Emergency Entry with One Control Torque: Non-Axisymmetric Diagonal Inertia Matrix

Science.gov (United States)

Llama, Eduardo Garcia

2011-01-01

In another work, a method was presented, primarily conceived as an emergency backup system, that addressed the problem of a space capsule that needed to execute a safe atmospheric entry from an arbitrary initial attitude and angular rate in the absence of nominal control capability. The proposed concept permits the arrest of a tumbling motion, orientation to the heat shield forward position and the attainment of a ballistic roll rate of a rigid spacecraft with the use of control in one axis only. To show the feasibility of such concept, the technique of single input single output (SISO) feedback linearization using the Lie derivative method was employed and the problem was solved for different number of jets and for different configurations of the inertia matrix: the axisymmetric inertia matrix (I(sub xx) > I(sub yy) = I(sub zz)), a partially complete inertia matrix with I(sub xx) > I(sub yy) > I(sub zz), I(sub xz) not = 0 and a realistic complete inertia matrix with I(sub xx) > I(sub yy) > I)sub zz), I(sub ij) not= 0. The closed loop stability of the proposed non-linear control on the total angle of attack, Theta, was analyzed through the zero dynamics of the internal dynamics for the case where the inertia matrix is axisymmetric (I(sub xx) > I(sub yy) = I(sub zz)). This note focuses on the problem of the diagonal non-axisymmetric inertia matrix (I(sub xx) > I(sub yy) > I(sub zz)), which is half way between the axisymmetric and the partially complete inertia matrices. In this note, the control law for this type of inertia matrix will be determined and its closed-loop stability will be analyzed using the same methods that were used in the other work. In particular, it will be proven that the control system is stable in closed-loop when the actuators only provide a roll torque.

Triana Safehold: A New Gyroless, Sun-Pointing Attitude Controller

Science.gov (United States)

Chen, J.; Morgenstern, Wendy; Garrick, Joseph

2001-01-01

Triana is a single-string spacecraft to be placed in a halo orbit about the sun-earth Ll Lagrangian point. The Attitude Control Subsystem (ACS) hardware includes four reaction wheels, ten thrusters, six coarse sun sensors, a star tracker, and a three-axis Inertial Measuring Unit (IMU). The ACS Safehold design features a gyroless sun-pointing control scheme using only sun sensors and wheels. With this minimum hardware approach, Safehold increases mission reliability in the event of a gyroscope anomaly. In place of the gyroscope rate measurements, Triana Safehold uses wheel tachometers to help provide a scaled estimation of the spacecraft body rate about the sun vector. Since Triana nominally performs momentum management every three months, its accumulated system momentum can reach a significant fraction of the wheel capacity. It is therefore a requirement for Safehold to maintain a sun-pointing attitude even when the spacecraft system momentum is reasonably large. The tachometer sun-line rate estimation enables the controller to bring the spacecraft close to its desired sun-pointing attitude even with reasonably high system momentum and wheel drags. This paper presents the design rationale behind this gyroless controller, stability analysis, and some time-domain simulation results showing performances with various initial conditions. Finally, suggestions for future improvements are briefly discussed.

Changes in inertia and effect on turning effort across different wheelchair configurations.

Science.gov (United States)

Caspall, Jayme J; Seligsohn, Erin; Dao, Phuc V; Sprigle, Stephen

2013-01-01

When executing turning maneuvers, manual wheelchair users must overcome the rotational inertia of the wheelchair system. Differences in wheelchair rotational inertia can result in increases in torque required to maneuver, resulting in greater propulsion effort and stress on the shoulder joints. The inertias of various configurations of an ultralightweight wheelchair were measured using a rotational inertia-measuring device. Adjustments in axle position, changes in wheel and tire type, and the addition of several accessories had various effects on rotational inertias. The configuration with the highest rotational inertia (solid tires, mag wheels with rearward axle) exceeded the configuration with the lowest (pneumatic tires, spoke wheels with forward axle) by 28%. The greater inertia requires increased torque to accelerate the wheelchair during turning. At a representative maximum acceleration, the reactive torque spanned the range of 11.7 to 15.0 N-m across the wheelchair configurations. At higher accelerations, these torques exceeded that required to overcome caster scrub during turning. These results indicate that a wheelchair's rotational inertia can significantly influence the torque required during turning and that this influence will affect active users who turn at higher speeds. Categorizing wheelchairs using both mass and rotational inertia would better represent differences in effort during wheelchair maneuvers.

Mission Analysis and Orbit Control of Interferometric Wheel Formation Flying

Science.gov (United States)

Fourcade, J.

Flying satellite in formation requires maintaining the specific relative geometry of the spacecraft with high precision. This requirement raises new problem of orbit control. This paper presents the results of the mission analysis of a low Earth observation system, the interferometric wheel, patented by CNES. This wheel is made up of three receiving spacecraft, which follow an emitting Earth observation radar satellite. The first part of this paper presents trades off which were performed to choose orbital elements of the formation flying which fulfils all constraints. The second part presents orbit positioning strategies including reconfiguration of the wheel to change its size. The last part describes the station keeping of the formation. Two kinds of constraints are imposed by the interferometric system : a constraint on the distance between the wheel and the radar satellite, and constraints on the distance between the wheel satellites. The first constraint is fulfilled with a classical chemical station keeping strategy. The second one is fulfilled using pure passive actuators. Due to the high stability of the relative eccentricity of the formation, only the relative semi major axis had to be controlled. Differential drag due to differential attitude motion was used to control relative altitude. An autonomous orbit controller was developed and tested. The final accuracy is a relative station keeping better than few meters for a wheel size of one kilometer.

The inertial effect of acceleration fields on a self-decoupled wheel force transducer

Directory of Open Access Journals (Sweden)

Lihang Feng

Full Text Available AbstractWheel force transducer (WFT is a tool which can measure the three-axis forces and three-axis torques applied to the wheel in vehicle testing applications. However, the transducer is generally mounted on the wheel of a moving vehicle, when abruptly accelerating or braking, the mass/inertia of the transducer itself has extra effects on the sensor response so that inertia/mass loads will be detected and coupled into the signal outputs. This is the inertia coupling effect that decreases the sensor accuracy and should be avoided. In this paper, the inertia coupling problem induced by six dimensional accelerations is investigated for a universal WFT. Inertia load distribution of the WFT is solved based on the principle of equivalent mass and rotary inertia firstly, thus then its impact can be identified with the theoretical derivation. FEM simulation and experimental verification are performed as well. Results show that strains in simulation agree well with the theoretical derivation. The relationship between the applied acceleration and inertia load for both wheel force and moment is the approximate linear respectively. The relative errors are acceptable within less than 5% and the maximum impact of inertia loads on the signal output is about 1.5% in the measuring range.

Satellite Attitude Control System Simulator

Directory of Open Access Journals (Sweden)

G.T. Conti

2008-01-01

Full Text Available Future space missions will involve satellites with great autonomy and stringent pointing precision, requiring of the Attitude Control Systems (ACS with better performance than before, which is function of the control algorithms implemented on board computers. The difficulties for developing experimental ACS test is to obtain zero gravity and torque free conditions similar to the SCA operate in space. However, prototypes for control algorithms experimental verification are fundamental for space mission success. This paper presents the parameters estimation such as inertia matrix and position of mass centre of a Satellite Attitude Control System Simulator (SACSS, using algorithms based on least square regression and least square recursive methods. Simulations have shown that both methods have estimated the system parameters with small error. However, the least square recursive methods have performance more adequate for the SACSS objectives. The SACSS platform model will be used to do experimental verification of fundamental aspects of the satellite attitude dynamics and design of different attitude control algorithm.

Networked Control System for the Guidance of a Four-Wheel Steering Agricultural Robotic Platform

Directory of Open Access Journals (Sweden)

Eduardo Paciência Godoy

2012-01-01

Full Text Available A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for precision agriculture (PA. One of the major challenges in the design of these robots is the development of the electronic architecture for the control of the devices. In a joint project among research institutions and a private company in Brazil a multifunctional robotic platform for information acquisition in PA is being designed. This platform has as main characteristics four-wheel propulsion and independent steering, adjustable width, span of 1,80 m in height, diesel engine, hydraulic system, and a CAN-based networked control system (NCS. This paper presents a NCS solution for the platform guidance by the four-wheel hydraulic steering distributed control. The control strategy, centered on the robot manipulators control theory, is based on the difference between the desired and actual position and considering the angular speed of the wheels. The results demonstrate that the NCS was simple and efficient, providing suitable steering performance for the platform guidance. Even though the simplicity of the NCS solution developed, it also overcame some verified control challenges in the robot guidance system design such as the hydraulic system delay, nonlinearities in the steering actuators, and inertia in the steering system due the friction of different terrains.

Satellite Attitude Control Using Only Electromagnetic Actuation

DEFF Research Database (Denmark)

Wisniewski, Rafal

when a satellite is on a throughout this thesis. Confined computer capacity and a limit on electrical power supply were separate obstacles.They demanded computational simplicity and power optimality from the attitude control system. The design of quasi optimal controllers for a real-time implementation...... to provide four stable equilibria, one of which was the desired orientation. It was explained how the equilibria depended on the ratio of the satellite's moments of inertia. It was further investigated how to control the attitude, such that the satellite was globally asymptotically stable in the desired...

Magnetic suspension and flywheels: Spaceborne and terrestrial applications

Energy Technology Data Exchange (ETDEWEB)

Poubeau, P C

1981-01-01

Satellite attitude control, using inertia wheels, is discussed. Elimination of friction effects through application of magnetic bearings is considered. The inertia wheel/magnetic bearing configuration can also be used to store kinetic energy. Higher rotational velocities create a need for stronger rotor construction materials, improved mechanical properties can be achieved with composite materials. Kinetic energy storage for earthside applications (solar energy storage electric vehicles) is mentioned.

MATHEMATICAL MODEL OF ATTITUDE CONTROL BUCKET‐WHEEL EXCAVATOR

Directory of Open Access Journals (Sweden)

Ivana ONDERKOVÁ

2013-07-01

Full Text Available This lecture deals with the application problems of convertibility GPS system at paddle excavator K 800. The claims of the modern operating surface mining of the excavators requires a lot of information for monitoring of mining process, capacity mining, selective extraction etc. The utilization of monitoring the excavator setting by GPS system proved to be the only one proper because the receivers are resistant to the vibration, dust, temperature divergence and weather changeable. Only the direct contact with communications satellite is required. It means that they can´t be located in a metal construction space (shadow caused by construction elements, influence of electrical high voltage cables even they can´t be located close to the paddle wheel on the paddle boom (shadow possibility caused by cuttinng edge created during lower gangplanks mining. This is the reason that GPS receivers are set uppermost on the metal construction excavator and the mathematical formulation is required for determination of paddle wheel petting. The relations for calculation of the paddle wheel coordinate were defined mathematically and after that the mathematical model was composed.

Optimal Electrical Energy Slewing for Reaction Wheel Spacecraft

Science.gov (United States)

Marsh, Harleigh Christian

The results contained in this dissertation contribute to a deeper level of understanding to the energy required to slew a spacecraft using reaction wheels. This work addresses the fundamental manner in which spacecrafts are slewed (eigenaxis maneuvering), and demonstrates that this conventional maneuver can be dramatically improved upon in regards to reduction of energy, dissipative losses, as well as peak power. Energy is a fundamental resource that effects every asset, system, and subsystem upon a spacecraft, from the attitude control system which orients the spacecraft, to the communication subsystem to link with ground stations, to the payloads which collect scientific data. For a reaction wheel spacecraft, the attitude control system is a particularly heavy load on the power and energy resources on a spacecraft. The central focus of this dissertation is reducing the burden which the attitude control system places upon the spacecraft in regards to electrical energy, which is shown in this dissertation to be a challenging problem to computationally solve and analyze. Reducing power and energy demands can have a multitude of benefits, spanning from the initial design phase, to in-flight operations, to potentially extending the mission life of the spacecraft. This goal is approached from a practical standpoint apropos to an industry-flight setting. Metrics to measure electrical energy and power are developed which are in-line with the cost associated to operating reaction wheel based attitude control systems. These metrics are incorporated into multiple families of practical high-dimensional constrained nonlinear optimal control problems to reduce the electrical energy, as well as the instantaneous power burdens imposed by the attitude control system upon the spacecraft. Minimizing electrical energy is shown to be a problem in L1 optimal control which is nonsmooth in regards to state variables as well as the control. To overcome the challenge of nonsmoothness, a

Reaction wheels for kinetic energy storage

Science.gov (United States)

Studer, P. A.

1984-11-01

In contrast to all existing reaction wheel implementations, an order of magnitude increase in speed can be obtained efficiently if power to the actuators can be recovered. This allows a combined attitude control-energy storage system to be developed with structure mounted reaction wheels. The feasibility of combining reaction wheels with energy storage wwheels is demonstrated. The power required for control torques is a function of wheel speed but this energy is not dissipated; it is stored in the wheel. The I(2)R loss resulting from a given torque is shown to be constant, independent of the design speed of the motor. What remains, in order to efficiently use high speed wheels (essential for energy storage) for control purposes, is to reduce rotational losses to acceptable levels. Progress was made in permanent magnet motor design for high speed operation. Variable field motors offer more control flexibility and efficiency over a broader speed range.

Optimal Attitude Control of Agile Spacecraft Using Combined Reaction Wheel and Control Moment Gyroscope Arrays

Science.gov (United States)

2015-12-01

communications between the MicroAuto Box and the ground station computer [58]. SimSat users design experiments in the MATLAB® Simulink environment and use an...Guidance, Control, and Dynamics, vol. 35, no. 4, pp. 1094–1103, 2012. [44] Z. Sun, L. Zhang, G. Jin, and X. Yang, “Analysis of inertia dyadic uncertainty

A Full Disturbance Model for Reaction Wheels

NARCIS (Netherlands)

Le, M.P.; Ellenbroek, Marcellinus Hermannus Maria; Seiler, R; van Put, P.; Cottaar, E.J.E.

2014-01-01

Reaction wheels are rotating devices used for the attitude control of spacecraft. However, reaction wheels also generate undesired disturbances in the form of vibrations, which may have an adverse effect on the pointing accuracy and stability of spacecraft (optical) payloads. A disturbance model for

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.

Optimal Sliding Mode Controllers for Attitude Stabilization of Flexible Spacecraft

Directory of Open Access Journals (Sweden)

Chutiphon Pukdeboon

2011-01-01

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

Advanced Attitude Control af Pico Sized Satellites

DEFF Research Database (Denmark)

Larsen, Jesper A.; Amini, Rouzbeh; Izadi-Zamanabadi, Roozbeh

2005-01-01

accuracy of better than 5 degrees. Cost, size, weight and power requirements, on the other hand, impose selecting relative simple sensors and actuators which leads to an attitude control requirement of less than 1 degree. This precision is obtained by a combination of magnetorquers and momentum wheels...

Estimating the Backup Reaction Wheel Orientation Using Reaction Wheel Spin Rates Flight Telemetry from a Spacecraft

Science.gov (United States)

Rizvi, Farheen

2013-01-01

A report describes a model that estimates the orientation of the backup reaction wheel using the reaction wheel spin rates telemetry from a spacecraft. Attitude control via the reaction wheel assembly (RWA) onboard a spacecraft uses three reaction wheels (one wheel per axis) and a backup to accommodate any wheel degradation throughout the course of the mission. The spacecraft dynamics prediction depends upon the correct knowledge of the reaction wheel orientations. Thus, it is vital to determine the actual orientation of the reaction wheels such that the correct spacecraft dynamics can be predicted. The conservation of angular momentum is used to estimate the orientation of the backup reaction wheel from the prime and backup reaction wheel spin rates data. The method is applied in estimating the orientation of the backup wheel onboard the Cassini spacecraft. The flight telemetry from the March 2011 prime and backup RWA swap activity on Cassini is used to obtain the best estimate for the backup reaction wheel orientation.

Virtual Inertia Control-Based Model Predictive Control for Microgrid Frequency Stabilization Considering High Renewable Energy Integration

Directory of Open Access Journals (Sweden)

Thongchart Kerdphol

2017-05-01

Full Text Available Renewable energy sources (RESs, such as wind and solar generations, equip inverters to connect to the microgrids. These inverters do not have any rotating mass, thus lowering the overall system inertia. This low system inertia issue could affect the microgrid stability and resiliency in the situation of uncertainties. Today’s microgrids will become unstable if the capacity of RESs become larger and larger, leading to the weakening of microgrid stability and resilience. This paper addresses a new concept of a microgrid control incorporating a virtual inertia system based on the model predictive control (MPC to emulate virtual inertia into the microgrid control loop, thus stabilizing microgrid frequency during high penetration of RESs. The additional controller of virtual inertia is applied to the microgrid, employing MPC with virtual inertia response. System modeling and simulations are carried out using MATLAB/Simulink® software. The simulation results confirm the superior robustness and frequency stabilization effect of the proposed MPC-based virtual inertia control in comparison to the fuzzy logic system and conventional virtual inertia control in a system with high integration of RESs. The proposed MPC-based virtual inertia control is able to improve the robustness and frequency stabilization of the microgrid effectively.

Inertial attitude control of a bat-like morphing-wing air vehicle

International Nuclear Information System (INIS)

Colorado, J; Barrientos, A; Rossi, C; Parra, C

2013-01-01

This paper presents a novel bat-like unmanned aerial vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should manoeuvre by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Secondly, an attitude controller named backstepping+DAF is proposed. Motivated by biological evidence about the influence of wing inertia on the production of body accelerations, the attitude control law incorporates wing inertia information to produce desired roll (φ) and pitch (θ) acceleration commands (desired angular acceleration function (DAF)). This novel control approach is aimed at incrementing net body forces (F net ) that generate propulsion. Simulations and wind-tunnel experimental results have shown an increase of about 23% in net body force production during the wingbeat cycle when the wings are modulated using the DAF as a part of the backstepping control law. Results also confirm accurate attitude tracking in spite of high external disturbances generated by aerodynamic loads at airspeeds up to 5 ms −1 . (paper)

Inertial attitude control of a bat-like morphing-wing air vehicle.

Science.gov (United States)

Colorado, J; Barrientos, A; Rossi, C; Parra, C

2013-03-01

This paper presents a novel bat-like unmanned aerial vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should manoeuvre by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Secondly, an attitude controller named backstepping+DAF is proposed. Motivated by biological evidence about the influence of wing inertia on the production of body accelerations, the attitude control law incorporates wing inertia information to produce desired roll (ϕ) and pitch (θ) acceleration commands (desired angular acceleration function (DAF)). This novel control approach is aimed at incrementing net body forces (F(net)) that generate propulsion. Simulations and wind-tunnel experimental results have shown an increase of about 23% in net body force production during the wingbeat cycle when the wings are modulated using the DAF as a part of the backstepping control law. Results also confirm accurate attitude tracking in spite of high external disturbances generated by aerodynamic loads at airspeeds up to 5 ms⁻¹.

Three-Axis Attitude Control of Solar Sails Utilising Reflectivity Control Devices

Science.gov (United States)

Theodorou, Theodoros

Solar sails are spacecraft that utilise the Solar Radiation Pressure, the force generated by impinging photons, to propel themselves. Conventional actuators are not suitable for controlling the attitude of solar sails therefore specific attitude control methods have been devised to tackle this. One of these methods is to change the centre of pressure with respect to the center of mass thus creating a torque. Reflectivity Control Devices (RCDs) have been proposed and successfully used to change the centre of pressure. Current methods that utilise RCDs have control authority over two axis only with no ability to control the torque about the normal of the sail surface. This thesis extends the state of the art and demonstrates 3-axis control by generating arbitrary torque vectors within a convex polyhedron. Two different RCD materials are considered, transmission and diffusion technologies both compatible with the proposed concept. A number of metrics have been developed which facilitate the comparison of different sail configurations. One of these metics is the sun map which is a graphic representation of the sun angles for which control authority is maintained. An iterative design process is presented which makes use of the metrics developed and aids in the design of a sail which meets the mission requirements and constraints. Moreover, the effects of different parameters on the performance of the proposed control concept are discussed. For example it is shown that by alternating the angle between the edge and middle RCDs the control authority increases. The concept's scalability has been investigated and a hybrid control scheme has been devised which makes use of both RCDs and reaction wheels. The RCDs are complemented by the reaction wheels to achieve higher slew rates while in turn the RCDs desaturate the reaction wheels. Finally, a number of simulations are conducted to verify the validity of the proposed concept.

