conservation with various suspension control objectives. Even self-powered active control and energy regenerated to the power source can be realized.

Comparison of hybrid spectral-decomposition artificial neural network models for understanding climatic forcing of groundwater levels

Science.gov (United States)

Abrokwah, K.; O'Reilly, A. M.

2017-12-01

Groundwater is an important resource that is extracted every day because of its invaluable use for domestic, industrial and agricultural purposes. The need for sustaining groundwater resources is clearly indicated by declining water levels and has led to modeling and forecasting accurate groundwater levels. In this study, spectral decomposition of climatic forcing time series was used to develop hybrid wavelet analysis (WA) and moving window average (MWA) artificial neural network (ANN) models. These techniques are explored by modeling historical groundwater levels in order to provide understanding of potential causes of the observed groundwater-level fluctuations. Selection of the appropriate decomposition level for WA and window size for MWA helps in understanding the important time scales of climatic forcing, such as rainfall, that influence water levels. Discrete wavelet transform (DWT) is used to decompose the input time-series data into various levels of approximate and details wavelet coefficients, whilst MWA acts as a low-pass signal-filtering technique for removing high-frequency signals from the input data. The variables used to develop and validate the models were daily average rainfall measurements from five National Atmospheric and Oceanic Administration (NOAA) weather stations and daily water-level measurements from two wells recorded from 1978 to 2008 in central Florida, USA. Using different decomposition levels and different window sizes, several WA-ANN and MWA-ANN models for simulating the water levels were created and their relative performances compared against each other. The WA-ANN models performed better than the corresponding MWA-ANN models; also higher decomposition levels of the input signal by the DWT gave the best results. The results obtained show the applicability and feasibility of hybrid WA-ANN and MWA-ANN models for simulating daily water levels using only climatic forcing time series as model inputs.

Crash worthy capacity of a hybridized epoxy-glass fiber aluminum columnar tube using repeated axial resistive force

International Nuclear Information System (INIS)

Paruka, Perowansa; Siswanto, Waluyo Adi; Maleque, Md Abdul; Shah, Mohd Kamal Mohd

2015-01-01

A combination of aluminum columnar member with composite laminate to form a hybrid structure can be used as collapsible energy absorbers especially in automotive vehicular structures to protect occupants and cargo. A key advantage of aluminum member in composite is that it provides ductile and stable plastic collapse mechanisms with progressive deformation in a stable manner by increasing energy absorption during collision. This paper presents an experimental investigation on the influence of the number of hybrid epoxy glass layers in overwrap composite columnar tubes. Three columnar tube specimens were used and fabricated by hand lay-up method. Aluminum square hollow shape was combined with externally wrapped by using an isophthalic epoxy resin reinforced with glass fiber skin with an orientation angle of 0 .deg. /90 .deg. The aluminum columnar tube was used as reference material. Crushed hybrid-composite columnar tubes were prepared using one, two, and three layers to determine the crash worthy capacity. Quasi-static crush test was conducted using INSTRON machine with an axial loading. Results showed that crush force and the number of layers were related to the enhancement of energy absorption before the collapse of columnar tubes. The energy absorption properties of the crushed hybrid-composite columnar tubes improved significantly with the addition of layers in the overwrap. Microscopic analysis on the modes of epoxy-glass fiber laminate failure was conducted by using scanning electron microscopy.

Crash worthy capacity of a hybridized epoxy-glass fiber aluminum columnar tube using repeated axial resistive force

Energy Technology Data Exchange (ETDEWEB)

Paruka, Perowansa [Jalan Politeknik, Kota Kinabalu (Malaysia); Siswanto, Waluyo Adi [Universiti Tun Hussein Onn Malaysia, Parit Raja (Malaysia); Maleque, Md Abdul [Universiti Islam Antarabangsa Malaysia, Kuala Lumpur (Malaysia); Shah, Mohd Kamal Mohd [Universiti Malaysia Sabah, Kota Kinabalu (Malaysia)

2015-05-15

A combination of aluminum columnar member with composite laminate to form a hybrid structure can be used as collapsible energy absorbers especially in automotive vehicular structures to protect occupants and cargo. A key advantage of aluminum member in composite is that it provides ductile and stable plastic collapse mechanisms with progressive deformation in a stable manner by increasing energy absorption during collision. This paper presents an experimental investigation on the influence of the number of hybrid epoxy glass layers in overwrap composite columnar tubes. Three columnar tube specimens were used and fabricated by hand lay-up method. Aluminum square hollow shape was combined with externally wrapped by using an isophthalic epoxy resin reinforced with glass fiber skin with an orientation angle of 0 .deg. /90 .deg. The aluminum columnar tube was used as reference material. Crushed hybrid-composite columnar tubes were prepared using one, two, and three layers to determine the crash worthy capacity. Quasi-static crush test was conducted using INSTRON machine with an axial loading. Results showed that crush force and the number of layers were related to the enhancement of energy absorption before the collapse of columnar tubes. The energy absorption properties of the crushed hybrid-composite columnar tubes improved significantly with the addition of layers in the overwrap. Microscopic analysis on the modes of epoxy-glass fiber laminate failure was conducted by using scanning electron microscopy.

Multi-Agent-Based Controller for Voltage Enhancement in AC/DC Hybrid Microgrid Using Energy Storages

Directory of Open Access Journals (Sweden)

Ahmadali Khatibzadeh

2017-02-01

Full Text Available Development of renewable energies and DC loads have led microgrids toward the creation of DC networks. The predictions show that the hybrid microgrids will be used widely in the future. This article has studied the voltage stability in the presence of sources of energy storage in AC/DC hybrid networks. However, because the different dynamics of hybrid networks applying centralized and distributed controllers will be faced with different problems, in this study, a multi-agent control for the microgrid has been used. A new structure referred to here as an event-driven microgrid control management (EDMCM has been developed to control the microgrid. This method increases response speed and accuracy of decision making. Hybrid Network Simulation results confirm the validity of the developed model.

Site-controlled quantum dots fabricated using an atomic-force microscope assisted technique

Directory of Open Access Journals (Sweden)

Sakuma Y

2006-01-01

Full Text Available AbstractAn atomic-force microscope assisted technique is developed to control the position and size of self-assembled semiconductor quantum dots (QDs. Presently, the site precision is as good as ± 1.5 nm and the size fluctuation is within ± 5% with the minimum controllable lateral diameter of 20 nm. With the ability of producing tightly packed and differently sized QDs, sophisticated QD arrays can be controllably fabricated for the application in quantum computing. The optical quality of such site-controlled QDs is found comparable to some conventionally self-assembled semiconductor QDs. The single dot photoluminescence of site-controlled InAs/InP QDs is studied in detail, presenting the prospect to utilize them in quantum communication as precisely controlled single photon emitters working at telecommunication bands.

Evaluation of Dixon Sequence on Hybrid PET/MR Compared with Contrast-Enhanced PET/CT for PET-Positive Lesions

International Nuclear Information System (INIS)

Jeong, Ju Hye; Cho, Ihn Ho; Kong, Eun Jung; Chun, Kyung Ah

2014-01-01

Hybrid positron emission tomography and magnetic resonance (PET/MR) imaging performs a two-point Dixon MR sequence for attenuation correction. However, MR data in hybrid PET/MR should provide anatomic and morphologic information as well as an attenuation map. We evaluated the Dixon sequence of hybrid PET/MR for anatomic correlation of PET-positive lesions compared with contrast-enhanced PET/computed tomography (CT) in patients with oncologic diseases. Twelve patients underwent a single injection, dual imaging protocol. PET/CT was performed with an intravenous contrast agent (85±13 min after 18 F-FDG injection of 403± 45 MBq) and then (125±19 min after injection) PET/MR was performed. Attenuation correction and anatomic allocation of PET were performed using contrast-enhanced CT for PET/CT and Dixon MR sequence for hybrid PET/MR. The Dixon MR sequence and contrast-enhanced CT were compared for anatomic correlation of PET-positive lesions (scoring scale ranging from 0 to 3 for visual ratings). Additionally, standardized uptake values (SUVs) for the detected lesions were assessed for quantitative comparison. Both hybrid PET/MR and contrast-enhanced PET/CT identified 55 lesions with increased FDG uptake in ten patients. In total, 28 lymph nodes, 11 bone lesions, 3 dermal nodules, 3 pleural thickening lesions, 2 thyroid nodules, 1 pancreas, 1 liver, 1 ovary, 1 uterus, 1 breast, 1 soft tissue and 2 lung lesions were present. The best performance was observed for anatomic correlation of PET findings by the contrast-enhanced CT scans (contrast-enhanced CT, 2.64± 0.70; in-phase, 1.29±1.01; opposed-phase, 1.29±1.15; water-weighted, 1.71±1.07; fat weighted, 0.56±1.03). A significant difference was observed between the scores obtained from the contrast-enhanced CT and all four coregistered Dixon MR images. Quantitative evaluation revealed a high correlation between the SUVs measured with hybrid PET/MR (SUVmean, 2.63±1.62; SUVmax, 4.30±2.88) and contrast-enhanced PET

Evaluation of Dixon Sequence on Hybrid PET/MR Compared with Contrast-Enhanced PET/CT for PET-Positive Lesions

Energy Technology Data Exchange (ETDEWEB)

Jeong, Ju Hye; Cho, Ihn Ho; Kong, Eun Jung; Chun, Kyung Ah [Yeungnam Univ. Hospital, Daegu (Korea, Republic of)