Multiple Model Adaptive Attitude Control of LEO Satellite with Angular Velocity Constraints

Science.gov (United States)

Shahrooei, Abolfazl; Kazemi, Mohammad Hosein

2018-04-01

In this paper, the multiple model adaptive control is utilized to improve the transient response of attitude control system for a rigid spacecraft. An adaptive output feedback control law is proposed for attitude control under angular velocity constraints and its almost global asymptotic stability is proved. The multiple model adaptive control approach is employed to counteract large uncertainty in parameter space of the inertia matrix. The nonlinear dynamics of a low earth orbit satellite is simulated and the proposed control algorithm is implemented. The reported results show the effectiveness of the suggested scheme.

Full drive-by-wire dynamic control for four-wheel-steer all-wheel-drive vehicles

Science.gov (United States)

Fahimi, Farbod

2013-03-01

Most of the controllers introduced for four-wheel-steer (4WS) vehicles are derived with the assumption that the longitudinal speed of the vehicle is constant. However, in real applications, the longitudinal speed varies, and the longitudinal, lateral, and yaw dynamics are coupled. In this paper, the longitudinal dynamics of the vehicle as well as its lateral and yaw motions are controlled simultaneously. This way, the effect of driving/braking forces of the tires on the lateral and yaw motions of the vehicle are automatically included in the control laws. To address the dynamic parameter uncertainty of the vehicle, a chatter-free variable structure controller is introduced. Elimination of chatter is achieved by introducing a dynamically adaptive boundary layer thickness. It is shown via simulations that the proposed control approach performs more robustly than the controllers developed based on dynamic models, in which longitudinal speed is assumed to be constant, and only lateral speed and yaw rate are used as system states. Furthermore, this approach supports all-wheel-drive vehicles. Front-wheel-drive or rear-wheel-drive vehicles are also supported as special cases of an all-wheel-drive vehicle.

Kinematics and dynamics modelling of a mecanum wheeled mobile platform

CSIR Research Space (South Africa)

Tlale, NS

2008-12-01

Full Text Available analysis for mecanum wheeled mobile platform same time during the operation of the mobile platform, a maximum of eighty-one combinations of wheels (four wheels: 1,2, 3 and 4) and directions of rotational velocity of wheels (three directions of rotation... = I ’ (15) where ai is a constant depending on the wheel number and ai = -1 for i = 1 and 4, and ai = 1 for i = 2 and 3, T is the torque developed on the vehicle that changes the posture of the vehicle, I is the mass inertia of the vehicle...

Attitude and vibration control of a satellite containing flexible solar arrays by using reaction wheels, and piezoelectric transducers as sensors and actuators

Science.gov (United States)

da Fonseca, Ijar M.; Rade, Domingos A.; Goes, Luiz C. S.; de Paula Sales, Thiago

2017-10-01

The primary purpose of this paper is to provide insight into control-structure interaction for satellites comprising flexible appendages and internal moving components. The physical model considered herein aiming to attend such purpose is a rigid-flexible satellite consisting of a rigid platform containing two rotating flexible solar panels. The solar panels rotation is assumed to be in a sun-synchronous configuration mode. The panels contain surface-bonded piezoelectric patches that can be used either as sensors for the elastic displacements or as actuators to counteract the vibration motion. It is assumed that in the normal mode operation the satellite platform points towards the Earth while the solar arrays rotate so as to follow the Sun. The vehicle moves in a low Earth polar orbit. The technique used to obtain the mathematical model combines the Lagrangian formulation with the Finite Elements Method used to describe the dynamics of the solar panel. The gravity-gradient torque as well as the torque due to the interaction of the Earth magnetic field and the satellite internal residual magnetic moment is included as environmental perturbations. The actuators are three reaction wheels for attitude control and piezoelectric actuators to control the flexible motion of the solar arrays. Computer simulations are performed using the MATLAB® software package. The following on-orbit satellite operating configurations are object of analysis: i) Satellite pointing towards the Earth (Earth acquisition maneuver) by considering the initial conditions in the elastic displacement equal to zero, aiming the assessment of the flexible modes excitation by the referred maneuver; ii) the satellite pointing towards the Earth with the assumption of an initial condition different from zero for the flexible motion such that the attitude alterations are checked against the elastic motion disturbance; and iii) attitude acquisition accomplished by taking into account initial conditions

Estimation of Gravitation Parameters of Saturnian Moons Using Cassini Attitude Control Flight Data

Science.gov (United States)

Krening, Samantha C.

2013-01-01

A major science objective of the Cassini mission is to study Saturnian satellites. The gravitational properties of each Saturnian moon is of interest not only to scientists but also to attitude control engineers. When the Cassini spacecraft flies close to a moon, a gravity gradient torque is exerted on the spacecraft due to the mass of the moon. The gravity gradient torque will alter the spin rates of the reaction wheels (RWA). The change of each reaction wheel's spin rate might lead to overspeed issues or operating the wheel bearings in an undesirable boundary lubrication condition. Hence, it is imperative to understand how the gravity gradient torque caused by a moon will affect the reaction wheels in order to protect the health of the hardware. The attitude control telemetry from low-altitude flybys of Saturn's moons can be used to estimate the gravitational parameter of the moon or the distance between the centers of mass of Cassini and the moon. Flight data from several low altitude flybys of three Saturnian moons, Dione, Rhea, and Enceladus, were used to estimate the gravitational parameters of these moons. Results are compared with values given in the literature.

Jitter reduction of a reaction wheel by management of angular momentum using magnetic torquers in nano- and micro-satellites

Science.gov (United States)

Inamori, Takaya; Wang, Jihe; Saisutjarit, Phongsatorn; Nakasuka, Shinichi

2013-07-01

Nowadays, nano- and micro-satellites, which are smaller than conventional large satellites, provide access to space to many satellite developers, and they are attracting interest as an application of space development because development is possible over shorter time period at a lower cost. In most of these nano- and micro-satellite missions, the satellites generally must meet strict attitude requirements for obtaining scientific data under strict constraints of power consumption, space, and weight. In many satellite missions, the jitter of a reaction wheel degrades the performance of the mission detectors and attitude sensors; therefore, jitter should be controlled or isolated to reduce its effect on sensor devices. In conventional standard-sized satellites, tip-tilt mirrors (TTMs) and isolators are used for controlling or isolating the vibrations from reaction wheels; however, it is difficult to use these devices for nano- and micro-satellite missions under the strict power, space, and mass constraints. In this research, the jitter of reaction wheels is reduced by using accurate sensors, small reaction wheels, and slow rotation frequency reaction wheel instead of TTMs and isolators. The objective of a reaction wheel in many satellite missions is the management of the satellite's angular momentum, which increases because of attitude disturbances. If the magnitude of the disturbance is reduced in orbit or on the ground, the magnitude of the angular momentum that the reaction wheels gain from attitude disturbances in orbit becomes smaller; therefore, satellites can stabilize their attitude using only smaller reaction wheels or slow rotation speed, which cause relatively smaller vibration. In nano- and micro-satellite missions, the dominant attitude disturbance is a magnetic torque, which can be cancelled by using magnetic actuators. With the magnetic compensation, the satellite reduces the angular momentum that the reaction wheels gain, and therefore, satellites do

Organic food consumption in China: the moderating role of inertia

Directory of Open Access Journals (Sweden)

Yen Tsai-Fa

2018-01-01

Full Text Available Despite the progressive development of the organic food sector across Taiwan Strait, little is known about how consumers’ self congruity will influence organic food decision through various degrees of attitude and whether or not consumers with various degrees of inertia will vary in their intention to buy organic foods. The current study aims to examine the effect of consumption self congruity on behavioral intention related to organic food consumption under the mediating role of attitude as well as the moderating role of inertia. Research data were collected from organic food consumers across Taiwan Strait via a questionnaire survey, eventually obtaining 500 valid questionnaires for analysis. This study tested the overall model fit and hypotheses through structural equation modeling method (SEM. The results show that consumer attitude significantly mediates the effects of self congruity on organic food purchase intention. Moreover, the moderating effect of inertia is statistical significance, indicating that the relationship between attitude and purchase intention becomes weaker in the condition of consumers with higher degree of inertia. Several implications and suggestions are also discussed for organic food providers and marketers.

Sensorless interior permanent magnet synchronous motor control with rotational inertia adjustment

Directory of Open Access Journals (Sweden)

Yongle Mao

2016-12-01

Full Text Available Mechanical model is generally required in high dynamic sensorless motor control schemes for zero phase lag estimation of rotor position and speed. However, the rotational inertia uncertainty will cause dynamic estimation errors, eventually resulting in performance deterioration of the sensorless control system. Therefore, this article proposes a high dynamic performance sensorless control strategy with online adjustment of the rotational inertia. Based on a synthetic back electromotive force model, the voltage equation of interior permanent magnet synchronous motor is transformed to that of an equivalent non-salient permanent magnet synchronous motor. Then, an extended nonlinear observer is designed for interior permanent magnet synchronous motor in the stator-fixed coordinate frame, with rotor position, speed and load torque simultaneously estimated. The effect of inaccurate rotational inertia on the estimation of rotor position and speed is investigated, and a novel rotational inertia adjustment approach that employs the gradient descent algorithm is proposed to suppress the dynamic estimation errors. The effectiveness of the proposed control strategy is demonstrated by experimental tests.

Pushing the Limits of Cubesat Attitude Control: A Ground Demonstration

Science.gov (United States)

Sanders, Devon S.; Heater, Daniel L.; Peeples, Steven R.; Sules. James K.; Huang, Po-Hao Adam

2013-01-01

A cubesat attitude control system (ACS) was designed at the NASA Marshall Space Flight Center (MSFC) to provide sub-degree pointing capabilities using low cost, COTS attitude sensors, COTS miniature reaction wheels, and a developmental micro-propulsion system. The ACS sensors and actuators were integrated onto a 3D-printed plastic 3U cubesat breadboard (10 cm x 10 cm x 30 cm) with a custom designed instrument board and typical cubesat COTS hardware for the electrical, power, and data handling and processing systems. In addition to the cubesat development, a low-cost air bearing was designed and 3D printed in order to float the cubesat in the test environment. Systems integration and verification were performed at the MSFC Small Projects Rapid Integration & Test Environment laboratory. Using a combination of both the miniature reaction wheels and the micro-propulsion system, the open and closed loop control capabilities of the ACS were tested in the Flight Robotics Laboratory. The testing demonstrated the desired sub-degree pointing capability of the ACS and also revealed the challenges of creating a relevant environment for development testin

A Multiple Data Fusion Approach to Wheel Slip Control for Decentralized Electric Vehicles

Directory of Open Access Journals (Sweden)

Dejun Yin

2017-04-01

Full Text Available Currently, active safety control methods for cars, i.e., the antilock braking system (ABS, the traction control system (TCS, and electronic stability control (ESC, govern the wheel slip control based on the wheel slip ratio, which relies on the information from non-driven wheels. However, these methods are not applicable in the cases without non-driven wheels, e.g., a four-wheel decentralized electric vehicle. Therefore, this paper proposes a new wheel slip control approach based on a novel data fusion method to ensure good traction performance in any driving condition. Firstly, with the proposed data fusion algorithm, the acceleration estimator makes use of the data measured by the sensor installed near the vehicle center of mass (CM to calculate the reference acceleration of each wheel center. Then, the wheel slip is constrained by controlling the acceleration deviation between the actual wheel and the reference wheel center. By comparison with non-control and model following control (MFC cases in double lane change tests, the simulation results demonstrate that the proposed control method has significant anti-slip effectiveness and stabilizing control performance.

Grid Frequency Support by Single-Phase Electric Vehicles Employing an Innovative Virtual Inertia Controller

DEFF Research Database (Denmark)

Rezkalla, Michel M.N.; Zecchino, Antonio; Pertl, Michael

2016-01-01

The displacement of conventional generation by converter connected resources reduces the available rotational inertia in the power system, which leads to faster frequency dynamics and consequently a less stable frequency behavior. Virtual inertia, employing energy storage systems, could be used...... of adjusting the battery charging process (i.e., power flow) according to pre-defined algorithms. On the other hand, in case of islanded operation (i.e., low inertia), some of the EV's technical constraints might cause oscillations. This study presents two control algorithms which show that the EVs are capable...... of providing virtual inertia support. The first controller employs a traditional droop control, while the second one is equipped with an innovative control algorithm to eliminate likely oscillations. It is shown that, the proposed innovative control algorithm compared to the traditional droop control, assures...

Biologically Inspired Modular Neural Control for a Leg-Wheel Hybrid Robot

DEFF Research Database (Denmark)

Manoonpong, Poramate; Wörgötter, Florentin; Laksanacharoen, Pudit

2014-01-01

In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal...... processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions...... or they can serve as useful modules for other module-based neural control applications....

Propellantless Attitude Control of Solar Sail Technology Utilizing Reflective Control Devices

Science.gov (United States)

Munday, Jeremy

2016-01-01

Solar sails offer an opportunity for a CubeSatscale, propellant-free spacecraft technology that enables long-term and long-distance missions not possible with traditional methods. Solar sails operate using the transfer of linear momentum from photons of sunlight reflected from the surface of the sail. To propel the spacecraft, no mechanically moving parts, thrusters, or propellant are needed. However, attitude control, or orientation, is still performed using traditional methods involving reaction wheels and propellant ejection, which severely limit mission lifetime. For example, the current state of the art solutions employed by upcoming missions couple solar sails with a state of the art propellant ejection gas system. Here, the use of the gas thruster has limited the lifetime of the mission. To solve the limited mission lifetime problem, the Propellantless Attitude Control of Solar Sail Technology Utilizing Reflective Control Devices project team is working on propellantless attitude control using thin layers of material, an optical film, electrically switchable from transparent to reflective. The technology is based on a polymer-dispersed liquid crystal (PDLC), which allows this switch upon application of a voltage. This technology removes the need for propellant, which reduces weight and cost while improving performance and lifetime.

Increasing Slew Performance of Reaction Wheel Attitude Control Systems

Science.gov (United States)

2013-09-01

operators want an imaging satellite to obtain an image, the rate and acceleration variations over 4π steradians require them to focus on the temporal aspect...51–53. 138 Figure 73. Normalized Momentum and Torque for an Optimal Maneuver Now the temporal element of the identified points becomes important...getattachment/8ccf207d-1ada-4bfc-a21b- 5c400a1f5d52/SmallWheel (Accessed 28 July 2013). [49] EADS Astrium, “CMG 4–6S,” datasheet, [online] 2009

Controlled braking scheme for a wheeled walking aid

OpenAIRE

Coyle, Eugene; O'Dwyer, Aidan; Young, Eileen; Sullivan, Kevin; Toner, A.

2006-01-01

A wheeled walking aid with an embedded controlled braking system is described. The frame of the prototype is based on combining features of standard available wheeled walking aids. A braking scheme has been designed using hydraulic disc brakes to facilitate accurate and sensitive controlled stopping of the walker by the user, and if called upon, by automatic action. Braking force is modulated via a linear actuating stepping motor. A microcontroller is used for control of both stepper movement...

Experiments on a Tail-wheel Shimmy

Science.gov (United States)

Harling, R; Dietz, O

1954-01-01

Model tests on the "running belt" and tests with a full-scale tail wheel were made on a rotating drum as well as on a runway in order to investigate the causes of the undesirable shimmy phenomena frequently occurring on airplane tail wheels, and the means of avoiding them. The small model (scale 1:10) permitted simulation of the mass, moments of inertia, and fuselage stiffness of the airplane and determination of their influence on the shimmy, whereas by means of the larger model with pneumatic tires (scale 1:2) more accurate investigations were made on the tail wheel itself. The results of drum and road tests show good agreement with one another and with model values. Detailed investigations were made regarding the dependence of the shimmy tendency on trail, rolling speed, load, size of tires, ground friction,and inclination of the swivel axis; furthermore, regarding the influence of devices with restoring effect on the tail wheel, and the friction damping required for prevention of shimmy. Finally observations from slow-motion pictures are reported and conclusions drawn concerning the influence of tire deformation.

Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators

Science.gov (United States)

Zhou, Zhiqiang

2012-01-01

A paper describes attitude-control algorithms using the combination of magnetic actuators with reaction wheel assemblies (RWAs) or other types of actuators such as thrusters. The combination of magnetic actuators with one or two RWAs aligned with different body axis expands the two-dimensional control torque to three-dimensional. The algorithms can guarantee the spacecraft attitude and rates to track the commanded attitude precisely. A design example is presented for nadir-pointing, pitch, and yaw maneuvers. The results show that precise attitude tracking can be reached and the attitude- control accuracy is comparable with RWA-based attitude control. When there are only one or two workable RWAs due to RWA failures, the attitude-control system can switch to the control algorithms for the combined magnetic actuators with the RWAs without going to the safe mode, and the control accuracy can be maintained. The attitude-control algorithms of the combined actuators are derived, which can guarantee the spacecraft attitude and rates to track the commanded values precisely. Results show that precise attitude tracking can be reached, and the attitude-control accuracy is comparable with 3-axis wheel control.

Family physician clinical inertia in glycemic control among patients with type 2 diabetes.

Science.gov (United States)

Bralić Lang, Valerija; Bergman Marković, Biserka; Kranjčević, Ksenija

2015-02-05

Many patients with diabetes do not achieve target values. One of the reasons for this is clinical inertia. The correct explanation of clinical inertia requires a conjunction of patient with physician and health care system factors. Our aim was to determine the rate of clinical inertia in treating diabetes in primary care and association of patient, physician, and health care setting factors with clinical inertia. This was a national, multicenter, observational, cross-sectional study in primary care in Croatia. Each family physician (FP) provided professional data and collected clinical data on 15-25 type 2 diabetes (T2DM) patients. Clinical inertia was defined as a consultation in which treatment change based on glycated hemoglobin (HbA1c) levels was indicated but did not occur. A total of 449 FPs (response rate 89.8%) collected data on 10275 patients. Mean clinical inertia per FP was 55.6% (SD ±26.17) of consultations. All of the FPs were clinically inert with some patients, and 9% of the FPs were clinically inert with all patients. The main factors associated with clinical inertia were: higher percentage of HbA1c, oral anti-diabetic drug initiated by diabetologist, increased postprandial glycemia and total cholesterol, physical inactivity of patient, and administration of drugs other than oral antidiabetics. Clinical inertia in treating patients with T2DM is a serious problem. Patients with worse glycemic control and those whose therapy was initiated by a diabetologist experience more clinical inertia. More research on causes of clinical inertia in treating patients with T2DM should be conducted to help achieve more effective diabetes control.

Fuzzy based attitude controller for flexible spacecraft with on/off thrusters

Science.gov (United States)

Knapp, Roger Glenn

1993-05-01

A fuzzy-based attitude controller is designed for attitude control of a generic spacecraft with on/off thrusters. The controller is comprised of packages of rules dedicated to addressing different objectives (e.g., disturbance rejection, low fuel consumption, avoiding the excitation of flexible appendages, etc.). These rule packages can be inserted or removed depending on the requirements of the particular spacecraft and are parameterized based on vehicle parameters such as inertia or operational parameters such as the maneuvering rate. Individual rule packages can be 'weighted' relative to each other to emphasize the importance of one objective relative to another. Finally, the fuzzy controller and rule packages are demonstrated using the high-fidelity Space Shuttle Interactive On-Orbit Simulator (IOS) while performing typical on-orbit operations and are subsequently compared with the existing shuttle flight control system performance.