2014-03-15

Hybrid positron emission tomography and magnetic resonance (PET/MR) imaging performs a two-point Dixon MR sequence for attenuation correction. However, MR data in hybrid PET/MR should provide anatomic and morphologic information as well as an attenuation map. We evaluated the Dixon sequence of hybrid PET/MR for anatomic correlation of PET-positive lesions compared with contrast-enhanced PET/computed tomography (CT) in patients with oncologic diseases. Twelve patients underwent a single injection, dual imaging protocol. PET/CT was performed with an intravenous contrast agent (85±13 min after {sup 18}F-FDG injection of 403± 45 MBq) and then (125±19 min after injection) PET/MR was performed. Attenuation correction and anatomic allocation of PET were performed using contrast-enhanced CT for PET/CT and Dixon MR sequence for hybrid PET/MR. The Dixon MR sequence and contrast-enhanced CT were compared for anatomic correlation of PET-positive lesions (scoring scale ranging from 0 to 3 for visual ratings). Additionally, standardized uptake values (SUVs) for the detected lesions were assessed for quantitative comparison. Both hybrid PET/MR and contrast-enhanced PET/CT identified 55 lesions with increased FDG uptake in ten patients. In total, 28 lymph nodes, 11 bone lesions, 3 dermal nodules, 3 pleural thickening lesions, 2 thyroid nodules, 1 pancreas, 1 liver, 1 ovary, 1 uterus, 1 breast, 1 soft tissue and 2 lung lesions were present. The best performance was observed for anatomic correlation of PET findings by the contrast-enhanced CT scans (contrast-enhanced CT, 2.64± 0.70; in-phase, 1.29±1.01; opposed-phase, 1.29±1.15; water-weighted, 1.71±1.07; fat weighted, 0.56±1.03). A significant difference was observed between the scores obtained from the contrast-enhanced CT and all four coregistered Dixon MR images. Quantitative evaluation revealed a high correlation between the SUVs measured with hybrid PET/MR (SUVmean, 2.63±1.62; SUVmax, 4.30±2.88) and contrast

The importance of position and path repeatability on force at the knee during six-DOF joint motion.

Science.gov (United States)

Darcy, Shon P; Gil, Jorge E; Woo, Savio L-Y; Debski, Richard E

2009-06-01

Mechanical devices, such as robotic manipulators have been designed to measure joint and ligament function because of their ability to position a diarthrodial joint in six degrees-of-freedom with fidelity. However, the precision and performance of these testing devices vary. Therefore, the objective of this study was to determine the effect of systematic errors in position and path repeatability of two high-payload robotic manipulators (Manipulators 1 and 2) on the resultant forces at the knee. Using a porcine knee, the position and path repeatability of these manipulators were determined during passive flexion-extension with a coordinate measuring machine. The position repeatability of Manipulator 1 was 0.3 mm in position and 0.2 degrees in orientation while Manipulator 2 had a better position repeatability of 0.1 mm in position and 0.1 degrees in orientation throughout the range of positions examined. The corresponding variability in the resultant force at the knee for these assigned positions was 32+/-33 N for Manipulator 1 and 4+/-1 N for Manipulator 2. Furthermore, the repeatability of the trajectory of each manipulator while moving between assigned positions (path repeatability) was 0.8 mm for Manipulator 1 while the path repeatability for Manipulator 2 was improved (0.1 mm). These path discrepancies produced variability in the resultant force at the knee of 44+/-24 and 21+/-8 N, respectively, for Manipulators 1 and 2 primarily due to contact between the articular surfaces of the tibia and femur. Therefore, improved position and path repeatability yields lower variability in the resultant forces at the knee. Although position repeatability has been the most common criteria for evaluating biomechanical testing devices, the current study has clearly demonstrated that path repeatability can have an even larger effect on the variability in resultant force at the knee. Consequently, the repeatability of the path followed by the joint throughout its prescribed

Conceptual Design and Optimal Power Control Strategy for AN Eco-Friendly Hybrid Vehicle

Science.gov (United States)

Nasiri, N. Mir; Chieng, Frederick T. A.

2011-06-01

This paper presents a new concept for a hybrid vehicle using a torque and speed splitting technique. It is implemented by the newly developed controller in combination with a two degree of freedom epicyclic gear transmission. This approach enables optimization of the power split between the less powerful electrical motor and more powerful engine while driving a car load. The power split is fundamentally a dual-energy integration mechanism as it is implemented by using the epicyclic gear transmission that has two inputs and one output for a proper power distribution. The developed power split control system manages the operation of both the inputs to have a known output with the condition of maintaining optimum operating efficiency of the internal combustion engine and electrical motor. This system has a huge potential as it is possible to integrate all the features of hybrid vehicle known to-date such as the regenerative braking system, series hybrid, parallel hybrid, series/parallel hybrid, and even complex hybrid (bidirectional). By using the new power split system it is possible to further reduce fuel consumption and increase overall efficiency.

Adaptive control using a hybrid-neural model: application to a polymerisation reactor

Directory of Open Access Journals (Sweden)

Cubillos F.

2001-01-01

Full Text Available This work presents the use of a hybrid-neural model for predictive control of a plug flow polymerisation reactor. The hybrid-neural model (HNM is based on fundamental conservation laws associated with a neural network (NN used to model the uncertain parameters. By simulations, the performance of this approach was studied for a peroxide-initiated styrene tubular reactor. The HNM was synthesised for a CSTR reactor with a radial basis function neural net (RBFN used to estimate the reaction rates recursively. The adaptive HNM was incorporated in two model predictive control strategies, a direct synthesis scheme and an optimum steady state scheme. Tests for servo and regulator control showed excellent behaviour following different setpoint variations, and rejecting perturbations. The good generalisation and training capacities of hybrid models, associated with the simplicity and robustness characteristics of the MPC formulations, make an attractive combination for the control of a polymerisation reactor.

Multiple-time-stepping generalized hybrid Monte Carlo methods

Energy Technology Data Exchange (ETDEWEB)

Escribano, Bruno, E-mail: bescribano@bcamath.org [BCAM—Basque Center for Applied Mathematics, E-48009 Bilbao (Spain); Akhmatskaya, Elena [BCAM—Basque Center for Applied Mathematics, E-48009 Bilbao (Spain); IKERBASQUE, Basque Foundation for Science, E-48013 Bilbao (Spain); Reich, Sebastian [Universität Potsdam, Institut für Mathematik, D-14469 Potsdam (Germany); Azpiroz, Jon M. [Kimika Fakultatea, Euskal Herriko Unibertsitatea (UPV/EHU) and Donostia International Physics Center (DIPC), P.K. 1072, Donostia (Spain)

2015-01-01

Performance of the generalized shadow hybrid Monte Carlo (GSHMC) method [1], which proved to be superior in sampling efficiency over its predecessors [2–4], molecular dynamics and hybrid Monte Carlo, can be further improved by combining it with multi-time-stepping (MTS) and mollification of slow forces. We demonstrate that the comparatively simple modifications of the method not only lead to better performance of GSHMC itself but also allow for beating the best performed methods, which use the similar force splitting schemes. In addition we show that the same ideas can be successfully applied to the conventional generalized hybrid Monte Carlo method (GHMC). The resulting methods, MTS-GHMC and MTS-GSHMC, provide accurate reproduction of thermodynamic and dynamical properties, exact temperature control during simulation and computational robustness and efficiency. MTS-GHMC uses a generalized momentum update to achieve weak stochastic stabilization to the molecular dynamics (MD) integrator. MTS-GSHMC adds the use of a shadow (modified) Hamiltonian to filter the MD trajectories in the HMC scheme. We introduce a new shadow Hamiltonian formulation adapted to force-splitting methods. The use of such Hamiltonians improves the acceptance rate of trajectories and has a strong impact on the sampling efficiency of the method. Both methods were implemented in the open-source MD package ProtoMol and were tested on a water and a protein systems. Results were compared to those obtained using a Langevin Molly (LM) method [5] on the same systems. The test results demonstrate the superiority of the new methods over LM in terms of stability, accuracy and sampling efficiency. This suggests that putting the MTS approach in the framework of hybrid Monte Carlo and using the natural stochasticity offered by the generalized hybrid Monte Carlo lead to improving stability of MTS and allow for achieving larger step sizes in the simulation of complex systems.

A force measurement system based on an electrostatic sensing and actuating technique for calibrating force in a micronewton range with a resolution of nanonewton scale

International Nuclear Information System (INIS)

Chen, Sheng-Jui; Pan, Sheau-Shi

2011-01-01

This paper introduces a force measurement system recently established at the Center for Measurement Standards, Industrial Technology Research Institute for calibrating forces in a micronewton range with a resolution of a few nanonewtons. The force balance consists of a monolithic flexure stage and a specially made capacitor for electrostatic sensing and actuating. The capacitor is formed by three electrodes which can be utilized as a capacitive position sensor and an electrostatic force actuator at the same time. Force balance control is implemented with a digital controller by which the signal of the stage deflection is acquired, filtered and fed back to the electrostatic force driver to bring the flexure stage to the null position. The detailed description of the apparatus including the design of a monolithic flexure stage, principle of capacitive position sensing/electrostatic actuation and the force balance control is given in the paper. Finally, we present the results of electrostatic force calibration and the weighing of a 1 mg wire weight

Research on Grinding and Polishing Force Control of Compliant Flange

Directory of Open Access Journals (Sweden)

Li Chuang

2015-01-01

Full Text Available The automation of the grinding and polishing process is important to improve the production efficiency of the part surfaces. In this paper, a new compliant flange mounted on the end of the industrial robots for the robotic grinding and polishing force control is developed. With regard to the non-linear and time-varying problem of the contact force, the mathematical model of the new force control system was presented and the fuzzy PID control strategy was used to drive the proposed system. Especially, the air spring and electric proportional valve is studied to establish the model. The simulation results show that the selected control strategy has quick response and good robustness, which satisfies the real-time requirements of the grinding and polishing force control in processing.

Hybrid Multi-Layer Network Control for Emerging Cyber-Infrastructures

Energy Technology Data Exchange (ETDEWEB)

Summerhill, Richard [Internet2, Washington, DC (United States); Lehman, Tom [Univ. of Southern California, Los Angeles, CA (United States). Information Sciences Inst. (ISI); Ghani, Nasir [Univ. of New Mexico, Albuquerque, NM (United States). Dept. of Electrical & Computer Engineering; Boyd, Eric [Univ. Corporation for Advanced Internet Development (UCAID), Washington, DC (United States)

2009-08-14

There were four basic task areas identified for the Hybrid-MLN project. They are: Multi-Layer, Multi-Domain, Control Plane Architecture and Implementation; Heterogeneous DataPlane Testing; Simulation; Project Publications, Reports, and Presentations.

Telerobotic Control Architecture Including Force-Reflection

National Research Council Canada - National Science Library

Murphy, Mark

1998-01-01

This report describes the implementation of a telerobotic control architecture to manipulate a standard six-degree-of-freedom robot via a unique seven-degree-of-freedom force-reflecting exoskeleton...

Preliminary Experimental Results for Indirect Vector-Control of Induction Motor Drives with Forced Dynamics

Directory of Open Access Journals (Sweden)

Jan Vittek

2003-01-01

Full Text Available The contribution presents an extension of indirect vector control of electric drives employing induction motors to 'Forced Dynamic Control'. This method of control offers an accurate realisation of dynamic response profiles, which can be selected by the user. The developed system can be integrated into a drive with a shaft position encoder or a shaft sensoriess drive, in which only the stator currents are measured. The applied stator voltages are determined by a computed inverter switching algorithm. Simulation results and preliminary experimental results for indirect vector control of an idle running induction motor indicate good agreement with the theoretical predictions.