Adaptive FTC based on Control Allocation and Fault Accommodation for Satellite Reaction Wheels

DEFF Research Database (Denmark)

Baldi, P.; Blanke, Mogens; Castaldi, P.

2016-01-01

and fault accommodation module directly exploiting the on-line fault estimates. The use of the nonlinear geometric approach and radial basis function neural networks allows to obtain a precise fault isolation, independently from the knowledge of aerodynamic disturbance parameters, and to design generalised......This paper proposes an active fault tolerant control scheme to cope with faults or failures affecting the flywheel spin rate sensors or satellite reaction wheel motors. The active fault tolerant control system consists of a fault detection and diagnosis module along with a control allocation...... estimation filters, which do not need a priori information about the internal model of the signal to be estimated. The adaptive control allocation and sensor fault accommodation can handle both temporal faults and failures. Simulation results illustrate the convincing fault correction and attitude control...

Wheel slip control with torque blending using linear and nonlinear model predictive control

Science.gov (United States)

Basrah, M. Sofian; Siampis, Efstathios; Velenis, Efstathios; Cao, Dongpu; Longo, Stefano

2017-11-01

Modern hybrid electric vehicles employ electric braking to recuperate energy during deceleration. However, currently anti-lock braking system (ABS) functionality is delivered solely by friction brakes. Hence regenerative braking is typically deactivated at a low deceleration threshold in case high slip develops at the wheels and ABS activation is required. If blending of friction and electric braking can be achieved during ABS events, there would be no need to impose conservative thresholds for deactivation of regenerative braking and the recuperation capacity of the vehicle would increase significantly. In addition, electric actuators are typically significantly faster responding and would deliver better control of wheel slip than friction brakes. In this work we present a control strategy for ABS on a fully electric vehicle with each wheel independently driven by an electric machine and friction brake independently applied at each wheel. In particular we develop linear and nonlinear model predictive control strategies for optimal performance and enforcement of critical control and state constraints. The capability for real-time implementation of these controllers is assessed and their performance is validated in high fidelity simulation.

Performance Guaranteed Inertia Emulation forDiesel-Wind System Feed Microgrid via ModelReference Control

Energy Technology Data Exchange (ETDEWEB)

Melin, Alexander M. [ORNL; Zhang, Yichen [University of Tennessee, Knoxville (UTK), Department of Electrical Engineering and Computer Science; Djouadi, Seddik [University of Tennessee, Knoxville (UTK), Department of Electrical Engineering and Computer Science; Olama, Mohammed M. [ORNL

2017-04-01

In this paper, a model reference control based inertia emulation strategy is proposed. Desired inertia can be precisely emulated through this control strategy so that guaranteed performance is ensured. A typical frequency response model with parametrical inertia is set to be the reference model. A measurement at a specific location delivers the information of disturbance acting on the diesel-wind system to the referencemodel. The objective is for the speed of the diesel-wind system to track the reference model. Since active power variation is dominantly governed by mechanical dynamics and modes, only mechanical dynamics and states, i.e., a swing-engine-governor system plus a reduced-order wind turbine generator, are involved in the feedback control design. The controller is implemented in a three-phase diesel-wind system feed microgrid. The results show exact synthetic inertia is emulated, leading to guaranteed performance and safety bounds.

Two wheel speed robust sliding mode control for electric vehicle drive

Directory of Open Access Journals (Sweden)

Abdelfatah Nasri

2008-01-01

Full Text Available Nowadays the uses of electrical power resources are integrated in the modern vehicle motion traction chain so new technologies allow the development of electric vehicles (EV by means of static converters-related electric motors. All mechanical transmission devices are eliminated and vehicle wheel motion can be controlled by means of power electronics. The proposed propulsing system consists of two induction motors (IM that ensure the drive of the two back driving wheels. The proposed control structure-called independent machines- for speed control permit the achievement of an electronic differential. The electronic differential system ensures the robust control of the vehicle behavior on the road. It also allows controlling independently, every driving wheel to turn at different speeds in any curve. This paper presents the study and the sliding mode control strategy of the electric vehicle driving wheels.

A new inertia weight control strategy for particle swarm optimization

Science.gov (United States)

Zhu, Xianming; Wang, Hongbo

2018-04-01

Particle Swarm Optimization is a member of swarm intelligence algorithms, which is inspired by the behavior of bird flocks. The inertia weight, one of the most important parameters of PSO, is crucial for PSO, for it balances the performance of exploration and exploitation of the algorithm. This paper proposes a new inertia weight control strategy and PSO with this new strategy is tested by four benchmark functions. The results shows that the new strategy provides the PSO with better performance.

Emotional Inertia is Associated with Lower Well-Being Controlling for Differences in Emotional Context

Directory of Open Access Journals (Sweden)

Peter eKoval

2016-01-01

Full Text Available Previous studies have linked higher emotional inertia (i.e., a stronger autoregressive slope of emotions with lower well-being. We aimed to replicate these findings, while extending upon previous research by addressing a number of unresolved issues and controlling for potential confounds. Specifically, we report results from two studies (Ns = 100 & 202 examining how emotional inertia, assessed in response to a standardized sequence of emotional stimuli in the lab, correlates with several measures of well-being. The current studies build on previous research by examining how inertia of both positive emotions (PE and negative emotions (NE are related to both positive (e.g., life satisfaction and negative (e.g., depressive symptoms indicators of well-being, while controlling for between-person differences in the mean level and variability of emotions. Our findings replicated previous research and further revealed that a NE inertia was more strongly associated with lower well-being than PE inertia; b emotional inertia correlated more consistently with negative indicators (e.g., depressive symptoms than positive indicators (e.g., life satisfaction of well-being; and c these relationships were independent of individual differences in mean level and variability of emotions. We conclude, in line with recent findings, that higher emotional inertia, particularly of NE, may indicate increased vulnerability to depression.

Spacecraft attitude and velocity control system

Science.gov (United States)

Paluszek, Michael A. (Inventor); Piper, Jr., George E. (Inventor)

1992-01-01

A spacecraft attitude and/or velocity control system includes a controller which responds to at least attitude errors to produce command signals representing a force vector F and a torque vector T, each having three orthogonal components, which represent the forces and torques which are to be generated by the thrusters. The thrusters may include magnetic torquer or reaction wheels. Six difference equations are generated, three having the form ##EQU1## where a.sub.j is the maximum torque which the j.sup.th thruster can produce, b.sub.j is the maximum force which the j.sup.th thruster can produce, and .alpha..sub.j is a variable representing the throttling factor of the j.sup.th thruster, which may range from zero to unity. The six equations are summed to produce a single scalar equation relating variables .alpha..sub.j to a performance index Z: ##EQU2## Those values of .alpha. which maximize the value of Z are determined by a method for solving linear equations, such as a linear programming method. The Simplex method may be used. The values of .alpha..sub.j are applied to control the corresponding thrusters.

A Virtual Inertia Control Strategy for DC Microgrids Analogized with Virtual Synchronous Machines

DEFF Research Database (Denmark)

Wu, Wenhua; Chen, Yandong; Luo, An

2017-01-01

In a DC microgrid (DC-MG), the dc bus voltage is vulnerable to power fluctuation derived from the intermittent distributed energy or local loads variation. In this paper, a virtual inertia control strategy for DC-MG through bidirectional grid-connected converters (BGCs) analogized with virtual...... synchronous machine (VSM) is proposed to enhance the inertia of the DC-MG, and to restrain the dc bus voltage fluctuation. The small-signal model of the BGC system is established, and the small-signal transfer function between the dc bus voltage and the dc output current of the BGC is deduced. The dynamic...... for the BGC is introduced to smooth the dynamic response of the dc bus voltage. By analyzing the control system stability, the appropriate virtual inertia control parameters are selected. Finally, simulations and experiments verified the validity of the proposed control strategy....

Continuous Wheel Momentum Dumping Using Magnetic Torquers and Thrusters

Science.gov (United States)

Oh, Hwa-Suk; Choi, Wan-Sik; Eun, Jong-Won

1996-12-01

Two momentum management schemes using magnetic torquers and thrusters are sug-gested. The stability of the momentum dumping logic is proved at a general attitude equilibrium. Both momentum dumping control laws are implemented with Pulse-Width- Pulse-Frequency Modulated on-off control, and shown working equally well with the original continuous and variable strength control law. Thrusters are assummed to be asymmetrically configured as a contingency case. Each thruster is fired following separated control laws rather than paired thrusting. Null torque thrusting control is added on the thrust control calculated from the momentum control law for the gener-ation of positive thrusting force. Both magnetic and thrusting control laws guarantee the momentum dumping, however, the wheel inner loop control is needed for the "wheel speed" dumping, The control laws are simulated on the KOrea Multi-Purpose SATellite (KOMPSAT) model.

Advanced Control of Wheeled Inverted Pendulum Systems

CERN Document Server

Li, Zhijun; Fan, Liping

2013-01-01

Advanced Control of Wheeled Inverted Pendulum Systems is an orderly presentation of recent ideas for overcoming the complications inherent in the control of wheeled inverted pendulum (WIP) systems, in the presence of uncertain dynamics, nonholonomic kinematic constraints as well as underactuated configurations. The text leads the reader in a theoretical exploration of problems in kinematics，dynamics modeling, advanced control design techniques,and trajectory generation for WIPs. An important concern is how to deal with various uncertainties associated with the nominal model, WIPs being characterized by unstable balance and unmodelled dynamics and being subject to time-varying external disturbances for which accurate models are hard to come by.   The book is self-contained, supplying the reader with everything from mathematical preliminaries and the basic Lagrange-Euler-based derivation of dynamics equations to various advanced motion control and force control approaches as well as trajectory generation met...

Adaptive identification of vessel's added moments of inertia with program motion

Science.gov (United States)

Alyshev, A. S.; Melnikov, V. G.

2018-05-01

In this paper, we propose a new experimental method for determining the moments of inertia of the ship model. The paper gives a brief review of existing methods, a description of the proposed method and experimental stand, test procedures and calculation formulas and experimental results. The proposed method is based on the energy approach with special program motions. The ship model is fixed in a special rack consisting of a torsion element and a set of additional servo drives with flywheels (reactive wheels), which correct the motion. The servo drives with an adaptive controller provide the symmetry of the motion, which is necessary for the proposed identification procedure. The effectiveness of the proposed approach is confirmed by experimental results.

Just-In-Time predictive control for a two-wheeled robot

OpenAIRE

Nakpong, Nuttapun; Yamamoto, Shigeru

2012-01-01

In this paper, we introduce the use of Just-In-Time predictive control to enhance the stability of a two-wheeled robot. Just-In-Time predictive control uses a database which includes a huge amounts of input-output data of the two-wheeled robot and predicts its future movements based on a Just-In-Time algorithm. © 2012 IEEE.

Position and force control of a vehicle with two or more steerable drive wheels

Energy Technology Data Exchange (ETDEWEB)

Reister, D.B.; Unseren, M.A.

1992-10-01

When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach to the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input. We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-III robot and have measured a dramatic reduction in error (more than a factor of 20) compared to motions without force control.

Attitude dynamics and control of a spacecraft using shifting mass distribution

Science.gov (United States)

Ahn, Young Tae

Spacecraft need specific attitude control methods that depend on the mission type or special tasks. The dynamics and the attitude control of a spacecraft with a shifting mass distribution within the system are examined. The behavior and use of conventional attitude control actuators are widely developed and performing at the present time. However, the advantage of a shifting mass distribution concept can complement spacecraft attitude control, save mass, and extend a satellite's life. This can be adopted in practice by moving mass from one tank to another, similar to what an airplane does to balance weight. Using this shifting mass distribution concept, in conjunction with other attitude control devices, can augment the three-axis attitude control process. Shifting mass involves changing the center-of-mass of the system, and/or changing the moments of inertia of the system, which then ultimately can change the attitude behavior of the system. This dissertation consists of two parts. First, the equations of motion for the shifting mass concept (also known as morphing) are developed. They are tested for their effects on attitude control by showing how shifting the mass changes the spacecraft's attitude behavior. Second, a method for optimal mass redistribution is shown using a combinatorial optimization theory under constraints. It closes with a simple example demonstrating an optimal reconfiguration. The procedure of optimal reconfiguration from one mass distribution to another to accomplish attitude control has been demonstrated for several simple examples. Mass shifting could work as an attitude controller for fine-tuning attitude behavior in small satellites. Various constraints can be applied for different situations, such as no mass shift between two tanks connected by a failed pipe or total amount of shifted mass per pipe being set for the time optimum solution. Euler angle changes influenced by the mass reconfiguration are accomplished while stability

Further study on the wheel-rail impact response induced by a single wheel flat: the coupling effect of strain rate and thermal stress

Science.gov (United States)

Jing, Lin; Han, Liangliang

2017-12-01

A comprehensive dynamic finite-element simulation method was proposed to study the wheel-rail impact response induced by a single wheel flat based on a 3-D rolling contact model, where the influences of the structural inertia, strain rate effect of wheel-rail materials and thermal stress due to the wheel-rail sliding friction were considered. Four different initial conditions (i.e. pure mechanical loading plus rate-independent, pure mechanical loading plus rate-dependent, thermo-mechanical loading plus rate-independent, and thermo-mechanical loading plus rate-dependent) were involved into explore the corresponding impact responses in term of the vertical impact force, von-Mises equivalent stress, equivalent plastic strain and shear stress. Influences of train speed, flat length and axle load on the flat-induced wheel-rail impact response were discussed, respectively. The results indicate that the maximum thermal stresses are occurred on the tread of the wheel and on the top surface of the middle rail; the strain rate hardening effect contributes to elevate the von-Mises equivalent stress and restrain the plastic deformation; and the initial thermal stress due to the sliding friction will aggravate the plastic deformation of wheel and rail. Besides, the wheel-rail impact responses (i.e. impact force, von-Mises equivalent stress, equivalent plastic strain, and XY shear stress) induced by a flat are sensitive to the train speed, flat length and axle load.

Therapeutic Inertia and Treatment Intensification.

Science.gov (United States)

Josiah Willock, Robina; Miller, Joseph B; Mohyi, Michelle; Abuzaanona, Ahmed; Muminovic, Meri; Levy, Phillip D

2018-01-29

This review aims to emphasize how therapeutic inertia, the failure of clinicians to intensify treatment when blood pressure rises or remains above therapeutic goals, contributes to suboptimal blood pressure control in hypertensive populations. Studies reveal that the therapeutic inertia is quite common and contributes to suboptimal blood pressure control. Quality improvement programs and standardized approaches to support antihypertensive treatment intensification are ways to combat therapeutic inertia. Furthermore, programs that utilize non-physician medical professionals such as pharmacists and nurses demonstrate promise in mitigating the effects of this important problem. Therapeutic inertia impedes antihypertensive management and requires a broad effort to reduce its effects. There is an ongoing need for renewed focus and research in this area to improve hypertension control.

Inertia and Decision Making.

Science.gov (United States)

Alós-Ferrer, Carlos; Hügelschäfer, Sabine; Li, Jiahui

2016-01-01

Decision inertia is the tendency to repeat previous choices independently of the outcome, which can give rise to perseveration in suboptimal choices. We investigate this tendency in probability-updating tasks. Study 1 shows that, whenever decision inertia conflicts with normatively optimal behavior (Bayesian updating), error rates are larger and decisions are slower. This is consistent with a dual-process view of decision inertia as an automatic process conflicting with a more rational, controlled one. We find evidence of decision inertia in both required and autonomous decisions, but the effect of inertia is more clear in the latter. Study 2 considers more complex decision situations where further conflict arises due to reinforcement processes. We find the same effects of decision inertia when reinforcement is aligned with Bayesian updating, but if the two latter processes conflict, the effects are limited to autonomous choices. Additionally, both studies show that the tendency to rely on decision inertia is positively associated with preference for consistency.

Emotional Inertia is Associated with Lower Well-Being when Controlling for Differences in Emotional Context.

Science.gov (United States)

Koval, Peter; Sütterlin, Stefan; Kuppens, Peter

2015-01-01

Previous studies have linked higher emotional inertia (i.e., a stronger autoregressive slope of emotions) with lower well-being. We aimed to replicate these findings, while extending upon previous research by addressing a number of unresolved issues and controlling for potential confounds. Specifically, we report results from two studies (Ns = 100 and 202) examining how emotional inertia, assessed in response to a standardized sequence of emotional stimuli in the lab, correlates with several measures of well-being. The current studies build on previous research by examining how inertia of both positive emotions (PE) and negative emotions (NE) relates to positive (e.g., life satisfaction) and negative (e.g., depressive symptoms) indicators of well-being, while controlling for between-person differences in the mean level and variability of emotions. Our findings replicated previous research and further revealed that (a) NE inertia was more strongly associated with lower well-being than PE inertia; (b) emotional inertia correlated more consistently with negative indicators (e.g., depressive symptoms) than positive indicators (e.g., life satisfaction) of well-being; and (c) these relationships were independent of individual differences in mean level and variability of emotions. We conclude, in line with recent findings, that higher emotional inertia, particularly of NE, may be an indicator of increased vulnerability to depression.

Adaptive compensation control for attitude adjustment of quad-rotor unmanned aerial vehicle.

Science.gov (United States)

Song, Zhankui; Sun, Kaibiao

2017-07-01

A compensation control strategy based on adaptive back-stepping technique is presented to address the problem of attitude adjustment for a quad-rotor unmanned aerial vehicle (QR- UAV) with inertia parameter uncertainties, the limited airflow disturbance and the partial loss of rotation speed effectiveness. In the design process of control system, adaptive estimation technique is introduced into the closed loop system in order to compensate the lumped disturbance term. More specifically, the designed controller utilizes "prescribed performance bounds" method, and therefore guarantees the transient performance of tracking errors, even in the presence of the lumped disturbance. Adaptive compensation algorithms under the proposed closed loop system structure are derived in the sense of Lyapunov stability analysis such that the attitude tracking error converge to a small neighborhood of equilibrium point. Finally, the simulation results demonstrate the effectiveness of the proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Integrated identification and control for nanosatellites reclaiming failed satellite

Science.gov (United States)

Han, Nan; Luo, Jianjun; Ma, Weihua; Yuan, Jianping

2018-05-01

Using nanosatellites to reclaim a failed satellite needs nanosatellites to attach to its surface to take over its attitude control function. This is challenging, since parameters including the inertia matrix of the combined spacecraft and the relative attitude information of attached nanosatellites with respect to the given body-fixed frame of the failed satellite are all unknown after the attachment. Besides, if the total control capacity needs to be increased during the reclaiming process by new nanosatellites, real-time parameters updating will be necessary. For these reasons, an integrated identification and control method is proposed in this paper, which enables the real-time parameters identification and attitude takeover control to be conducted concurrently. Identification of the inertia matrix of the combined spacecraft and the relative attitude information of attached nanosatellites are both considered. To guarantee sufficient excitation for the identification of the inertia matrix, a modified identification equation is established by filtering out sample points leading to ill-conditioned identification, and the identification performance of the inertia matrix is improved. Based on the real-time estimated inertia matrix, an attitude takeover controller is designed, the stability of the controller is analysed using Lyapunov method. The commanded control torques are allocated to each nanosatellite while the control saturation constraint being satisfied using the Quadratic Programming (QP) method. Numerical simulations are carried out to demonstrate the feasibility and effectiveness of the proposed integrated identification and control method.

A novel instrumented multipeg running wheel system, Step-Wheel, for monitoring and controlling complex sequential stepping in mice.

Science.gov (United States)

Kitsukawa, Takashi; Nagata, Masatoshi; Yanagihara, Dai; Tomioka, Ryohei; Utsumi, Hideko; Kubota, Yasuo; Yagi, Takeshi; Graybiel, Ann M; Yamamori, Tetsuo

2011-07-01

Motor control is critical in daily life as well as in artistic and athletic performance and thus is the subject of intense interest in neuroscience. Mouse models of movement disorders have proven valuable for many aspects of investigation, but adequate methods for analyzing complex motor control in mouse models have not been fully established. Here, we report the development of a novel running-wheel system that can be used to evoke simple and complex stepping patterns in mice. The stepping patterns are controlled by spatially organized pegs, which serve as footholds that can be arranged in adjustable, ladder-like configurations. The mice run as they drink water from a spout, providing reward, while the wheel turns at a constant speed. The stepping patterns of the mice can thus be controlled not only spatially, but also temporally. A voltage sensor to detect paw touches is attached to each peg, allowing precise registration of footfalls. We show that this device can be used to analyze patterns of complex motor coordination in mice. We further demonstrate that it is possible to measure patterns of neural activity with chronically implanted tetrodes as the mice engage in vigorous running bouts. We suggest that this instrumented multipeg running wheel (which we name the Step-Wheel System) can serve as an important tool in analyzing motor control and motor learning in mice.

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

Science.gov (United States)

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

2018-02-01

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

Modeling and control of a gravity gradient stabilised satellite

Directory of Open Access Journals (Sweden)

Aage Skullestad

1999-01-01

Full Text Available This paper describes attitude control, i.e., 3-axes stabilisation and pointing, of a proposed Norwegian small gravity gradient stabilized satellite to be launched into low earth orbit. Generally, a gravity gradient stabilised system has limited stability and pointing capabilities, and wheels and/or magnetic coils are added in order to improve the attitude control. The best attitude accuracy is achieved using wheels, which can give accuracies down to less than one degree, but wheels increase the complexity and cost of the satellite. Magnetic coils allow cheaper satellites, and are an attractive solution to small, inexpensive satellites in low earth orbits and may provide an attitude control accuracy of a few degrees. Scientific measurements often require accurate attitude control in one or two axes only. Combining wheel and coil control may, in these cases, provide the best solutions. The simulation results are based on a linearised mathematical model of the satellite.

Model predictive and reallocation problem for CubeSat fault recovery and attitude control

Science.gov (United States)

Franchi, Loris; Feruglio, Lorenzo; Mozzillo, Raffaele; Corpino, Sabrina

2018-01-01

In recent years, thanks to the increase of the know-how on machine-learning techniques and the advance of the computational capabilities of on-board processing, expensive computing algorithms, such as Model Predictive Control, have begun to spread in space applications even on small on-board processor. The paper presents an algorithm for an optimal fault recovery of a 3U CubeSat, developed in MathWorks Matlab & Simulink environment. This algorithm involves optimization techniques aiming at obtaining the optimal recovery solution, and involves a Model Predictive Control approach for the attitude control. The simulated system is a CubeSat in Low Earth Orbit: the attitude control is performed with three magnetic torquers and a single reaction wheel. The simulation neglects the errors in the attitude determination of the satellite, and focuses on the recovery approach and control method. The optimal recovery approach takes advantage of the properties of magnetic actuation, which gives the possibility of the redistribution of the control action when a fault occurs on a single magnetic torquer, even in absence of redundant actuators. In addition, the paper presents the results of the implementation of Model Predictive approach to control the attitude of the satellite.

Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results

Directory of Open Access Journals (Sweden)

U. Jørgensen

2011-07-01

Full Text Available In this paper we present the design of a sliding mode controller for attitude control of spacecraft actuated by three orthogonal reaction wheels. The equilibrium of the closed loop system is proved to be asymptotically stable in the sense of Lyapunov. Due to cases where spacecraft do not have angular velocity measurements, an estimator for the generalized velocity is derived and asymptotic stability is proven for the observer. The approach is tested on an experimental platform with a sphere shaped Autonomous Underwater Vehicle SATellite: AUVSAT, developed at the Norwegian University of Science and Technology.

Wheel Slip Control of Vehicle ABS Using Piezoactuator-Based Valve System

Directory of Open Access Journals (Sweden)

Juncheol Jeon

2014-04-01

Full Text Available This paper presents a novel piezoactuator-based valve for vehicle ABS. The piezoactuator located in one side of a rigid beam makes a displacement required to control the pressure at a flapper-nozzle of the pneumatic valve. In order to obtain the wide control range of the pressure, a pressure modulator comprised of dual-type cylinder and piston is proposed. The governing equation of the piezovalve system which consists of the proposed piezoactuator-based valve and the pressure modulator is obtained. The longitudinal vehicle dynamics and the wheel slip condition are then formulated. In order to evaluate the performance of the proposed piezovalve system from the viewpoint of the vehicle ABS, a sliding mode controller is designed for wheel slip control. The tracking control performances for the desired wheel slip rate are evaluated and the braking performances in terms of braking distance are then presented on different road conditions (dry asphalt, wet asphalt, and wet jennite. It is clearly shown that the desired wheel slip rate is well achieved and the braking distance and braking time can be significantly reduced by using the proposed piezovalve system associated with the slip rate controller.

Asymmetric Barrier Lyapunov Function-Based Wheel Slip Control for Antilock Braking System

Directory of Open Access Journals (Sweden)

Xiaolei Chen

2015-01-01

Full Text Available As an important device of the aircraft landing system, the antilock braking system (ABS has a function to avoid aircraft wheels self-locking. To deal with the strong nonlinear characteristics, complex nonlinear control schemes are applied in ABS. However, none of existing control schemes focus on the braking operating status, which directly reflects wheels self-locking degree. In this paper, the braking operating status region is divided into three regions: the healthy region, the light slip region, and the deep slip region. An ABLF-based wheel slip controller is proposed for ABS to constrain the braking system operating status in the healthy region and the light slip region. Therefore the ABS will be prevented from operating in the deep slip region. Under the proposed control scheme, self-locking is avoided completely and zero steady state error tracking of the wheel optimal slip ratio is implemented. The Hardware-In-Loop (HIL experiments have validated the effectiveness of the proposed controller.

An overview on real-time control schemes for wheeled mobile robot

Science.gov (United States)

Radzak, M. S. A.; Ali, M. A. H.; Sha’amri, S.; Azwan, A. R.

2018-04-01

The purpose of this paper is to review real-time control motion algorithms for wheeled mobile robot (WMR) when navigating in environment such as road. Its need a good controller to avoid collision with any disturbance and maintain a track error at zero level. The controllers are used with other aiding sensors to measure the WMR’s velocities, posture, and interference to estimate the required torque to be applied on the wheels of mobile robot. Four main categories for wheeled mobile robot control systems have been found in literature which are namely: Kinematic based controller, Dynamic based controllers, artificial intelligence based control system, and Active Force control. A MATLAB/Simulink software is the main software to simulate and implement the control system. The real-time toolbox in MATLAB/SIMULINK are used to receive/send data from sensors/to actuator with presence of disturbances, however others software such C, C++ and visual basic are rare to be used.

Genetic algorithm–based varying parameter linear quadratic regulator control for four-wheel independent steering vehicle

Directory of Open Access Journals (Sweden)

Linlin Gao

2015-11-01

Full Text Available From the perspective of vehicle dynamics, the four-wheel independent steering vehicle dynamics stability control method is studied, and a four-wheel independent steering varying parameter linear quadratic regulator control system is proposed with the help of expert control method. In the article, a four-wheel independent steering linear quadratic regulator controller for model following purpose is designed first. Then, by analyzing the four-wheel independent steering vehicle dynamic characteristics and the influence of linear quadratic regulator control parameters on control performance, a linear quadratic regulator control parameter adjustment strategy based on vehicle steering state is proposed to achieve the adaptive adjustment of linear quadratic regulator control parameters. In addition, to further improve the control performance, the proposed varying parameter linear quadratic regulator control system is optimized by genetic algorithm. Finally, simulation studies have been conducted by applying the proposed control system to the 8-degree-of-freedom four-wheel independent steering vehicle dynamics model. The simulation results indicate that the proposed control system has better performance and robustness and can effectively improve the stability and steering safety of the four-wheel independent steering vehicle.

Wheels Optimization and Vision Control of Omni-directional Mobile Microrobot

Directory of Open Access Journals (Sweden)

Jianghao Li

2008-06-01

Full Text Available This paper presents a millimeters scale omni-directional mobile microrobot with special dual-wheel structure. The microrobot was actuated by three electromagnetic micromotors of 2mm diameter. Dynamic analysis of translational and steering movements presented the relationship between the sizes of the dual-wheel structure and the output torque of the micromotor. Genetic algorithm (GA was employed to optimize the dual-wheel's sizes for reducing the unnecessary torque consumption and improving the driving ability of the microrobot. A computer vision system contained two sets of feedback control is devised for the microrobot. Torque self-balance and current-limiting control approach are presented to ensure the accuracy of step movement. Experiment results demonstrate the feasibility of these concepts.

Analysis of state-of-the-art single-thruster attitude control techniques for spinning penetrator

Science.gov (United States)

Raus, Robin; Gao, Yang; Wu, Yunhua; Watt, Mark

2012-07-01

The attitude dynamics and manoeuvre survey in this paper is performed for a mission scenario involving a penetrator-type spacecraft: an axisymmetric prolate spacecraft spinning around its minor axis of inertia performing a 90° spin axis reorientation manoeuvre. In contrast to most existing spacecraft only one attitude control thruster is available, providing a control torque perpendicular to the spin axis. Having only one attitude thruster on a spinning spacecraft could be preferred for spacecraft simplicity (lower mass, lower power consumption etc.), or it could be imposed in the context of redundancy/contingency operations. This constraint does yield restrictions on the thruster timings, depending on the ratio of minor to major moments of inertia among other parameters. The Japanese Lunar-A penetrator spacecraft proposal is a good example of such a single-thruster spin-stabilised prolate spacecraft. The attitude dynamics of a spinning rigid body are first investigated analytically, then expanded for the specific case of a prolate and axisymmetric rigid body and finally a cursory exploration of non-rigid body dynamics is made. Next two well-known techniques for manoeuvring a spin-stabilised spacecraft, the Half-cone/Multiple Half-cone and the Rhumb line slew, are compared with two new techniques, the Sector-Arc Slew developed by Astrium Satellites and the Dual-cone developed at Surrey Space Centre. Each technique is introduced and characterised by means of simulation results and illustrations based on the penetrator mission scenario and a brief robustness analysis is performed against errors in moments of inertia and spin rate. Also, the relative benefits of each slew algorithm are discussed in terms of slew accuracy, energy (propellant) efficiency and time efficiency. For example, a sequence of half-cone manoeuvres (a Multi-half-cone manoeuvre) tends to be more energy-efficient than one half-cone for the same final slew angle, but more time-consuming. As another

Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots

Institute of Scientific and Technical Information of China (English)

YU Wenyong

2006-01-01

A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.

A Study of Torque Vectoring and Traction Control for an All-Wheel Drive Electric Vehicle

Directory of Open Access Journals (Sweden)

Maharun Mui’nuddin

2014-07-01

Full Text Available Common vehicle always experience energy loss during cornering manoeuver. Thus, to ensure it did not happened especially at high speed, a study of torque vectoring and traction control need to be made since it can increase the traction control of tyres during cornering at high speed. The study of torque vectoring and traction control for an all-wheel drive electric vehicle was conducted by modelling an all-wheel drive electric vehicle (EV in ADAMS/Car software. In addition, an optimal control algorithm will be developed for best performance to minimize energy losses using MATLAB/Simulink software. Furthermore, to prove the effectiveness of the all-wheel drive electric, the torque and traction control simulation of the all-wheel drive electric vehicle will be compared with uncontrolled electric vehicle model. According to the result, torque vectoring and traction control of in-wheel motor in all wheel drive EV can help to increase the performance of the electric vehicle during cornering manoeuver. In conclusion, this study of torque vectoring and traction control for an all-wheel drive electric vehicle will help researchers to improve the design of the future electric vehicle in term of the vehicle performance during cornering manoeuvre.

A computed torque method based attitude control with optimal force distribution for articulated body mobile robots

International Nuclear Information System (INIS)

Fukushima, Edwardo F.; Hirose, Shigeo

2000-01-01

This paper introduces an attitude control scheme based in optimal force distribution using quadratic programming which minimizes joint energy consumption. This method shares similarities with force distribution for multifingered hands, multiple coordinated manipulators and legged walking robots. In particular, an attitude control scheme was introduced inside the force distribution problem, and successfully implemented for control of the articulated body mobile robot KR-II. This is an actual mobile robot composed of cylindrical segments linked in series by prismatic joints and has a long snake-like appearance. These prismatic joints are force controlled so that each segment's vertical motion can automatically follow the terrain irregularities. An attitude control is necessary because this system acts like a system of wheeled inverted pendulum carts connected in series, being unstable by nature. The validity and effectiveness of the proposed method is verified by computer simulation and experiments with the robot KR-II. (author)

Frequency Stability Enhancement for Low Inertia Systems using Synthetic Inertia of Wind Power

DEFF Research Database (Denmark)

Nguyen, Ha Thi; Yang, Guangya; Nielsen, Arne Hejde

2017-01-01

stability, this paper proposes supplementary control methods to implement synthetic inertia for doubly-fed induction generator (DFIG) based wind energy system during frequency excursions. Different control strategies and activation schemes are analyzed and implemented on the Western Danish renewable......-based system using-real time digital simulator (RTDS) to propose the best one for the synthetic inertia controller. From the comparative simulation results, it can be concluded that the method using a combination of both the frequency deviation and derivative as input signals, and the under-frequency trigger...

Robust Feedback Linearization-based Control Design for a Wheeled Mobile Robot

DEFF Research Database (Denmark)

Bendtsen, Jan Dimon; Andersen, Palle; Pedersen, Tom Søndergaard

This paper considers the trajectory tracking problem for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The robot is modeled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. A nonlinear trajectory tracking feedback control law based...

Solar Sail Attitude Control System for the NASA Near Earth Asteroid Scout Mission

Science.gov (United States)

Orphee, Juan; Diedrich, Ben; Stiltner, Brandon; Becker, Chris; Heaton, Andrew

2017-01-01

An Attitude Control System (ACS) has been developed for the NASA Near Earth Asteroid (NEA) Scout mission. The NEA Scout spacecraft is a 6U cubesat with an eighty-six square meter solar sail for primary propulsion that will launch as a secondary payload on the Space Launch System (SLS) Exploration Mission 1 (EM-1) and rendezvous with a target asteroid after a two year journey, and will conduct science imagery. The spacecraft ACS consists of three major actuating subsystems: a Reaction Wheel (RW) control system, a Reaction Control System (RCS), and an Active Mass Translator (AMT) system. The reaction wheels allow fine pointing and higher rates with low mass actuators to meet the science, communication, and trajectory guidance requirements. The Momentum Management System (MMS) keeps the speed of the wheels within their operating margins using a combination of solar torque and the RCS. The AMT is used to adjust the sign and magnitude of the solar torque to manage pitch and yaw momentum. The RCS is used for initial de-tumble, performing a Trajectory Correction Maneuver (TCM), and performing momentum management about the roll axis. The NEA Scout ACS is able to meet all mission requirements including attitude hold, slews, pointing for optical navigation and pointing for science with margin and including flexible body effects. Here we discuss the challenges and solutions of meeting NEA Scout mission requirements for the ACS design, and present a novel implementation of managing the spacecraft Center of Mass (CM) to trim the solar sail disturbance torque. The ACS we have developed has an applicability to a range of potential missions and does so in a much smaller volume than is traditional for deep space missions beyond Earth.

Proactive control for solar energy exploitation: A german high-inertia building case study

International Nuclear Information System (INIS)

Michailidis, Iakovos T.; Baldi, Simone; Pichler, Martin F.; Kosmatopoulos, Elias B.; Santiago, Juan R.

2015-01-01

Highlights: • Solar gains exploitation by utilizing large glass facades and concrete core thermal energy storing capacity. • Efficient Building Energy Management in a well-insulated modern building construction. • Energy consumption reduction by maintaining user comfort. • High inertia large scale office building test case, located in Germany. - Abstract: Energy efficient passive designs and constructions have been extensively studied in the last decades as a way to improve the ability of a building to store thermal energy, increase its thermal mass, increase passive insulation and reduce heat losses. However, many studies show that passive thermal designs alone are not enough to fully exploit the potential for energy efficiency in buildings: in fact, harmonizing the active elements for indoor thermal comfort with the passive design of the building can lead to further improvements in both energy efficiency and comfort. These improvements can be achieved via the design of appropriate Building Optimization and Control (BOC) systems, a task which is more complex in high-inertia buildings than in conventional ones. This is because high thermal mass implies a high memory, so that wrong control decisions will have negative repercussions over long time horizons. The design of proactive control strategies with the capability of acting in advance of a future situation, rather than just reacting to current conditions, is of crucial importance for a full exploitation of the capabilities of a high-inertia building. This paper applies a simulation-assisted control methodology to a high-inertia building in Kassel, Germany. A simulation model of the building is used to proactively optimize, using both current and future information about the external weather condition and the building state, a combined criterion composed of the energy consumption and the thermal comfort index. Both extensive simulation as well as real-life experiments performed during the unstable German

Comparison between Synthetic Inertia and Fast Frequency Containment Control Based on Single Phase EVs in a Microgrid

DEFF Research Database (Denmark)

Rezkalla, Michel M.N.; Zecchino, Antonio; Martinenas, Sergejus

2017-01-01

The increasing share of distributed and inertia-less resources entails an upsurge in balancing and system stabilisation services. In particular, the displacement of conventional generation reduces the available rotational inertia in the power system, leading to high interest in synthetic inertia....... The interdependency between frequency containment and synthetic inertia control on the transient frequency variation is shown analytically. The capabilities and limits of series produced EVs in providing such services are investigated, first on a simulation based approach and subsequently by using real hardware...

Wheeling in Canada

International Nuclear Information System (INIS)

Fytche, E.L.

1991-01-01

The quest for economic efficiency, or lowest cost, in the electricity supply industry is furthered by trading between high and low cost utilities, one aspect being transporting or wheeling power through the transmission system of a third party. Some of the pressures and constraints limiting wheeling are discussed. A simple formula is presented for determining whether trading and wheeling are worthwhile. It is demonstrated for assumed capital and operating cost levels, the viability of nine cases where bulk power or economy energy would need to be wheeled across provincial boundaries in order to reach potential buyers. Wheeling in Canada is different from the situation in the USA, due to large distances spanned by Canadian utilities and because most are provincial crown corporations, with different territorial interests and profit motivations than investor-owned utilities. Most trading in electricity has been between contiguous neighbours, for mutual advantage. New technology allows power transmission over distances of up to 1000 miles, and the economics of Canada's electrical supply could be improved, with means including access to low cost coal of Alberta, and remote hydro in British Columbia, Manitoba, Quebec and Labrador. Nuclear plants could be located anywhere but suffer from an unfriendly public attitude. A bridge across the Prairies appears uneconomic due to cost of transmission, and also due to low valuation given to Alberta coal. 7 refs., 2 figs., 3 tabs

A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

Science.gov (United States)

Shibata, Tsuyoshi; Murakami, Toshiyuki

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

Physician and patient characteristics associated with clinical inertia in blood pressure control.