Decentralized control of a scalable photovoltaic (PV)-battery hybrid power system

International Nuclear Information System (INIS)

Kim, Myungchin; Bae, Sungwoo

2017-01-01

Highlights: • This paper introduces the design and control of a PV-battery hybrid power system. • Reliable and scalable operation of hybrid power systems is achieved. • System and power control are performed without a centralized controller. • Reliability and scalability characteristics are studied in a quantitative manner. • The system control performance is verified using realistic solar irradiation data. - Abstract: This paper presents the design and control of a sustainable standalone photovoltaic (PV)-battery hybrid power system (HPS). The research aims to develop an approach that contributes to increased level of reliability and scalability for an HPS. To achieve such objectives, a PV-battery HPS with a passively connected battery was studied. A quantitative hardware reliability analysis was performed to assess the effect of energy storage configuration to the overall system reliability. Instead of requiring the feedback control information of load power through a centralized supervisory controller, the power flow in the proposed HPS is managed by a decentralized control approach that takes advantage of the system architecture. Reliable system operation of an HPS is achieved through the proposed control approach by not requiring a separate supervisory controller. Furthermore, performance degradation of energy storage can be prevented by selecting the controller gains such that the charge rate does not exceed operational requirements. The performance of the proposed system architecture with the control strategy was verified by simulation results using realistic irradiance data and a battery model in which its temperature effect was considered. With an objective to support scalable operation, details on how the proposed design could be applied were also studied so that the HPS could satisfy potential system growth requirements. Such scalability was verified by simulating various cases that involve connection and disconnection of sources and loads. The

Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control

Directory of Open Access Journals (Sweden)

Victor Barasuol

2018-06-01

Full Text Available Hydraulic actuation is the most widely used alternative to electric motors for legged robots and manipulators. It is often selected for its high power density, robustness and high-bandwidth control performance that allows the implementation of force/impedance control. Force control is crucial for robots that are in contact with the environment, since it enables the implementation of active impedance and whole body control that can lead to a better performance in known and unknown environments. This paper presents the hydraulic Integrated Smart Actuator (ISA developed by Moog in collaboration with IIT, as well as smart manifolds for rotary hydraulic actuators. The ISA consists of an additive-manufactured body containing a hydraulic cylinder, servo valve, pressure/position/load/temperature sensing, overload protection and electronics for control and communication. The ISA v2 and ISA v5 have been specifically designed to fit into the legs of IIT’s hydraulic quadruped robots HyQ and HyQ-REAL, respectively. The key features of these components tackle 3 of today’s main challenges of hydraulic actuation for legged robots through: (1 built-in controllers running inside integrated electronics for high-performance control, (2 low-leakage servo valves for reduced energy losses, and (3 compactness thanks to metal additive manufacturing. The main contributions of this paper are the derivation of the representative dynamic models of these highly integrated hydraulic servo actuators, a control architecture that allows for high-bandwidth force control and their experimental validation with application-specific trajectories and tests. We believe that this is the first work that presents additive-manufactured, highly integrated hydraulic smart actuators for robotics.

Online Assessment of Human-Robot Interaction for Hybrid Control of Walking

Directory of Open Access Journals (Sweden)

Ana de-los-Reyes

2011-12-01

Full Text Available Restoration of walking ability of Spinal Cord Injury subjects can be achieved by different approaches, as the use of robotic exoskeletons or electrical stimulation of the user’s muscles. The combined (hybrid approach has the potential to provide a solution to the drawback of each approach. Specific challenges must be addressed with specific sensory systems and control strategies. In this paper we present a system and a procedure to estimate muscle fatigue from online physical interaction assessment to provide hybrid control of walking, regarding the performances of the muscles under stimulation.

Experimental and theoretical analysis of a hybrid solar thermoelectric generator with forced convection cooling

Science.gov (United States)

Sundarraj, Pradeepkumar; Taylor, Robert A.; Banerjee, Debosmita; Maity, Dipak; Sinha Roy, Susanta

2017-01-01

Hybrid solar thermoelectric generators (HSTEGs) have garnered significant research attention recently due to their potential ability to cogenerate heat and electricity. In this paper, theoretical and experimental investigations of the electrical and thermal performance of a HSTEG system are reported. In order to validate the theoretical model, a laboratory scale HSTEG system (based on forced convection cooling) is developed. The HSTEG consists of six thermoelectric generator modules, an electrical heater, and a stainless steel cooling block. Our experimental analysis shows that the HSTEG is capable of producing a maximum electrical power output of 4.7 W, an electrical efficiency of 1.2% and thermal efficiency of 61% for an average temperature difference of 92 °C across the TEG modules with a heater power input of 382 W. These experimental results of the HSTEG system are found to be in good agreement with the theoretical prediction. This experimental/theoretical analysis can also serve as a guide for evaluating the performance of the HSTEG system with forced convection cooling.