Science.gov (United States)

Harle, Christopher A; Harman, Jeffrey S; Yang, Shuo

2013-11-01

Clinical inertia, the failure to adjust antihypertensive medications during patient visits with uncontrolled hypertension, is thought to be a common problem. This retrospective study used 5 years of electronic medical records from a multispecialty group practice to examine the association between physician and patient characteristics and clinical inertia. Hierarchical linear models (HLMs) were used to examine (1) differences in physician and patient characteristics among patients with and without clinical inertia, and (2) the association between clinical inertia and future uncontrolled hypertension. Overall, 66% of patients experienced clinical inertia. Clinical inertia was associated with one physician characteristic, patient volume (odds ratio [OR]=0.998). However, clinical inertia was associated with multiple patient characteristics, including patient age (OR=1.021), commercial insurance (OR=0.804), and obesity (OR=1.805). Finally, patients with clinical inertia had 2.9 times the odds of uncontrolled hypertension at their final visit in the study period. These findings may aid the design of interventions to reduce clinical inertia. ©2013 Wiley Periodicals, Inc.

Wheel Slip Control for Improving Traction-Ability and Energy Efficiency of a Personal Electric Vehicle

Directory of Open Access Journals (Sweden)

Kanghyun Nam

2015-07-01

Full Text Available In this paper, a robust wheel slip control system based on a sliding mode controller is proposed for improving traction-ability and reducing energy consumption during sudden acceleration for a personal electric vehicle. Sliding mode control techniques have been employed widely in the development of a robust wheel slip controller of conventional internal combustion engine vehicles due to their application effectiveness in nonlinear systems and robustness against model uncertainties and disturbances. A practical slip control system which takes advantage of the features of electric motors is proposed and an algorithm for vehicle velocity estimation is also introduced. The vehicle velocity estimator was designed based on rotational wheel dynamics, measurable motor torque, and wheel velocity as well as rule-based logic. The simulations and experiments were carried out using both CarSim software and an experimental electric vehicle equipped with in-wheel-motors. Through field tests, traction performance and effectiveness in terms of energy saving were all verified. Comparative experiments with variations of control variables proved the effectiveness and practicality of the proposed control design.

Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

Science.gov (United States)

Zhang, Han; Zhao, Wanzhong

2018-02-01

To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

OpenAIRE

Hamed Navabi; Soroush Sadeghnejad; Sepehr Ramezani; Jacky Baltes

2017-01-01

A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivi...

Robust balancing and position control of a single spherical wheeled mobile platform

OpenAIRE

Yavuz, Fırat; Yavuz, Firat; Ünel, Mustafa; Unel, Mustafa

2016-01-01

Self-balancing mobile platforms with single spherical wheel, generally called ballbots, are suitable example of underactuated systems. Balancing control of a ballbot platform, which aims to maintain the upright orientation by rejecting external disturbances, is important during station keeping or trajectory tracking. In this paper, acceleration based balancing and position control of a single spherical wheeled mobile platform that has three single-row omniwheel drive m...

Sensorless State-Space Control of Elastic Two-Inertia Drive System Using a Minimum State Order Observer

Directory of Open Access Journals (Sweden)

V. Comnac

2009-12-01

Full Text Available The paper presents sensorless state-space control of two-inertia drive system with resilient coupling. The control structure contains an I+PI controller for load speed regulation and a state feedback controller for effective vibration suppression of the elastic coupling. Mechanical state variable of two-inertia drive are obtained by using a linear minimum-order (Gopinath state observer. The design of the combined (I+PI and state feedback controller is achieved with the extended version of the modulus criterion [5]. The dynamic behavior of presented control structure has been examined, for different conditions, using MATLAB/SIMULINK simulation.

Three omni-directional wheels control on a mobile robot

OpenAIRE

Ribeiro, António Fernando; Moutinho, Ivo; Silva, Pedro; Fraga, Carlos; Pereira, Nino

2004-01-01

Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper deals with the mathematical kinematics description of such mobile platform, it describes the advant...

Frequency Inertia Response Control of SCESS-DFIG under Fluctuating Wind Speeds Based on Extended State Observers

Directory of Open Access Journals (Sweden)

Dongyang Sun

2018-04-01

Full Text Available Insufficient frequency regulation capability and system inertia reduction are common problems encountered in a power grid with high wind power penetration, mainly due to the reason that the rotor energy in doubly fed induction generators (DFIGs is isolated by the grid side converters (GSCs, and also due to the randomness and intermittence of wind power which are not as stable as traditional thermal power sources. In this paper, the frequency inertia response control of a DFIG system under variable wind speeds was investigated. First, a DFIG system topology with rotor-side supercapacitor energy storage system (SCESS-DFIG was introduced. Then a control strategy for frequency inertia response of SCESS-DFIG power grid under fluctuating wind speed was designed, with two extended state observers (ESOs which estimate the mechanical power captured by the DFIG and the required inertia response power at the grid frequency drops, respectively. Based on one inconstant wind speed model and the SCESS-DFIG system model adopting the control strategy established, one power grid system consisting of three SCESS-DFIGs with different wind speed trends and a synchronous generator was simulated. The simulation results verified the effectiveness of the SCESS-DFIG system structure and the control strategy proposed.

A generic inertia emulation controller for multi-terminal VSC-HVDC systems

DEFF Research Database (Denmark)

Zhu, Jiebei; Guerrero, Josep M.; Booth, Campbell

2013-01-01

A generic Inertia Emulation Controller (INEC) for Multi-Terminal Voltage-source-converter based HVDC (VSC-MTDC) is proposed in this paper. The proposed INEC can be incorporated in any grid-side-voltage-source-converter (GVSC) station, allowing the MTDC terminal to contribute an inertial response...

Trade-off Analysis of Virtual Inertia and Fast Primary Frequency Control During Frequency Transients in a Converter Dominated Network

DEFF Research Database (Denmark)

Rezkalla, Michel M.N.; Marinelli, Mattia; Pertl, Michael

2016-01-01

Traditionally the electricity generation is based on rotating synchronous machines which provide inertia to the power system.The increasing share of converter connected energy sources reduces the available rotational inertia in the power system leading to faster frequency dynamics, which may cause...... more critical frequency excursions. Both, virtual inertia and fast primary control could serve as a solution to improvefrequency stability, however, their respective impacts on the system have different consequences, so that the trade-off is not straightforward. This study presents a comparative...... analysis of virtual inertiaand a fast primary control algorithms with respect to rate of change of frequency (ROCOF), frequency nadir and steady state value considering the effect of the dead time which is carried out by a sensitivity analysis. The investigation shows that the virtual inertia controller...

The Reaction Wheel Pendulum

CERN Document Server

Block, Daniel J; Spong, Mark W

2007-01-01

This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, t

Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller

Directory of Open Access Journals (Sweden)

Ameer L. Saleh

2018-02-01

Full Text Available This paper present an optimal Fractional Order PID (FOPID controller based on Particle Swarm Optimization (PSO for controlling the trajectory tracking of Wheeled Mobile Robot(WMR.The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories.  PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.

Virtual inertia for variable speed wind turbines

DEFF Research Database (Denmark)

Zeni, Lorenzo; Rudolph, Andreas Jakob; Münster-Swendsen, Janus

2013-01-01

electronic converter and on its impact on the primary frequency response of a power system. An additional control for the power electronics is implemented to give VSWTs a virtual inertia, referring to the kinetic energy stored in the rotating masses, which can be released initially to support the system......’s inertia. A simple Matlab/Simulink model and control of a VSWT and of a generic power system are developed to analyse the primary frequency response following different generation losses in a system comprising VSWTs provided with virtual inertia. The possibility of substituting a 50% share of conventional...... power with wind is also assessed and investigated. The intrinsic problems related to the implementation of virtual inertia are illustrated, addressing their origin in the action of pitch and power control. A solution is proposed, which aims at obtaining the same response as for the system with only...

Inaction inertia

NARCIS (Netherlands)

van Putten, M.; Zeelenberg, M.; van Dijk, E.; Tykocinski, O.E.

2013-01-01

Inaction inertia occurs when bypassing an initial action opportunity has the effect of decreasing the likelihood that subsequent similar action opportunities will be taken. This overview of the inaction inertia literature demonstrates the impact of inaction inertia on decision making. Based on

Passivity-Based Control for Two-Wheeled Robot Stabilization

Science.gov (United States)

Uddin, Nur; Aryo Nugroho, Teguh; Agung Pramudito, Wahyu

2018-04-01

A passivity-based control system design for two-wheeled robot (TWR) stabilization is presented. A TWR is a statically-unstable non-linear system. A control system is applied to actively stabilize the TWR. Passivity-based control method is applied to design the control system. The design results in a state feedback control law that makes the TWR closed loop system globally asymptotically stable (GAS). The GAS is proven mathematically. The TWR stabilization is demonstrated through computer simulation. The simulation results show that the designed control system is able to stabilize the TWR.

Wheels Optimization and Vision Control of Omni-directional Mobile Microrobot

Directory of Open Access Journals (Sweden)

Jianghao Li

2008-11-01

Full Text Available This paper presents a millimeters scale omni-directional mobile microrobot with special dual-wheel structure. The microrobot was actuated by three electromagnetic micromotors of 2mm diameter. Dynamic analysis of translational and steering movements presented the relationship between the sizes of the dual-wheel structure and the output torque of the micromotor. Genetic algorithm (GA was employed to optimize the dualwheel's sizes for reducing the unnecessary torque consumption and improving the driving ability of the microrobot. A computer vision system contained two sets of feedback control is devised for the microrobot. Torque self-balance and current-limiting control approach are presented to ensure the accuracy of step movement. Experiment results demonstrate the feasibility of these concepts.

Passivity based nonlinear attitude control of the Rømer satellite

DEFF Research Database (Denmark)

Quottrup, Michael Melholt; Krogh-Sørensen, J.; Wisniewski, Rafal

This paper suggests nonlinear attitude control of the Danish satellite Rømer. This satellite will be designed to fulfil two scientific objectives: The observation of stellar oscillations and the detection and localisation of gamma-ray bursts. The satellite will be equipped with a tetrahedron...... configuration of Wide Angle Telescopes for Cosmic Hard x-rays (WATCH), that server the dual purpose of X-ray detectors and momentum wheels. By employing passivity theory it is shown, that the satellite is a passive system. This paper shows, that global asymptotic can be obtained with a passive and an imput...... and output strictly passive system in a feedback interconnection. It is demonstrated in a simulation study that the resultant control has a potential for on-board implementation in the acquistion phase, where global stabillity of the control law is vital...

Simulation of Spacecraft Damage Tolerance and Adaptive Controls

Science.gov (United States)

2013-06-01

9.9639/24/3600/180*pi*0; %nodal precession constant assumed zero here wn=kpre*(Re/(Re+h))^3.5*cos(incln); %nodal precession (zero eccentricity ) V...for 0 H spin up w_wheel=2800*(2*pi/60); % Wheel speed in RPM converted to rad/s Iwheel=0.0614*1.3558179483314; % Wheel inertia in slug-ft^2...converted (exact) to kg m^2 h_wheel=Iwheel*w_wheel; % CMG Wheel Angular Momentum % [Fossen]’s adaptive feedforward parameters ETA=-100; LAMBDA=0.5

Cassini Spacecraft In-Flight Swap to Backup Attitude Control Thrusters

Science.gov (United States)

Bates, David M.

2010-01-01

NASA's Cassini Spacecraft, launched on October 15th, 1997 and arrived at Saturn on June 30th, 2004, is the largest and most ambitious interplanetary spacecraft in history. In order to meet the challenging attitude control and navigation requirements of the orbit profile at Saturn, Cassini is equipped with a monopropellant thruster based Reaction Control System (RCS), a bipropellant Main Engine Assembly (MEA) and a Reaction Wheel Assembly (RWA). In 2008, after 11 years of reliable service, several RCS thrusters began to show signs of end of life degradation, which led the operations team to successfully perform the swap to the backup RCS system, the details and challenges of which are described in this paper. With some modifications, it is hoped that similar techniques and design strategies could be used to benefit other spacecraft.

Vehicle Dynamics Control of In-wheel Electric Motor Drive Vehicles Based on Averaging of Tire Force Usage

Science.gov (United States)

Masaki, Nobuo; Iwano, Haruo; Kamada, Takayoshi; Nagai, Masao

For in-wheel electric motor drive vehicles, a new vehicle dynamics control which is based on the tire force usage rate is proposed. The new controller adopts non-linear optimal control could manage the interference between direct yaw-moment control and the tire force usage rate. The new control is considered total longitudinal and transverse tire force. Therefore the controller can prevent tire force saturation near tire force limit during cornering. Simulations and test runs by the custom made four wheel drive in-wheel motor electric vehicle show that higher driving stability performance compared to the performance of the same vehicle without control.

Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot

Directory of Open Access Journals (Sweden)

Pingxia Zhang

2016-05-01

Full Text Available It is well known that a multi-axle wheeled robot possesses larger load capability and also higher drive performance. However, its steering flexibility is degraded due to the large number of wheels. In order to solve this problem, in this article, we proposed three control schemes based on the center of rotation or the steering angles of both the first- and last-axle wheels. To release these control schemes, steering mode selection and also the left wheel’s steering angle in a specific axle are added approaching a practical application. Thereafter, the remaining wheels’ steering angles can be calculated with the Ackerman steering theorem. In order to verify the control effects, a five-axle all-wheel-steering wheeled robot has been developed with the Bluetooth wireless monitor system. Based on the newly designed robot, validation experiments are carried out, such as lateral movement, situ rotation, and multi-mode steering within a narrow space. The results indicate that the proposed design in this article can ensure a more flexible and faster movement within a narrow space. It shows large potential in obstacle avoidance compared with the conventional partial-wheel steering mode.

Solar Anomalous and Magnetospheric Particle Explorer attitude control electronics box design and performance

Science.gov (United States)

Chamberlin, K.; Clagett, C.; Correll, T.; Gruner, T.; Quinn, T.; Shiflett, L.; Schnurr, R.; Wennersten, M.; Frederick, M.; Fox, S. M.

1993-01-01

The attitude Control Electronics (ACE) Box is the center of the Attitude Control Subsystem (ACS) for the Solar Anomalous and Magnetospheric Particle Explorer (SAMPEX) satellite. This unit is the single point interface for all of the Attitude Control Subsystem (ACS) related sensors and actuators. Commands and telemetry between the SAMPEX flight computer and the ACE Box are routed via a MIL-STD-1773 bus interface, through the use of an 80C85 processor. The ACE Box consists of the flowing electronic elements: power supply, momentum wheel driver, electromagnet driver, coarse sun sensor interface, digital sun sensor interface, magnetometer interface, and satellite computer interface. In addition, the ACE Box also contains an independent Safehold electronics package capable of keeping the satellite pitch axis pointing towards the sun. The ACE Box has dimensions of 24 x 31 x 8 cm, a mass of 4.3 kg, and an average power consumption of 10.5 W. This set of electronics was completely designed, developed, integrated, and tested by personnel at NASA GSFC. SAMPEX was launched on July 3, 1992, and the initial attitude acquisition was successfully accomplished via the analog Safehold electronics in the ACE Box. This acquisition scenario removed the excess body rates via magnetic control and precessed the satellite pitch axis to within 10 deg of the sun line. The performance of the SAMPEX ACS in general and the ACE Box in particular has been quite satisfactory.

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.

Magnetic dipole moment estimation and compensation for an accurate attitude control in nano-satellite missions

Science.gov (United States)

Inamori, Takaya; Sako, Nobutada; Nakasuka, Shinichi

2011-06-01

Nano-satellites provide space access to broader range of satellite developers and attract interests as an application of the space developments. These days several new nano-satellite missions are proposed with sophisticated objectives such as remote-sensing and observation of astronomical objects. In these advanced missions, some nano-satellites must meet strict attitude requirements for obtaining scientific data or images. For LEO nano-satellite, a magnetic attitude disturbance dominates over other environmental disturbances as a result of small moment of inertia, and this effect should be cancelled for a precise attitude control. This research focuses on how to cancel the magnetic disturbance in orbit. This paper presents a unique method to estimate and compensate the residual magnetic moment, which interacts with the geomagnetic field and causes the magnetic disturbance. An extended Kalman filter is used to estimate the magnetic disturbance. For more practical considerations of the magnetic disturbance compensation, this method has been examined in the PRISM (Pico-satellite for Remote-sensing and Innovative Space Missions). This method will be also used for a nano-astrometry satellite mission. This paper concludes that use of the magnetic disturbance estimation and compensation are useful for nano-satellites missions which require a high accurate attitude control.

Design of Attitude Control Actuators for a Simulated Spacecraft

Science.gov (United States)

2011-03-24

however, there are many dual-use applications, such as regenerative braking technology and flywheel energy storage. The reaction wheel system on Simsat...as the reaction wheels change angular velocity. 2.3.5 Control Moment Gyroscopes. The second category of momentum ex- change devices is the control

On the morphological instability of a bubble during inertia-controlled growth

Science.gov (United States)

Martyushev, L. M.; Birzina, A. I.; Soboleva, A. S.

2018-06-01

The morphological stability of a spherical bubble growing under inertia control is analyzed. Based on the comparison of entropy productions for a distorted and undistorted surface and using the maximum entropy production principle, the morphological instability of the bubble under arbitrary amplitude distortions is shown. This result allows explaining a number of experiments where the surface roughness of bubbles was observed during their explosive-type growth.

Massive Submucosal Ganglia in Colonic Inertia.

Science.gov (United States)

Naemi, Kaveh; Stamos, Michael J; Wu, Mark Li-Cheng

2018-02-01

- Colonic inertia is a debilitating form of primary chronic constipation with unknown etiology and diagnostic criteria, often requiring pancolectomy. We have occasionally observed massively enlarged submucosal ganglia containing at least 20 perikarya, in addition to previously described giant ganglia with greater than 8 perikarya, in cases of colonic inertia. These massively enlarged ganglia have yet to be formally recognized. - To determine whether such "massive submucosal ganglia," defined as ganglia harboring at least 20 perikarya, characterize colonic inertia. - We retrospectively reviewed specimens from colectomies of patients with colonic inertia and compared the prevalence of massive submucosal ganglia occurring in this setting to the prevalence of massive submucosal ganglia occurring in a set of control specimens from patients lacking chronic constipation. - Seven of 8 specimens affected by colonic inertia harbored 1 to 4 massive ganglia, for a total of 11 massive ganglia. One specimen lacked massive ganglia but had limited sampling and nearly massive ganglia. Massive ganglia occupied both superficial and deep submucosal plexus. The patient with 4 massive ganglia also had 1 mitotically active giant ganglion. Only 1 massive ganglion occupied the entire set of 10 specimens from patients lacking chronic constipation. - We performed the first, albeit distinctly small, study of massive submucosal ganglia and showed that massive ganglia may be linked to colonic inertia. Further, larger studies are necessary to determine whether massive ganglia are pathogenetic or secondary phenomena, and whether massive ganglia or mitotically active ganglia distinguish colonic inertia from other types of chronic constipation.

Analysis of torque transmitting behavior and wheel slip prevention control during regenerative braking for high speed EMU trains

Science.gov (United States)

Xu, Kun; Xu, Guo-Qing; Zheng, Chun-Hua

2016-04-01

The wheel-rail adhesion control for regenerative braking systems of high speed electric multiple unit trains is crucial to maintaining the stability, improving the adhesion utilization, and achieving deep energy recovery. There remain technical challenges mainly because of the nonlinear, uncertain, and varying features of wheel-rail contact conditions. This research analyzes the torque transmitting behavior during regenerative braking, and proposes a novel methodology to detect the wheel-rail adhesion stability. Then, applications to the wheel slip prevention during braking are investigated, and the optimal slip ratio control scheme is proposed, which is based on a novel optimal reference generation of the slip ratio and a robust sliding mode control. The proposed methodology achieves the optimal braking performance without the wheel-rail contact information. Numerical simulation results for uncertain slippery rails verify the effectiveness of the proposed methodology.

Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

Directory of Open Access Journals (Sweden)

Hamed Navabi

2017-01-01

Full Text Available A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a regulation with one signal, (b regulation and position control with one signal, (c regulation and position control with two signals, and (d FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology.

Science.gov (United States)

Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

2017-06-15

In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP's position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice.