Design and control of hybrid active power filters

CERN Document Server

Lam, Chi-Seng

2014-01-01

Design and Control of Hybrid Active Power Filters presents an overview of the current quality problems and their compensators. To get a balance between the system cost and performance, hybrid active power filters (HAPFs) are valuable. The book presents the coverage of resonance phenomena prevention capability, filtering performance and system robustness analysis of HAPF; nonlinear inverter current slope characteristics and their linear operation region requirement analysis of the hysteresis PWM for the HAPF; minimum inverter capacity design procedure of HAPF, adaptive dc-link voltage controller for the HAPF and the real design example of a 220V 10kVA HAPF, in which the system performance analysis method, minimum dc voltage deduction concept and adaptive dc voltage idea can be further extended into the other active compensators, such as APF, static synchronous compensator STATCOM, etc. This book will benefit researchers, graduate students, and electrical power engineers in the field of power-quality compensati...

Trunk position modulates anterior cruciate ligament forces and strains during a single-leg squat

NARCIS (Netherlands)

Kulas, Anthony S.; Hortobagyi, Tibor; DeVita, Paul

Background: Although the squat exercise and its variations are commonly prescribed for anterior cruciate ligament rehabilitation, whether trunk position affects these ligament forces and strains during the squat is unclear. Our purpose was to evaluate the effects of trunk position on anterior

Advanced control approach for hybrid systems based on solid oxide fuel cells

International Nuclear Information System (INIS)

Ferrari, Mario L.

2015-01-01

Highlights: • Advanced new control system for SOFC based hybrid plants. • Proportional–Integral approach with feed-forward technology. • Good control of fuel cell temperature. • All critical properties maintained inside safe conditions. - Abstract: This paper shows a new advanced control approach for operations in hybrid systems equipped with solid oxide fuel cell technology. This new tool, which combines feed-forward and standard proportional–integral techniques, controls the system during load changes avoiding failures and stress conditions detrimental to component life. This approach was selected to combine simplicity and good control performance. Moreover, the new approach presented in this paper eliminates the need for mass flow rate meters and other expensive probes, as usually required for a commercial plant. Compared to previous works, better performance is achieved in controlling fuel cell temperature (maximum gradient significantly lower than 3 K/min), reducing the pressure gap between cathode and anode sides (at least a 30% decrease during transient operations), and generating a higher safe margin (at least a 10% increase) for the Steam-to-Carbon Ratio. This new control system was developed and optimized using a hybrid system transient model implemented, validated and tested within previous works. The plant, comprising the coupling of a tubular solid oxide fuel cell stack with a microturbine, is equipped with a bypass valve able to connect the compressor outlet with the turbine inlet duct for rotational speed control. Following model development and tuning activities, several operative conditions were considered to show the new control system increased performance compared to previous tools (the same hybrid system model was used with the new control approach). Special attention was devoted to electrical load steps and ramps considering significant changes in ambient conditions

Low speed hybrid generalized predictive control of a gasoline-propelled car.

Science.gov (United States)

Romero, M; de Madrid, A P; Mañoso, C; Milanés, V

2015-07-01

Low-speed driving in traffic jams causes significant pollution and wasted time for commuters. Additionally, from the passengers׳ standpoint, this is an uncomfortable, stressful and tedious scene that is suitable to be automated. The highly nonlinear dynamics of car engines at low-speed turn its automation in a complex problem that still remains as unsolved. Considering the hybrid nature of the vehicle longitudinal control at low-speed, constantly switching between throttle and brake pedal actions, hybrid control is a good candidate to solve this problem. This work presents the analytical formulation of a hybrid predictive controller for automated low-speed driving. It takes advantage of valuable characteristics supplied by predictive control strategies both for compensating un-modeled dynamics and for keeping passengers security and comfort analytically by means of the treatment of constraints. The proposed controller was implemented in a gas-propelled vehicle to experimentally validate the adopted solution. To this end, different scenarios were analyzed varying road layouts and vehicle speeds within a private test track. The production vehicle is a commercial Citroën C3 Pluriel which has been modified to automatically act over its throttle and brake pedals. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Control system and method for a hybrid electric vehicle

Science.gov (United States)

Tamor, Michael Alan

2001-03-06

Several control methods are presented for application in a hybrid electric vehicle powertrain including in various embodiments an engine, a motor/generator, a transmission coupled at an input thereof to receive torque from the engine and the motor generator coupled to augment torque provided by the engine, an energy storage device coupled to receive energy from and provide energy to the motor/generator, an engine controller (EEC) coupled to control the engine, a transmission controller (TCM) coupled to control the transmission and a vehicle system controller (VSC) adapted to control the powertrain.

Internal and external force-based impedance control for cooperative manipulation

NARCIS (Netherlands)

Heck, D.J.F.; Kostic, D.; Denasi, A.; Nijmeijer, H.