Virtual Inertia: Current Trends and Future Directions

Directory of Open Access Journals (Sweden)

Ujjwol Tamrakar

2017-06-01

Full Text Available The modern power system is progressing from a synchronous machine-based system towards an inverter-dominated system, with large-scale penetration of renewable energy sources (RESs like wind and photovoltaics. RES units today represent a major share of the generation, and the traditional approach of integrating them as grid following units can lead to frequency instability. Many researchers have pointed towards using inverters with virtual inertia control algorithms so that they appear as synchronous generators to the grid, maintaining and enhancing system stability. This paper presents a literature review of the current state-of-the-art of virtual inertia implementation techniques, and explores potential research directions and challenges. The major virtual inertia topologies are compared and classified. Through literature review and simulations of some selected topologies it has been shown that similar inertial response can be achieved by relating the parameters of these topologies through time constants and inertia constants, although the exact frequency dynamics may vary slightly. The suitability of a topology depends on system control architecture and desired level of detail in replication of the dynamics of synchronous generators. A discussion on the challenges and research directions points out several research needs, especially for systems level integration of virtual inertia systems.

Modeling Attitude Dynamics in Simulink: A Study of the Rotational and Translational Motion of a Spacecraft Given Torques and Impulses Generated by RMS Hand Controllers

Science.gov (United States)

Mauldin, Rebecca H.

2010-01-01

In order to study and control the attitude of a spacecraft, it is necessary to understand the natural motion of a body in orbit. Assuming a spacecraft to be a rigid body, dynamics describes the complete motion of the vehicle by the translational and rotational motion of the body. The Simulink Attitude Analysis Model applies the equations of rigid body motion to the study of a spacecraft?s attitude in orbit. Using a TCP/IP connection, Matlab reads the values of the Remote Manipulator System (RMS) hand controllers and passes them to Simulink as specified torque and impulse profiles. Simulink then uses the governing kinematic and dynamic equations of a rigid body in low earth orbit (LE0) to plot the attitude response of a spacecraft for five seconds given known applied torques and impulses, and constant principal moments of inertia.

Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-steered Mobile Robot

Directory of Open Access Journals (Sweden)

Xuan Vinh Ha

2013-04-01

Full Text Available Skid-steered mobile robots have been widely used in exploring unknown environments and in military applications. In this paper, the tuning fuzzy Vector Field Orientation (FVFO feedback control method is proposed for a four track wheel skid-steered mobile robot (4-TW SSMR using flexible fuzzy logic control (FLC. The extended Kalman filter is utilized to estimate the positions, velocities and orientation angles, which are used for feedback control signals in the FVFO method, based on the AHRS kinematic motion model and velocity constraints. In addition, in light of the wheel slip and the braking ability of the robot, we propose a new method for estimating online wheel slip parameters based on a discrete Kalman filter to compensate for the velocity constraints. As demonstrated by our experimental results, the advantages of the combination of the proposed FVFO and wheel slip estimation methods overcome the limitations of the others in the trajectory tracking control problem for a 4-TW SSMR.

Decoupling Identification for Serial Two-Link Two-Inertia System

Science.gov (United States)

Oaki, Junji; Adachi, Shuichi

The purpose of our study is to develop a precise model by applying the technique of system identification for the model-based control of a nonlinear robot arm, under taking joint-elasticity into consideration. We previously proposed a systematic identification method, called “decoupling identification,” for a “SCARA-type” planar two-link robot arm with elastic joints caused by the Harmonic-drive® reduction gears. The proposed method serves as an extension of the conventional rigid-joint-model-based identification. The robot arm is treated as a serial two-link two-inertia system with nonlinearity. The decoupling identification method using link-accelerometer signals enables the serial two-link two-inertia system to be divided into two linear one-link two-inertia systems. The MATLAB®'s commands for state-space model estimation are utilized in the proposed method. Physical parameters such as motor inertias, link inertias, joint-friction coefficients, and joint-spring coefficients are estimated through the identified one-link two-inertia systems using a gray-box approach. This paper describes accuracy evaluations using the two-link arm for the decoupling identification method under introducing closed-loop-controlled elements and varying amplitude-setup of identification-input. Experimental results show that the identification method also works with closed-loop-controlled elements. Therefore, the identification method is applicable to a “PUMA-type” vertical robot arm under gravity.

A sit-ski design aimed at controlling centre of mass and inertia.

Science.gov (United States)

Langelier, Eve; Martel, Stéphane; Millot, Anne; Lessard, Jean-Luc; Smeesters, Cécile; Rancourt, Denis

2013-01-01

This article introduces a sit-ski developed for the Canadian Alpine Ski Team in view of the Vancouver 2010 Paralympic games. The design is predominantly based on controlling the mass distribution of the sit-ski, a critical factor in skiing performance and control. Both the antero-posterior location of the centre of mass and the sit-ski moment of inertia were addressed in our design. Our design provides means to adjust the antero-posterior centre of mass location of a sit-ski to compensate for masses that would tend to move the antero-posterior centre of mass location away from the midline of the binding area along the ski axis. The adjustment range provided is as large as 140 mm, thereby providing sufficient adaptability for most situations. The suspension mechanism selected is a four-bar linkage optimised to limit antero-posterior seat movement, due to suspension compression, to 7 mm maximum. This is about 5% of the maximum antero-posterior centre of mass control capacity (151 mm) of a human participant. Foot rest inclination was included in the design to modify the sit-ski inertia by as much as 11%. Together, these mass adjustment features were shown to drastically help athletes' skiing performance.

Emotional inertia contributes to depressive symptoms beyond perseverative thinking.

Science.gov (United States)

Brose, Annette; Schmiedek, Florian; Koval, Peter; Kuppens, Peter

2015-01-01

The autocorrelation or inertia of negative affect reflects how much negative emotions carry over from moment to moment and has been associated with increased depressive symptoms. In this study, we posed three challenges to this association by examining: (1) whether emotional inertia is relevant for depressive symptoms when assessed on a longer timescale than usual; (2) whether inertia is uniquely related to depressive symptoms after controlling for perseverative thoughts; and (3) whether inertia is related to depressive symptoms over and above the within-person association between affect and perseverative thoughts. Participants (N = 101) provided ratings of affect and perseverative thoughts for 100 days; depressive symptoms were reported before and after the study, and again after 2.5 years. Day-to-day emotional inertia was related to depressive symptoms over and above trait and state perseverative thoughts. Moreover, inertia predicted depressive symptoms when adjusting for its association with perseverative thoughts. These findings establish the relevance of emotional inertia in depressive symptoms independent of perseverative thoughts.

Development of a control model for a four wheel mecanum vehicle

CSIR Research Space (South Africa)

De Villiers, M

2012-01-01

Full Text Available in this paper accounts for the fact that the contact point in fact changes position down the axle of the wheel as the angle roller moves on the ground. The developed control model is verified with experimental results. Using the refined model, control of Mecanum...

Design of driving control strategy of torque distribution for two - wheel independent drive electric vehicle

Science.gov (United States)

Zhang, Chuanwei; Zhang, Dongsheng; Wen, Jianping

2018-02-01

In order to coordinately control the torque distribution of existing two-wheel independent drive electric vehicle, and improve the energy efficiency and control stability of the whole vehicle, the control strategies based on fuzzy control were designed which adopt the direct yaw moment control as the main line. For realizing the torque coordination simulation of the two-wheel independent drive vehicle, the vehicle model, motor model and tire model were built, including the vehicle 7 - DOF dynamics model, motion equation, torque equation. Finally, in the Carsim - Simulink joint simulation platform, the feasibility of the drive control strategy was verified.

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

International Nuclear Information System (INIS)

Rezaei, Navid; Kalantar, Mohsen

2015-01-01

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

Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations

Directory of Open Access Journals (Sweden)

Rongrong Wang

2013-01-01

Full Text Available A vehicle stability control approach for four-wheel independently actuated (FWIA electric vehicles is presented. The proposed control method consists of a higher-level controller and a lower-level controller. An adaptive control-based higher-level controller is designed to yield the vehicle virtual control efforts to track the desired vehicle motions due to the possible modeling inaccuracies and parametric uncertainties. The lower-level controller considering tire force saturation is given to allocate the required control efforts to the four in-wheel motors for providing the desired tire forces. An analytic method is given to distribute the high-level control efforts, without using the numerical-optimization-based control allocation algorithms. Simulations based on a high-fidelity, CarSim, and full-vehicle model show the effectiveness of the control approach.

[The impact of therapeutic inertia and the degree of the medication adherence on the control goals for patients with diabetes].

Science.gov (United States)

López-Simarro, F; Moral, I; Aguado-Jodar, A; Cols-Sagarra, C; Mancera-Romero, J; Alonso-Fernández, M; Miravet-Jiménez, S; Brotons, C

2017-11-21

The purpose of this study was to analyse both the impact of low therapeutic adherence (TA) and therapeutic inertia (TI) on poor blood glucose control and on risk factors for heart disease in patients with DM2. A cross-sectional study was conducted in a Primary Halth Care centre. A total of 320 patients with DM2 were included and an assessment was made of control goals (HbA1c≤7%, blood pressure ≤130/80mmHg, and LDL-cholesterol≤100mg/dl). A pharmacy retrieval inertia were found in a high percentage of poorly-controlled DM2 patients with bad control. Therapeutic inertia was found to be of great relevance in this study. Copyright © 2017 Sociedad Española de Médicos de Atención Primaria (SEMERGEN). Publicado por Elsevier España, S.L.U. All rights reserved.

The accuracy of dynamic attitude propagation

Science.gov (United States)

Harvie, E.; Chu, D.; Woodard, M.

1990-01-01

Propagating attitude by integrating Euler's equation for rigid body motion has long been suggested for the Earth Radiation Budget Satellite (ERBS) but until now has not been implemented. Because of limited Sun visibility, propagation is necessary for yaw determination. With the deterioration of the gyros, dynamic propagation has become more attractive. Angular rates are derived from integrating Euler's equation with a stepsize of 1 second, using torques computed from telemetered control system data. The environmental torque model was quite basic. It included gravity gradient and unshadowed aerodynamic torques. Knowledge of control torques is critical to the accuracy of dynamic modeling. Due to their coarseness and sparsity, control actuator telemetry were smoothed before integration. The dynamic model was incorporated into existing ERBS attitude determination software. Modeled rates were then used for attitude propagation in the standard ERBS fine-attitude algorithm. In spite of the simplicity of the approach, the dynamically propagated attitude matched the attitude propagated with good gyros well for roll and yaw but diverged up to 3 degrees for pitch because of the very low resolution in pitch momentum wheel telemetry. When control anomalies significantly perturb the nominal attitude, the effect of telemetry granularity is reduced and the dynamically propagated attitudes are accurate on all three axes.

Hybrid Control Design for a Wheeled Mobile Robot

DEFF Research Database (Denmark)

Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

Hybrid Control Design for a Wheeled Mobile Robot

DEFF Research Database (Denmark)

Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

2003-01-01

We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

Hybrid Control Design for a Wheeled Mobile Robot

DEFF Research Database (Denmark)

Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

2003-01-01

We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory trackin...

WAYS TO MANAGE HEATING INERTIA

Directory of Open Access Journals (Sweden)

E. V. Biloshytskyi

2017-08-01

Full Text Available Purpose. The research paper proposes to estimate the effect of heat inertia of the water heating system, in transient operation modes, on the temperature condition in the passenger car, as well as to offer technical solutions intended to reduce the heating system inertia effect and to maintain a stable temperature condition in the passenger car premises in transitional modes of the heating system. Methodology. The author developed the method for controlling the heat transfer of heating system pipes with the help of regulating casing. To control the heating system and the heat transfer of heating pipes, two types of temperature control sensors were used in the passenger car: certain sensors interacted with regulatory casings, while the others interacted with high-voltage tubular heating element control devices. To assess the efficiency of heat interchange regulation of heating pipes and the heating system control, with installed regulating casings, the operation of the heating system with regulating casings and two types of sensors was mathematically modelled. Mathematical modelling used the experimental test data. The results of experimental tests and mathematical modelling were compared. Findings. Currently in operated passenger cars, control of heating appliances is not constructively provided. Automatic maintenance of the set temperature in a passenger car is limited to switching on and off of high-voltage tubular heating elements. The use of regulating casings on heating pipes allows reducing the effects of heat inertia and maintaining stable thermal conditions in a passenger car, using the heating system as a heat accumulator, and also provides the opportunity to realize an individual control of air temperature in the compartment. Originality. For the first time, the paper studied the alternative ways of regulating the temperature condition in a passenger car. Using of the heating system as a heat accumulator. Practical value. The

Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators

Science.gov (United States)

Zhou, Zhiqiang

2010-01-01

The accuracy of spacecraft attitude control using magnetic actuators only is low and on the order of 0.4-5 degrees. The key reason is that the magnetic torque is two-dimensional and it is only in the plane perpendicular to the magnetic field vector. In this paper novel attitude control algorithms using the combination of magnetic actuators with Reaction Wheel Assembles (RWAs) or other types of actuators, such as thrusters, are presented. The combination of magnetic actuators with one or two RWAs aligned with different body axis expands the two-dimensional control torque to three-dimensional. The algorithms can guarantee the spacecraft attitude and rates to track the commanded attitude precisely. A design example is presented for Nadir pointing, pitch and yaw maneuvers. The results show that precise attitude tracking can be reached and the attitude control accuracy is comparable with RWAs based attitude control. The algorithms are also useful for the RWAs based attitude control. When there are only one or two workable RWAs due to RWA failures, the attitude control system can switch to the control algorithms for the combined magnetic actuators with the RWAs without going to the safe mode and the control accuracy can be maintained.

Control of a perturbed under-actuated mechanical system

KAUST Repository

Zayane, Chadia

2015-11-05

In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.

Experimental Setup for Diamond Grinding Using Electrochemical InProcess Controlled Dressing (ECD of Grinding Wheel

Directory of Open Access Journals (Sweden)

M. A. Shavva

2014-01-01

Full Text Available The most effective method for finish machining of hard-metals and alloys is to use the diamond grinding wheels for grinding. An application of diamond wheels significantly increases the employee output, reduces costs, and raises manufacturing efficiency with achieving the high performance properties of treated surfaces.During grinding a working surface of diamond wheel wears out. It adversely affects the cutting capability of the diamond grains, and depending on the grinding conditions can occur through different mechanisms. Wear of diamond wheel causes distortion of its shape and reduces cutting properties. However, dressing of diamond wheels is a complicated and time-consuming operation in terms of manufacturing technique.Methods to make dressing of diamond grinding wheel have different types of classification. Classification of dressing methods by the type of energy used is as follows: mechanical, chemical, electrophysical, electromechanical, and electrochemical. All these methods have their advantages and disadvantages.Electrochemical method of dressing is the most productive and efficient. Electrochemical method comprises anode-mechanical dressing and electrochemical (electrolytic one. The paper presents the electrochemical in-process dressing (ECD and the electrolytic in-process dressing (ELID.The source of energy, grinding a wheel with metal bond, and an electrode are necessary for providing ELID. The ELID consists of several stages. The first stage is preliminary electrolytic dressing of diamond wheel. The electrolyte is placed into the gap between the wheel and electrode. The bond of the wheel is oxidized. An insulating layer is formed. It reduces an electrical conductivity of the wheel and controls consumption of diamond grains, as well as polishes the surface of the work piece. Further, the insulating layer is destroyed. The cycle of dressing begins anew.The ECD proceeds in the same way as ELID. However during the ECD-process there

Satellite Control Laboratory

DEFF Research Database (Denmark)

Wisniewski, Rafal; Bak, Thomas

2001-01-01

The Satellite Laboratory at the Department of Control Engineering of Aalborg University (SatLab) is a dynamic motion facility designed for analysis and test of micro spacecraft. A unique feature of the laboratory is that it provides a completely gravity-free environment. A test spacecraft......-axis magnetometer, three piezoelectric gyros, and four reaction wheels in a tetrahedron configuration. The operation of the spacecraft is fully autonomous. The data flow between the transducers and the onboard computer placed physically outside the satellite is provided by a radio link. The purpose...... can be implemented in the laboratory, e.g. three-axis attitude control, slew manoeuvres, spins stabilization using magnetic actuation and/or reaction wheels. The spacecraft attitude can be determined applying magnetometer measurements....

Growth, unemployment and wage inertia

OpenAIRE

Raurich, Xavier; Sorolla, Valeri

2014-01-01

We introduce wage setting via efficiency wages in the neoclassical one-sector growth model to study the growth effects of wage inertia. We compare the dynamic equilibrium of an economy with wage inertia with the equilibrium of an economy without wage inertia. We show that wage inertia affects the long run employment rate and that the transitional dynamics of the main economic variables will be different because wages are a state variable when wage inertia is introduced. In particular, we show...

Attitude Ground System (AGS) for the Magnetospheric Multi-Scale (MMS) Mission

Science.gov (United States)

Raymond, Juan C.; Sedlak, Joseph E.; Vint, Babak

2015-01-01

MMS Overview Recall from Conrads presentation earlier today MMS launch: March 13, 2015 on an Atlas V from Space Launch Complex 40, Cape Canaveral, Florida MMS Observatory Separation: five minute intervals spinning at 3 rpm approximately 1.5 hours after launch MMS Science Goals: study magnetospheric plasma physics and understand the processes that cause power grids, communication disruptions and Aurora formation Mission: 4 identical spacecraft in tetrahedral formation with variable size1.2 x 12 RE in Phase 1, with apogee on dayside to observe bow shock1.2 x 25 RE in Phase 2, with apogee on night side to observe magneto tail Challenges Tight attitude control box, orbit and formation maintenance requirements Maneuvers on thrusters every two weeks Delta-H Spin axis direction and spin rate maintenance Delta-V Orbit and Formation maintenance Mission phase transitions AGS support Smart targeting prediction of Spin-Axis attitude in the presence of environmental torques to stay within the science attitude Determination of the spacecraft attitude and spin rate (sensitive to knowledge of inertia tensor)Calibrations to improve attitude determination results and improve orbit maneuvers Mass properties (Center of Mass, and inertia tensor for nutation and coning) Accelerometer bias (sensitive to the accuracy of the rate estimates) Sensor alignments.

Linearizing feedforward/feedback attitude control

Science.gov (United States)

Paielli, Russell A.; Bach, Ralph E.

1991-01-01

An approach to attitude control theory is introduced in which a linear form is postulated for the closed-loop rotation error dynamics, then the exact control law required to realize it is derived. The nonminimal (four-component) quaternion form is used to attitude because it is globally nonsingular, but the minimal (three-component) quaternion form is used for attitude error because it has no nonlinear constraints to prevent the rotational error dynamics from being linearized, and the definition of the attitude error is based on quaternion algebra. This approach produces an attitude control law that linearizes the closed-loop rotational error dynamics exactly, without any attitude singularities, even if the control errors become large.

Generic inertia emulation controller for multi-terminal voltage-source-converter high voltage direct current systems

DEFF Research Database (Denmark)

Zhu, Jiebei; Guerrero, Josep M.; Hung, William

2014-01-01

A generic Inertia Emulation Controller (INEC) scheme for Multi-Terminal Voltage-Source-Converter based HVDC (VSC-MTDC) systems is proposed and presented in this paper. The proposed INEC can be incorporated in any Grid-side Voltage-Source-Converter (GVSC) station, allowing the MTDC terminal...

Effectiveness and clinical inertia in patients with antidiabetic therapy.