2013-01-01

An asymptotically stable cascaded control algorithm is proposed for cooperative manipulation of a common object. This algorithm controls motion and internal forces of the object, as well as the contact forces between the object and environment. The motion of each manipulator is controlled using an

Computation of the Lyapunov exponents in the compass-gait model under OGY control via a hybrid Poincaré map

International Nuclear Information System (INIS)

Gritli, Hassène; Belghith, Safya

2015-01-01

Highlights: • A numerical calculation method of the Lyapunov exponents in the compass-gait model under OGY control is proposed. • A new linearization method of the impulsive hybrid dynamics around a one-periodic hybrid limit cycle is achieved. • We develop a simple analytical expression of a controlled hybrid Poincaré map. • A dimension reduction of the hybrid Poincaré map is realized. • We describe the numerical computation procedure of the Lyapunov exponents via the designed hybrid Poincaré map. - Abstract: This paper aims at providing a numerical calculation method of the spectrum of Lyapunov exponents in a four-dimensional impulsive hybrid nonlinear dynamics of a passive compass-gait model under the OGY control approach by means of a controlled hybrid Poincaré map. We present a four-dimensional simplified analytical expression of such hybrid map obtained by linearizing the uncontrolled impulsive hybrid nonlinear dynamics around a desired one-periodic passive hybrid limit cycle. In order to compute the spectrum of Lyapunov exponents, a dimension reduction of the controlled hybrid Poincaré map is realized. The numerical calculation of the spectrum of Lyapunov exponents using the reduced-dimension controlled hybrid Poincaré map is given in detail. In order to show the effectiveness of the developed method, the spectrum of Lyapunov exponents is calculated as the slope (bifurcation) parameter varies and hence used to predict the walking dynamics behavior of the compass-gait model under the OGY control.

Automatic positioning control device for automatic control rod exchanger

International Nuclear Information System (INIS)

Nasu, Seiji; Sasaki, Masayoshi.

1982-01-01

Purpose: To attain accurate positioning for a control rod exchanger. Constitution: The present position for an automatic control rod exchanger is detected by a synchro generator. An aimed stopping position for the exchanger, a stop instruction range depending on the distantial operation delay in the control system and the inertia-running distance of the mechanical system, and a coincidence confirmation range depending on the required positioning accuracy are previously set. If there is a difference between the present position and the aimed stopping position, the automatic exchanger is caused to run toward the aimed stopping position. A stop instruction is generated upon arrival at the position within said stop instruction range, and a coincidence confirmation signal is generated upon arrival at the position within the coincidence confirmation range. Since uncertain factors such as operation delay in the control system and the inertia-running distance of the mechanical system that influence the positioning accuracy are made definite by the method of actual measurement or the like and the stop instruction range and the coincidence confirmation range are set based on the measured data, the accuracy for the positioning can be improved. (Ikeda, J.)

Flexural Strengthening of RC Slabs Using a Hybrid FRP-UHPC System Including Shear Connector

Directory of Open Access Journals (Sweden)

Jiho Moon

2017-01-01

Full Text Available A polymeric hybrid composite system made of UHPC and CFRP was proposed as a retrofit system to enhance flexural strength and ductility of RC slabs. While the effectiveness of the proposed system was confirmed previously through testing three full-scale one-way slabs having two continuous spans, the slabs retrofitted with the hybrid system failed in shear. This sudden shear failure would stem from the excessive enhancement of the flexural strength over the shear strength. In this study, shear connectors were installed between the hybrid system and a RC slab. Using simple beam, only positive moment section was examined. Two full-scale RC slabs were cast and tested to failure: the first as a control and the second using this new strengthening technique. The proposed strengthening system increased the ultimate load carrying capacity of the slab by 70%, the stiffness by 60%, and toughness by 128%. The efficiency of shear connectors on ductile behavior of the retrofitted slab was also confirmed. After the UHPC top is separated from the slab, the shear connector transfer shear load and the slab system were in force equilibrium by compression in UHPC and tension in CFRP.

Modelling supervisory controller for hybrid power systems

Energy Technology Data Exchange (ETDEWEB)

Pereira, A; Bindner, H; Lundsager, P [Risoe National Lab., Roskilde (Denmark); Jannerup, O [Technical Univ. of Denmark, Dept. of Automation, Lyngby (Denmark)

1999-03-01

Supervisory controllers are important to achieve optimal operation of hybrid power systems. The performance and economics of such systems depend mainly on the control strategy for switching on/off components. The modular concept described in this paper is an attempt to design standard supervisory controllers that could be used in different applications, such as village power and telecommunication applications. This paper presents some basic aspects of modelling and design of modular supervisory controllers using the object-oriented modelling technique. The functional abstraction hierarchy technique is used to formulate the control requirements and identify the functions of the control system. The modular algorithm is generic and flexible enough to be used with any system configuration and several goals (different applications). The modularity includes accepting modification of system configuration and goals during operation with minor or no changes in the supervisory controller. (au)

Autonomous Control of Interlinking Converter With Energy Storage in Hybrid AC–DC Microgrid

DEFF Research Database (Denmark)

Loh, Poh Chiang; Li, Ding; Chai, Yi Kang

2013-01-01

, simplicity, and industry relevance of the converter. The desired operating features of the hybrid microgrid can then be added through this interlinking converter. To demonstrate, an appropriate control scheme is now developed for controlling the interlinking converter. The objective is to keep the hybrid......The coexistence of ac and dc subgrids in a hybrid microgrid is likely given that modern distributed sources can either be ac or dc. Linking these subgrids is a power converter, whose topology should preferably be not too unconventional. This is to avoid unnecessary compromises to reliability...... microgrid in autonomous operation with active power proportionally shared among its distributed sources. Power sharing here should depend only on the source ratings and not their placements within the hybrid microgrid. The proposed scheme can also be extended to include energy storage within...