Science.gov (United States)

Machado-Duque, Manuel Enrique; Ramírez-Riveros, Adriana Carolina; Machado-Alba, Jorge Enrique

2017-06-01

To establish the effectiveness of antidiabetic therapy and the frequency of clinical inertia in the management of type 2 diabetes mellitus in Colombia. A cross-sectional study with follow-up of patients who had been treated for at least 1 year and were receiving medical consultation for antidiabetic treatment. Effectiveness was established when haemoglobin-A1c levels were inertia was reached, which was defined as no therapeutic modifications despite not achieving management controls. Sociodemographic, clinical and pharmacological variables were evaluated, and multivariate analyses were performed. In total, 363 patients with type 2 diabetes mellitus were evaluated, with a mean age of 62.0±12.2 years. A total of 1,016 consultations were evaluated, and the therapy was effective at the end of the follow-up in 57.9% of cases. Clinical inertia was found in 56.8% of patients who did not have metabolic control. The most frequently prescribed medications were metformin (84.0%), glibenclamide (23.4%) and insulin glargine (20.7%). Moreover, 57.6% of the patients were treated with two or more antidiabetic medications. Having metabolic control in the first consult of the follow-up was a protective factor against clinical inertia in the subsequent consultations (OR: 0.08; 95%CI: 0.04-0.15; Pinertia was identifiable and quantifiable and found in similar proportions to other countries. Clinical inertia is a relevant condition given that it interferes with the possibility of controlling this pathology. © 2017 John Wiley & Sons Ltd.

Frequency and time domain characteristics of digital control of electric vehicle in-wheel drives

Directory of Open Access Journals (Sweden)

Jarzebowicz Leszek

2017-12-01

Full Text Available In-wheel electric drives are promising as actuators in active safety systems of electric and hybrid vehicles. This new function requires dedicated control algorithms, making it essential to deliver models that reflect better the wheel-torque control dynamics of electric drives. The timing of digital control events, whose importance is stressed in current research, still lacks an analytical description allowing for modeling its influence on control system dynamics. In this paper, authors investigate and compare approaches to the analog and discrete analytical modeling of torque control loop in digitally controlled electric drive. Five different analytical models of stator current torque component control are compared to judge their accuracy in representing drive control dynamics related to the timing of digital control events. The Bode characteristics and stepresponse characteristics of the analytical models are then compared with those of a reference model for three commonly used cases of motor discrete control schemes. Finally, the applicability of the presented models is discussed.

High frequency vibration characteristics of electric wheel system under in-wheel motor torque ripple

Science.gov (United States)

Mao, Yu; Zuo, Shuguang; Wu, Xudong; Duan, Xianglei

2017-07-01

With the introduction of in-wheel motor, the electric wheel system encounters new vibration problems brought by motor torque ripple excitation. In order to analyze new vibration characteristics of electric wheel system, torque ripple of in-wheel motor based on motor module and vector control system is primarily analyzed, and frequency/order features of the torque ripple are discussed. Then quarter vehicle-electric wheel system (QV-EWS) dynamics model based on the rigid ring tire assumption is established and the main parameters of the model are identified according to tire free modal test. Modal characteristics of the model are further analyzed. The analysis indicates that torque excitation of in-wheel motor is prone to arouse horizontal vibration, in which in-phase rotational, anti-phase rotational and horizontal translational modes of electric wheel system mainly participate. Based on the model, vibration responses of the QV-EWS under torque ripple are simulated. The results show that unlike vertical low frequency (lower than 20 Hz) vibration excited by road roughness, broadband torque ripple will arouse horizontal high frequency (50-100 Hz) vibration of electric wheel system due to participation of the three aforementioned modes. To verify the theoretical analysis, the bench experiment of electric wheel system is conducted and vibration responses are acquired. The experiment demonstrates the high frequency vibration phenomenon of electric wheel system and the measured order features as well as main resonant frequencies agree with simulation results. Through theoretical modeling, analysis and experiments this paper reveals and explains the high frequency vibration characteristics of electric wheel system, providing references for the dynamic analysis, optimal design of QV-EWS.

Stereovision-based pose and inertia estimation of unknown and uncooperative space objects

Science.gov (United States)

Pesce, Vincenzo; Lavagna, Michèle; Bevilacqua, Riccardo

2017-01-01

Autonomous close proximity operations are an arduous and attractive problem in space mission design. In particular, the estimation of pose, motion and inertia properties of an uncooperative object is a challenging task because of the lack of available a priori information. This paper develops a novel method to estimate the relative position, velocity, angular velocity, attitude and the ratios of the components of the inertia matrix of an uncooperative space object using only stereo-vision measurements. The classical Extended Kalman Filter (EKF) and an Iterated Extended Kalman Filter (IEKF) are used and compared for the estimation procedure. In addition, in order to compute the inertia properties, the ratios of the inertia components are added to the state and a pseudo-measurement equation is considered in the observation model. The relative simplicity of the proposed algorithm could be suitable for an online implementation for real applications. The developed algorithm is validated by numerical simulations in MATLAB using different initial conditions and uncertainty levels. The goal of the simulations is to verify the accuracy and robustness of the proposed estimation algorithm. The obtained results show satisfactory convergence of estimation errors for all the considered quantities. The obtained results, in several simulations, shows some improvements with respect to similar works, which deal with the same problem, present in literature. In addition, a video processing procedure is presented to reconstruct the geometrical properties of a body using cameras. This inertia reconstruction algorithm has been experimentally validated at the ADAMUS (ADvanced Autonomous MUltiple Spacecraft) Lab at the University of Florida. In the future, this different method could be integrated to the inertia ratios estimator to have a complete tool for mass properties recognition.

A fuzzy logic sliding mode controlled electronic differential for a direct wheel drive EV

Science.gov (United States)

Ozkop, Emre; Altas, Ismail H.; Okumus, H. Ibrahim; Sharaf, Adel M.

2015-11-01

In this study, a direct wheel drive electric vehicle based on an electronic differential system with a fuzzy logic sliding mode controller (FLSMC) is studied. The conventional sliding surface is modified using a fuzzy rule base to obtain fuzzy dynamic sliding surfaces by changing its slopes using the global error and its derivative in a fuzzy logic inference system. The controller is compared with proportional-integral-derivative (PID) and sliding mode controllers (SMCs), which are usually preferred to be used in industry. The proposed controller provides robustness and flexibility to direct wheel drive electric vehicles. The fuzzy logic sliding mode controller, electronic differential system and the overall electrical vehicle mechanism are modelled and digitally simulated by using the Matlab software. Simulation results show that the system with FLSMC has better efficiency and performance compared to those of PID and SMCs.

Fault Detection and Correction for the Solar Dynamics Observatory Attitude Control System

Science.gov (United States)

Starin, Scott R.; Vess, Melissa F.; Kenney, Thomas M.; Maldonado, Manuel D.; Morgenstern, Wendy M.

2007-01-01

The Solar Dynamics Observatory is an Explorer-class mission that will launch in early 2009. The spacecraft will operate in a geosynchronous orbit, sending data 24 hours a day to a devoted ground station in White Sands, New Mexico. It will carry a suite of instruments designed to observe the Sun in multiple wavelengths at unprecedented resolution. The Atmospheric Imaging Assembly includes four telescopes with focal plane CCDs that can image the full solar disk in four different visible wavelengths. The Extreme-ultraviolet Variability Experiment will collect time-correlated data on the activity of the Sun's corona. The Helioseismic and Magnetic Imager will enable study of pressure waves moving through the body of the Sun. The attitude control system on Solar Dynamics Observatory is responsible for four main phases of activity. The physical safety of the spacecraft after separation must be guaranteed. Fine attitude determination and control must be sufficient for instrument calibration maneuvers. The mission science mode requires 2-arcsecond control according to error signals provided by guide telescopes on the Atmospheric Imaging Assembly, one of the three instruments to be carried. Lastly, accurate execution of linear and angular momentum changes to the spacecraft must be provided for momentum management and orbit maintenance. In thsp aper, single-fault tolerant fault detection and correction of the Solar Dynamics Observatory attitude control system is described. The attitude control hardware suite for the mission is catalogued, with special attention to redundancy at the hardware level. Four reaction wheels are used where any three are satisfactory. Four pairs of redundant thrusters are employed for orbit change maneuvers and momentum management. Three two-axis gyroscopes provide full redundancy for rate sensing. A digital Sun sensor and two autonomous star trackers provide two-out-of-three redundancy for fine attitude determination. The use of software to maximize

Mars Thermal Inertia

Science.gov (United States)

2001-01-01

This image shows the global thermal inertia of the Martian surface as measured by the Thermal Emission Spectrometer (TES) instrument on the Mars Global Surveyor. The data were acquired during the first 5000 orbits of the MGS mapping mission. The pattern of inertia variations observed by TES agrees well with the thermal inertia maps made by the Viking Infrared Thermal Mapper experiment, but the TES data shown here are at significantly higher spatial resolution (15 km versus 60 km).The TES instrument was built by Santa Barbara Remote Sensing and is operated by Philip R. Christensen, of Arizona State University, Tempe, AZ.

Aircraft Landing and Attitude Control Using Dynamic Matrix Control

Directory of Open Access Journals (Sweden)

George Cristian Calugaru

2017-06-01

Full Text Available This paper proposes a method for an efficient control of the aircraft landing and attitude through Dynamic Matrix Control. The idea of MPC structures used in aircraft control has been well established during the last few years, but some aspects require further investigation. With this in mind, the paper proposes structures for aircraft landing and aircraft attitude control by using single DMC controllers for landing and respectively one DMC controller for each of the attitude axis (pitch attitude hold, bank angle hold and heading hold. The model used for analysis of the aircraft landing structure is based on the last phase of landing. Also, the model used to illustrate the attitude control is that of a pitch attitude hold system of a N250-100 aircraft. Simulations are performed for a variety of control and prediction horizons, taking into account the possibility of adding a weighting factor for the control actions. Apart from separate studies on step reference variations, for some use cases, a generic reference trajectory is provided as a control purpose of the system. Results show a better performance of the proposed method in terms of control surface transition and protection of the actuators involved and a better time response in stabilizing the aircraft attitude. Overall, the aspects shown ensure an improved aircraft attitude control and landing stabilization.

Computer numerically controlled (CNC) aspheric shaping with toroidal Wheels (Abstract Only)

Science.gov (United States)

Ketelsen, D.; Kittrell, W. C.; Kuhn, W. M.; Parks, R. E.; Lamb, George L.; Baker, Lynn

1987-01-01

Contouring with computer numerically controlled (CNC) machines can be accomplished with several different tool geometries and coordinated machine axes. To minimize the number of coordinated axes for nonsymmetric work to three, it is common practice to use a spherically shaped tool such as a ball-end mill. However, to minimize grooving due to the feed and ball radius, it is desirable to use a long ball radius, but there is clearly a practical limit to ball diameter with the spherical tool. We have found that the use of commercially available toroidal wheels permits long effective cutting radii, which in turn improve finish and minimize grooving for a set feed. In addition, toroidal wheels are easier than spherical wheels to center accurately. Cutting parameters are also easier to control because the feed rate past the tool does not change as the slope of the work changes. The drawback to the toroidal wheel is the more complex calculation of the tool path. Of course, once the algorithm is worked out, the tool path is as easily calculated as for a spherical tool. We have performed two experiments with the Large Optical Generator (LOG) that were ideally suited to three-axis contouring--surfaces that have no axis of rotational symmetry. By oscillating the cutting head horizontally or vertically (in addition to the motions required to generate the power of the surface) , and carefully coordinating those motions with table rotation, the mostly astigmatic departure for these surfaces is produced. The first experiment was a pair of reflector molds that together correct the spherical aberration of the Arecibo radio telescope. The larger of these was 5 m in diameter and had a 12 cm departure from the best-fit sphere. The second experiment was the generation of a purely astigmatic surface to demonstrate the feasibility of producing axially symmetric asphe.rics while mounted and rotated about any off-axis point. Measurements of the latter (the first experiment had relatively

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...

An adaptive unscented Kalman filter-based adaptive tracking control for wheeled mobile robots with control constrains in the presence of wheel slipping

Directory of Open Access Journals (Sweden)

Mingyue Cui

2016-09-01

Full Text Available A novel control approach is proposed for trajectory tracking of a wheeled mobile robot with unknown wheels’ slipping. The longitudinal and lateral slipping are considered and processed as three time-varying parameters. The adaptive unscented Kalman filter is then designed to estimate the slipping parameters online, an adaptive adjustment of the noise covariances in the estimation process is implemented using a technique of covariance matching in the adaptive unscented Kalman filter context. Considering the practical physical constrains, a stable tracking control law for this robot system is proposed by the backstepping method. Asymptotic stability is guaranteed by Lyapunov stability theory. Control gains are determined online by applying pole placement method. Simulation and real experiment results show the effectiveness and robustness of the proposed control method.

Phylogenetic inertia and Darwin's higher law.

Science.gov (United States)

Shanahan, Timothy

2011-03-01

The concept of 'phylogenetic inertia' is routinely deployed in evolutionary biology as an alternative to natural selection for explaining the persistence of characteristics that appear sub-optimal from an adaptationist perspective. However, in many of these contexts the precise meaning of 'phylogenetic inertia' and its relationship to selection are far from clear. After tracing the history of the concept of 'inertia' in evolutionary biology, I argue that treating phylogenetic inertia and natural selection as alternative explanations is mistaken because phylogenetic inertia is, from a Darwinian point of view, simply an expected effect of selection. Although Darwin did not discuss 'phylogenetic inertia,' he did assert the explanatory priority of selection over descent. An analysis of 'phylogenetic inertia' provides a perspective from which to assess Darwin's view. Copyright © 2010 Elsevier Ltd. All rights reserved.

Adaptive Backstepping Self-balancing Control of a Two-wheel Electric Scooter

Directory of Open Access Journals (Sweden)

Nguyen Ngoc Son

2014-10-01

Full Text Available This paper introduces an adaptive backstepping control law for a two-wheel electric scooter (eScooter with a nonlinear uncertain model. Adaptive backstepping control is integrated with feedback control that satisfies Lyapunov stability. By using the recursive structure to find the controlled function and estimate uncertain parameters, an adaptive backstepping method allows us to build a feedback control law that efficiently controls a self-balancing controller of the eScooter. Additionally, a controller area network (CAN bus with high reliability is applied for communicating between the modules of the eScooter. Simulation and experimental results demonstrate the robustness and good performance of the proposed adaptive backstepping control.

Mobility potential of a robotic six-wheeled omnidirectional drive vehicle (ODV) with z-axis and tire inflation control

Science.gov (United States)

Witus, Gary

2000-07-01

Robot vehicle mobility is the product of the physical configuration, mechatronics (sensors, actuators, and control) and the motion programs for different obstacles, terrain conditions, and maneuver objectives. This paper examines the mobility potential of a robotic 6-by-6 wheeled omni-directional drive vehicle (ODV) with z-axis and tire inflation control. Ad ODV can steer and drive all wheels independently. The direction of motion is independent of the orientation of the body. Z- axis control refers to independent control of the suspension elevation at each wheel. Pneumatic tire inflation control provides the ability to inflate and deflate individual tires. The paper describes motion programs for various discrete obstacles and challenging terrain conditions. The paper illustrates how ODV control, z-axis control and tire inflation control interact to provide high mobility with respect to cornering, maneuvering on slopes, negotiating vertical step and horizontal gap obstacles, and braking/acceleration on soft soil and slick surfaces. The paper derives guidelines for the physical dimensions of the vehicle needed to achieve these capabilities.

Reliable fuzzy H∞ control for active suspension of in-wheel motor driven electric vehicles with dynamic damping

Science.gov (United States)

Shao, Xinxin; Naghdy, Fazel; Du, Haiping

2017-03-01

A fault-tolerant fuzzy H∞ control design approach for active suspension of in-wheel motor driven electric vehicles in the presence of sprung mass variation, actuator faults and control input constraints is proposed. The controller is designed based on the quarter-car active suspension model with a dynamic-damping-in-wheel-motor-driven-system, in which the suspended motor is operated as a dynamic absorber. The Takagi-Sugeno (T-S) fuzzy model is used to model this suspension with possible sprung mass variation. The parallel-distributed compensation (PDC) scheme is deployed to derive a fault-tolerant fuzzy controller for the T-S fuzzy suspension model. In order to reduce the motor wear caused by the dynamic force transmitted to the in-wheel motor, the dynamic force is taken as an additional controlled output besides the traditional optimization objectives such as sprung mass acceleration, suspension deflection and actuator saturation. The H∞ performance of the proposed controller is derived as linear matrix inequalities (LMIs) comprising three equality constraints which are solved efficiently by means of MATLAB LMI Toolbox. The proposed controller is applied to an electric vehicle suspension and its effectiveness is demonstrated through computer simulation.

Effectiveness and clinical inertia in the management of hypertension in patients in Colombia.

Science.gov (United States)

Machado-Duque, Manuel Enrique; Ramírez-Valencia, Diana Marcela; Medina-Morales, Diego Alejandro; Machado-Alba, Jorge Enrique

2015-11-01

Determine the effectiveness of treatment and the frequency of clinical inertia in the management of hypertension in Colombian patients. A retrospective study with prospective follow-up of individuals on antihypertensive medication who were treated on medical consultation for 1 year was conducted in 20 Colombian cities. Clinical inertia was considered when no modification of therapy occurred despite not achieving control goals. A total of 355 hypertensive patients were included. From a total of 1142 consultations, therapy was effective in 81.7% of cases. In 18.3% of the cases, the control goal was not achieved, and of these, 81.8% were considered clinical inertia. A logistic regression showed that the use of antidiabetics (odds ratio: 2.31; 95% confidence interval: 1.290-4.167; P = .008) was statistically associated with an increased risk of clinical inertia. With a determination of the frequency of inertia and the high effectiveness of antihypertensive treatment, valuable information can be provided to understand the predictors of clinical inertia. Copyright © 2015 American Society of Hypertension. Published by Elsevier Inc. All rights reserved.

Thermal inertia of eclipsing binary asteroids : the role of component shape

NARCIS (Netherlands)

Mueller, Michael; van de Weijgaert, Marlies

2015-01-01

Thermal inertia controls the temperature distribution on asteroid surfaces. This is of crucial importance to the Yarkovsky effect and for the planning of spacecraft operations on or near the surface. Additionally, thermal inertia is a sensitive indicator for regolith structure.A uniquely direct way

Momentum accumulation due to solar radiation torque, and reaction wheel sizing, with configuration optimization

Science.gov (United States)

Hablani, Hari B.

1993-01-01

This paper has a two-fold objective: determination of yearly momentum accumulation due to solar radiation pressure, and optimum reaction wheel sizing. The first objective is confronted while determining propellant consumption by the attitude control system over a spacecraft's lifetime. This, however, cannot be obtained from the daily momentum accumulation and treating that constant throughout the year, because the orientation of the solar arrays relative to the spacecraft changes over a wide range in a year, particularly if the spacecraft has two arrays, one normal and the other off-normal to different extent at different times to the sun rays. The paper first develops commands for the arrays for tracking the sun, the arrays articulated to earth-pointing spacecraft with two rotational degrees of freedom, and spacecraft in an arbitrary circular orbit. After developing expressions for solar radiation torque due to one or both arrays, arranged symmetrically or asymmetrically relative to the spacecraft bus, momentum accumulation over an orbit and then over a year are determined. The remainder of the paper is concerned with designing reaction wheel configurations. Four-, six-, and three-wheel configurations are considered, and for given torque and momentum requirements, their cant angles with the roll/yaw plane are optimized for minimum power consumption. Finally, their momentum and torque capacities are determined for one-wheel failure scenario, and six configurations are compared and contrasted.

Differential Control Strategy based on an Equal Slip Rate for an All-wheel Electricdrive Underground Articulated Dumping Truck

Directory of Open Access Journals (Sweden)

Jin Chun

2014-09-01

Full Text Available A differential control strategy based on equal slip rates is introduced to improve the steering stability of an all-wheelelectric-drive underground articulated dumping truck. Steering kinematic and dynamic models of the truck are derived to describe the movement relationship and force of the driving wheels. In consideration of the difficulty of obtaining the absolute velocity for an all-wheel-drive truck, an acceleration sensor was set on a test truck, and a kalman filter was applied to obtain the actual value for the truck body. Simulation results for an equal-slip control strategy were compared with experimental results for an equal-torque control strategy. In the simulation, the four-wheel slip rate was 0.08 and the steering system of the truck was stable. The results verify that the equal-slip control strategy makes better use of the ground adhesion coefficient, is able to reasonably distribute drive power, notably reduces tire wear, and improves the use of driving power.