Delay-Range-Dependent H∞ Control for Automatic Mooring Positioning System with Time-Varying Input Delay

Directory of Open Access Journals (Sweden)

Xiaoyu Su

2014-01-01

Full Text Available Aiming at the economy and security of the positioning system in semi-submersible platform, the paper presents a new scheme based on the mooring line switching strategy. Considering the input delay in switching process, H∞ control with time-varying input delay is designed to calculate the control forces to resist disturbing forces. In order to reduce the conservativeness, the information of the lower bound of delay is taken into account, and a Lyapunov function which contains the range of delay is constructed. Besides, the input constraint is considered to avoid breakage of mooring lines. The sufficient conditions for delay-range-dependent stabilization are derived in terms of LMI, and the controller is also obtained. The effectiveness of the proposed approach is illustrated by a realistic design example.

Attitude control for on-orbit servicing spacecraft using hybrid actuator

Science.gov (United States)

Wu, Yunhua; Han, Feng; Zheng, Mohong; He, Mengjie; Chen, Zhiming; Hua, Bing; Wang, Feng

2018-03-01

On-orbit servicing is one of the research hotspots of space missions. A small satellite equipped with multiple robotic manipulators is expected to carry out device replacement task for target large spacecraft. Attitude hyperstable control of a small satellite platform under rotations of the manipulators is a challenging problem. A hybrid momentum exchanging actuator consists of Control Moment Gyro (CMG) and Reaction Wheel (RW) is proposed to tackle the above issue, due to its huge amount of momentum storage capacity of the CMG and high control accuracy of the RW, in which the CMG produces large command torque while the RW offers additional control degrees. The constructed dynamic model of the servicing satellite advises that it's feasible for attitude hyperstable control of the platform with arbitrary manipulators through compensating the disturbance generated by rapid rotation of the manipulators. Then, null motion between the CMG and RW is exploited to drive the system to the expected target with favorable performance, and to overcome the CMG inherent geometric singularity and RW saturation. Simulations with different initial situations, including CMG hyperbolic and elliptic singularities and RW saturation, are executed. Compared to the scenarios where the CMG or RW fails stabilizing the platform, large control torque, precise control effect and escape of singularity are guaranteed by the introduced hybrid actuator, CMGRW (CMGRW refers to the hybrid momentum exchanging devices in this paper, consisting of 4 CMGs in classical pyramid cluster and 3 RWs in an orthogonal group (specific description can been found in Section 4)). The feasible performance of the satellite, CMG and RW under large disturbance demonstrates that the control architecture proposed is capable of attitude control for on-orbit servicing satellite with multiple robotic manipulators.

A comprehensive overview of hybrid electric vehicle: Powertrain configurations, powertrain control techniques and electronic control units

Energy Technology Data Exchange (ETDEWEB)

Cagatay Bayindir, Kamil; Goezuekuecuek, Mehmet Ali; Teke, Ahmet [Cukurova University, Department of Electrical and Electronics Engineering, Balcali, Saricam, Adana (Turkey)

2011-02-15

The studies for hybrid electrical vehicle (HEV) have attracted considerable attention because of the necessity of developing alternative methods to generate energy for vehicles due to limited fuel based energy, global warming and exhaust emission limits in the last century. HEV incorporates internal composition engine, electric machines and power electronic equipments. In this study, overview of HEVs with a focus on hybrid configurations, energy management strategies and electronic control units are presented. Advantages and disadvantages of each configuration are clearly emphasized. The existing powertrain control techniques for HEVs are classified and comprehensively described. Electronic control units used in HEV configuration are also elaborated. The latest trends and technological challenges in the near future for HEVs are discussed. (author)

Receding horizon control of hybrid linear delayed systems: Application to sewer networks

OpenAIRE

Joseph-Duran, Bernat; Ocampo-Martinez, Carlos; Cembrano, Gabriela

2013-01-01

A control-oriented hybrid linear model for water transport in sewer networks is proposed as a suitable framework for the computation of real-time controllers for the minimization of flooding in presence of heavy-rain events. The model is based on individual network elements (sewers, gates, weirs and tanks) and does not rely on topological simplifications, thus providing a better description of the hydrological and hydraulic phenomena than in similar works. Using a generic form of a hybrid lin...

Controlled positioning of nanoparticles on graphene by noninvasive AFM lithography.

Science.gov (United States)

Bellido, Elena; Ojea-Jiménez, Isaac; Ghirri, Alberto; Alvino, Christian; Candini, Andrea; Puntes, Victor; Affronte, Marco; Domingo, Neus; Ruiz-Molina, Daniel

2012-08-21

Atomic force microscopy is shown to be an excellent lithographic technique to directly deposit nanoparticles on graphene by capillary transport without any previous functionalization of neither the nanoparticles nor the graphene surface while preserving its integrity and conductivity properties. Moreover this technique allows for (sub)micrometric control on the positioning thanks to a new three-step protocol that has been designed with this aim. With this methodology the exact target coordinates are registered by scanning the tip over the predetermined area previous to its coating with the ink and deposition. As a proof-of-concept, this strategy has successfully allowed the controlled deposition of few nanoparticles on 1 μm(2) preselected sites of a graphene surface with high accuracy.

System-wide hybrid MPC-PID control of a continuous pharmaceutical tablet manufacturing process via direct compaction.