Fractional Control of An Active Four-wheel-steering Vehicle

Science.gov (United States)

Wang, Tianting; Tong, Jun; Chen, Ning; Tian, Jie

2018-03-01

A four-wheel-steering (4WS) vehicle model and reference model with a drop filter are constructed. The decoupling of 4WS vehicle model is carried out. And a fractional PIλDμ controller is introduced into the decoupling strategy to reduce the effects of the uncertainty of the vehicle parameters as well as the unmodelled dynamics on the system performance. Based on optimization techniques, the design of fractional controller are obtained to ensure the robustness of 4WS vehicle during the special range of frequencies through proper choice of the constraints. In order to compare with fractional robust controller, an optimal controller for the same vehicle is also designed. The simulations of the two control systems are carried out and it reveals that the decoupling and fractional robust controller is able to make vehicle model trace the reference model very well with better robustness.

Discrete Globalised Dual Heuristic Dynamic Programming in Control of the Two-Wheeled Mobile Robot

Directory of Open Access Journals (Sweden)

Marcin Szuster

2014-01-01

Full Text Available Network-based control systems have been emerging technologies in the control of nonlinear systems over the past few years. This paper focuses on the implementation of the approximate dynamic programming algorithm in the network-based tracking control system of the two-wheeled mobile robot, Pioneer 2-DX. The proposed discrete tracking control system consists of the globalised dual heuristic dynamic programming algorithm, the PD controller, the supervisory term, and an additional control signal. The structure of the supervisory term derives from the stability analysis realised using the Lyapunov stability theorem. The globalised dual heuristic dynamic programming algorithm consists of two structures: the actor and the critic, realised in a form of neural networks. The actor generates the suboptimal control law, while the critic evaluates the realised control strategy by approximation of value function from the Bellman’s equation. The presented discrete tracking control system works online, the neural networks’ weights adaptation process is realised in every iteration step, and the neural networks preliminary learning procedure is not required. The performance of the proposed control system was verified by a series of computer simulations and experiments realised using the wheeled mobile robot Pioneer 2-DX.

A new validation technique for estimations of body segment inertia tensors: Principal axes of inertia do matter.

Science.gov (United States)

Rossi, Marcel M; Alderson, Jacqueline; El-Sallam, Amar; Dowling, James; Reinbolt, Jeffrey; Donnelly, Cyril J

2016-12-08

The aims of this study were to: (i) establish a new criterion method to validate inertia tensor estimates by setting the experimental angular velocity data of an airborne objects as ground truth against simulations run with the estimated tensors, and (ii) test the sensitivity of the simulations to changes in the inertia tensor components. A rigid steel cylinder was covered with reflective kinematic markers and projected through a calibrated motion capture volume. Simulations of the airborne motion were run with two models, using inertia tensor estimated with geometric formula or the compound pendulum technique. The deviation angles between experimental (ground truth) and simulated angular velocity vectors and the root mean squared deviation angle were computed for every simulation. Monte Carlo analyses were performed to assess the sensitivity of simulations to changes in magnitude of principal moments of inertia within ±10% and to changes in orientation of principal axes of inertia within ±10° (of the geometric-based inertia tensor). Root mean squared deviation angles ranged between 2.9° and 4.3° for the inertia tensor estimated geometrically, and between 11.7° and 15.2° for the compound pendulum values. Errors up to 10% in magnitude of principal moments of inertia yielded root mean squared deviation angles ranging between 3.2° and 6.6°, and between 5.5° and 7.9° when lumped with errors of 10° in principal axes of inertia orientation. The proposed technique can effectively validate inertia tensors from novel estimation methods of body segment inertial parameter. Principal axes of inertia orientation should not be neglected when modelling human/animal mechanics. Copyright © 2016 Elsevier Ltd. All rights reserved.

Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera

National Research Council Canada - National Science Library

Chen, J; Dixon, W. E; Dawson, D. M; Chitrakaran, V. K

2004-01-01

In this paper, a visual servo tracking controller for a wheeled mobile robot (WMR) is developed that utilizes feedback from a monocular camera system that is mounted with a fixed position and orientation...

Mechanical Design Engineering Enabler Project wheel and wheel drives

Science.gov (United States)

Nutt, Richard E.; Couch, Britt K.; Holley, John L., Jr.; Garris, Eric S.; Staut, Paul V.

1992-01-01

Our group was assigned the responsibility of designing the wheel and wheel drive system for a proof-of-concept model of the lunar-based ENABLER. ENABLER is a multi-purpose, six wheeled vehicle designed to lift and transport heavy objects associated with the construction of a lunar base. The resulting design was based on the performance criteria of the ENABLER. The drive system was designed to enable the vehicle to achieve a speed of 7 mph on a level surface, climb a 30 percent grade, and surpass a one meter high object and one meter wide crevice. The wheel assemblies were designed to support the entire weight of the vehicle on two wheels. The wheels were designed to serve as the main component of the vehicle's suspension and will provide suitable traction for lunar-type surfaces. The expected performance of the drive system for the ENABLER was influenced by many mechanical factors. The expected top speed on a level sandy surface is 4 mph instead of the desired 7 mph. This is due to a lack of necessary power at the wheels. The lack of power resulted from dimension considerations that allowed only an eight horsepower engine and also from mechanical inefficiencies of the hydraulic system. However, the vehicle will be able to climb a 30 percent grade, surpass a one meter high object and one meter wide crevice. The wheel assemblies will be able to support the entire weight of the vehicle on two wheels. The wheels will also provide adequate suspension for the vehicle and sufficient traction for lunar-type surfaces.

Desiccant wheel thermal performance modeling for indoor humidity optimal control

International Nuclear Information System (INIS)

Wang, Nan; Zhang, Jiangfeng; Xia, Xiaohua

2013-01-01

Highlights: • An optimal humidity control model is formulated to control the indoor humidity. • MPC strategy is used to implement the optimal operation solution. • Practical applications of the MPC strategy is illustrated by the case study. - Abstract: Thermal comfort is an important concern in the energy efficiency improvement of commercial buildings. Thermal comfort research focuses mostly on temperature control, but humidity control is an important aspect to maintain indoor comfort too. In this paper, an optimal humidity control model (OHCM) is presented. Model predictive control (MPC) strategy is applied to implement the optimal operation of the desiccant wheel during working hours of a commercial building. The OHCM is revised to apply the MPC strategy. A case is studied to illustrate the practical applications of the MPC strategy

A Change of Inertia-Supporting the Thrust Vector Control of the Space Launch System

Science.gov (United States)

Dziubanek, Adam J.

2012-01-01

The Space Launch System (SLS) is America's next launch vehicle. To utilize the vehicle more economically, heritage hardware from the Space Transportation System (STS) will be used when possible. The Solid Rocket Booster (SRB) actuators could possibly be used in the core stage of the SLS. The dynamic characteristics of the SRB actuator will need to be tested on an Inertia Load Stand (ILS) that has been converted to Space Shuttle Main Engine (SSME). The inertia on the pendulum of the ILS will need to be changed to match the SSME inertia. In this testing environment an SRB actuator can be tested with the equivalent resistence of an SSME.

Clinical inertia in the pharmacological management of hypertension: A systematic review and meta-analysis.

Science.gov (United States)

Milman, Tal; Joundi, Raed A; Alotaibi, Naif M; Saposnik, Gustavo

2018-06-01

Clinical Inertia is defined as "failure of health care providers to initiate or intensify therapy according to current guidelines". This phenomenon is gaining increasing attention as a major cause of clinicians' failure to adequately manage hypertension, thus leading to an increased incidence of cardiovascular events. We performed a systematic review and meta-analysis of randomized controlled trials to determine whether interventions aimed at reducing clinical inertia in the pharmacological treatment of hypertension improve blood pressure (BP) control. MEDLINE, Embase, and Cochrane Database of Systematic Reviews were searched from the start of their database until October 3, 2017 for the MESH terms "Hypertension" or "Blood Pressure", their subheadings, and the keywords "Therapeutic Inertia" or "Clinical Inertia". Studies were included if they addressed pharmacologic hypertension management, clinical inertia, were randomized controlled trials, reported an outcome describing prescriber behavior, and were available in English. Data for the included studies was extracted by two independent observers. Quality of studies was analyzed using the Cochrane Risk of Bias Assessment. Data was pooled for statistical analysis using both fixed- and random-effects models. The primary study outcome was the percentage of patients achieving blood pressure control as defined by the Joint National Committee guidelines or study authors. Of 474 citations identified, ten met inclusion criteria comprising a total of 26,871 patients, and eight were selected for meta-analysis. Interventions included Physician Education, Physician Reminders, Patient Education, Patient Reminders, Ambulatory BP Monitoring, Digital Medication Offerings, Physician Peer Visits, and Pharmacist-led Counselling. Pooled event rates revealed more patients with controlled BP in the intervention group versus control (55%, 95% CI 46-63% versus 45%, 95% CI 37-53%) and interventions significantly improved the odds of BP

Frequency participation by using virtual inertia in wind turbines including energy storage

DEFF Research Database (Denmark)

Xiao, Zhao xia; Huang, Yu; Guerrero, Josep M.

2017-01-01

With the increase of wind generation penetration, power fluctuations and weak inertia may attempt to the power system frequency stability. In this paper, in order to solve this problem, a hierarchical control strategy is proposed for permanent magnet synchronous generator (PMSG) based wind turbine...... (WT) and battery unit (BU). A central controller forecasts wind speed and determines system operation states to be sent to the local controllers. These local controllers include MPPT, virtual inertia, and pitch control for the WT; and power control loops for the BU. The proposed approach achieve...

Thermal Inertia of Rocks and Rock Populations

Science.gov (United States)

Golombek, M. P.; Jakosky, B. M.; Mellon, M. T.

2001-01-01

The effective thermal inertia of rock populations on Mars and Earth is derived from a model of effective inertia versus rock diameter. Results allow a parameterization of the effective rock inertia versus rock abundance and bulk and fine component inertia. Additional information is contained in the original extended abstract.

Development and Validation of the Sleep Inertia Questionnaire (SIQ) and Assessment of Sleep Inertia in Analogue and Clinical Depression.

Science.gov (United States)

Kanady, Jennifer C; Harvey, Allison G

2015-10-01

Sleep inertia is the transitional state from sleep to wake. Research on sleep inertia is important in depression because many people with depression report having difficulty getting out of bed, which contributes to impairment and can impede the implementation of interventions. The first aim was to develop and validate the first self-report measure of sleep inertia, the Sleep Inertia Questionnaire (SIQ). The second aim was to compare reports of sleep inertia across three groups: (1) No-to-Mild-Depression, (2) Analogue-Depression, and (3) Syndromal-Depression. The SIQ demonstrates strong psychometric properties; it has good to excellent internal consistency, strong construct validity, and SIQ severity is associated with less prior sleep duration. Sleep inertia is more severe in the Analogue-Depression and Syndromal-Depression groups compared to the No-to-Mild-Depression group. In conclusion, the SIQ is a reliable measure of sleep inertia and has potential for improving the assessment of sleep inertia in clinical and research settings.

Flapping inertia for selected rotor blades

Science.gov (United States)

Berry, John D.; May, Matthew J.

1991-01-01

Aerodynamics of helicopter rotor systems cannot be investigated without consideration for the dynamics of the rotor. One of the principal properties of the rotor which affects the rotor dynamics is the inertia of the rotor blade about its root attachment. Previous aerodynamic investigation have been performed on rotor blades with a variety of planforms to determine the performance differences due to blade planform. The blades tested for this investigation have been tested on the U.S. Army 2 meter rotor test system (2MRTS) in the NASA Langley 14 by 22 foot subsonic tunnel for hover performance. This investigation was intended to provide fundamental information on the flapping inertia of five rotor blades with differing planforms. The inertia of the bare cuff and the cuff with a blade extension were also measured for comparison with the inertia of the blades. Inertia was determined using a swing testing technique, using the period of oscillation to determine the effective flapping inertia. The effect of damping in the swing test was measured and described. A comparison of the flapping inertials for rectangular and tapered planform blades of approximately the same mass showed the tapered blades to have a lower inertia, as expected.

A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

Science.gov (United States)

Li, Yuankai; Ding, Liang; Zheng, Zhizhong; Yang, Qizhi; Zhao, Xingang; Liu, Guangjun

2018-05-01

For motion control of wheeled planetary rovers traversing on deformable terrain, real-time terrain parameter estimation is critical in modeling the wheel-terrain interaction and compensating the effect of wheel slipping. A multi-mode real-time estimation method is proposed in this paper to achieve accurate terrain parameter estimation. The proposed method is composed of an inner layer for real-time filtering and an outer layer for online update. In the inner layer, sinkage exponent and internal frictional angle, which have higher sensitivity than that of the other terrain parameters to wheel-terrain interaction forces, are estimated in real time by using an adaptive robust extended Kalman filter (AREKF), whereas the other parameters are fixed with nominal values. The inner layer result can help synthesize the current wheel-terrain contact forces with adequate precision, but has limited prediction capability for time-variable wheel slipping. To improve estimation accuracy of the result from the inner layer, an outer layer based on recursive Gauss-Newton (RGN) algorithm is introduced to refine the result of real-time filtering according to the innovation contained in the history data. With the two-layer structure, the proposed method can work in three fundamental estimation modes: EKF, REKF and RGN, making the method applicable for flat, rough and non-uniform terrains. Simulations have demonstrated the effectiveness of the proposed method under three terrain types, showing the advantages of introducing the two-layer structure.

Discrete Globalised Dual Heuristic Dynamic Programming in Control of the Two-Wheeled Mobile Robot

OpenAIRE

Marcin Szuster; Zenon Hendzel

2014-01-01

Network-based control systems have been emerging technologies in the control of nonlinear systems over the past few years. This paper focuses on the implementation of the approximate dynamic programming algorithm in the network-based tracking control system of the two-wheeled mobile robot, Pioneer 2-DX. The proposed discrete tracking control system consists of the globalised dual heuristic dynamic programming algorithm, the PD controller, the supervisory term, and an additional control signal...

Emergency department patients self-report higher patient inertia, hopelessness, and harmful lifestyle choices than community counterparts.

Science.gov (United States)

Joyner, JaNae; Moore, Ashley R; Mount, David L; Simmons, Debra R; Ferrario, Carlos M; Cline, David M

2012-12-01

Patient inertia is defined as an individual's failure to take responsibility for proactive lifestyle change and health conditions including hypertension. Generalized and hypertension-specific patient inertia factors were compared in 110 patients (48% women; 52% African American) from a Forsyth County, NC, emergency department (ED) and 104 community members (79% women; 70% African American) using the patient inertia-facilitated survey Patient Inertia-36. Statistically, more ED than community participants added salt to food at the table and consumed fast foods 5 to 7 days a week. ED patients agreed less often with health literacy questions about salt and BP. Hypertension associated Patient inertia questions asked of 45 ED and 40 community participants with a personal history of hypertension revealed a statistically higher sense of hopelessness surrounding blood pressure management in ED participants. Past BP control experiences of family members had statistically greater impact on community participants regarding their own BP control. Using a logistic regression model, advancing age and being surveyed in the ED were correlated with hopelessness towards BP control. ED patients make unhealthier diet choices and possess heightened generalized and hypertension-specific patient inertia including hopelessness towards controlling their BP that increases with age. These factors may contribute to this population's poor BP control, particularly self-efficacy barriers. © 2012 Wiley Periodicals, Inc.

Satellite Control Laboratory

DEFF Research Database (Denmark)

Wisniewski, Rafal; Bak, Thomas

2001-01-01

The Satellite Laboratory at the Department of Control Engineering of Aalborg University (SatLab) is a dynamic motion facility designed for analysis and test of micro spacecraft. A unique feature of the laboratory is that it provides a completely gravity-free environment. A test spacecraft...... of the laboratory is to conduct dynamic tests of the control and attitude determination algorithms during nominal operation and in abnormal conditions. Further it is intended to use SatLab for validation of various algorithms for fault detection, accommodation and supervisory control. Different mission objectives...... can be implemented in the laboratory, e.g. three-axis attitude control, slew manoeuvres, spins stabilization using magnetic actuation and/or reaction wheels. The spacecraft attitude can be determined applying magnetometer measurements...

Primary uterine inertia in four labrador bitches.

Science.gov (United States)

Davidson, Autumn P

2011-01-01

Uterine inertia is a common cause of dystocia in the bitch and is designated as primary (i.e., uterine contractions fail to ever be initiated) or secondary (i.e., uterine contractions cease after a period of time but before labor is completed). The etiology of primary uterine inertia is not well understood. The accurate diagnosis of primary uterine inertia requires the use of tocodynamometry (uterine monitoring). Primary uterine inertia has been postulated to result from a failure of luteolysis resulting in persistently elevated progesterone concentrations. In this study, primary uterine inertia was diagnosed in a series of four bitches in which luteolysis was documented suggesting some other etiopathogenesis for primary uterine inertia.

Dynamic motion stabilization for front-wheel drive in-wheel motor electric vehicles

Directory of Open Access Journals (Sweden)

Jia-Sheng Hu

2015-12-01

Full Text Available This article presents a new dynamic motion stabilization approach to front-wheel drive in-wheel motor electric vehicles. The approach includes functions such as traction control system, electronic differential system, and electronic stability control. The presented electric vehicle was endowed with anti-skid performance in longitudinal accelerated start; smooth turning with less tire scrubbing; and safe driving experience in two-dimensional steering. The analysis of the presented system is given in numerical derivations. For practical verifications, this article employed a hands-on electric vehicle named Corsa-electric vehicle to carry out the tests. The presented approach contains an integrated scheme which can achieve the mentioned functions in a single microprocessor. The experimental results demonstrated the effectiveness and feasibility of the presented methodology.

A sub-target approach to the kinodynamic motion control of a wheeled mobile robot

Science.gov (United States)

Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi

2018-02-01

A mobile robot with two independently driven wheels is popular, but it is difficult to stabilize it by a continuous controller with a constant gain, due to its nonholonomic property. It is guaranteed that a nonholonomic controlled object can always be converged to an arbitrary point using a switching control method or a quasi-continuous control method based on an invariant manifold in a chained form. From this, the authors already proposed a kinodynamic controller to converge the states of such a two-wheeled mobile robot to the arbitrary target position while avoiding obstacles, by combining the control based on the invariant manifold and the harmonic potential field (HPF). On the other hand, it was confirmed in the previous research that there is a case that the robot cannot avoid the obstacle because there is no enough space to converge the current state to the target state. In this paper, we propose a method that divides the final target position into some sub-target positions and moves the robot step by step, and it is confirmed by the simulation that the robot can converge to the target position while avoiding obstacles using the proposed method.

Effects of Inertia on Evolutionary Prisoner's Dilemma Game

Science.gov (United States)

Du, Wen-Bo; Cao, Xian-Bin; Liu, Run-Ran; Wang, Zhen

2012-09-01

Considering the inertia of individuals in real life, we propose a modified Fermi updating rule, where the inertia of players is introduced into evolutionary prisoner's dilemma game (PDG) on square lattices. We mainly focus on how the inertia affects the cooperative behavior of the system. Interestingly, we find that the cooperation level has a nonmonotonic dependence on the inertia: with small inertia, cooperators will soon be invaded by defectors; with large inertia, players are unwilling to change their strategies and the cooperation level remains the same as the initial state; while a moderate inertia can induce the highest cooperation level. Moreover, effects of environmental noise and individual inertia are studied. Our work may be helpful in understanding the emergence and persistence of cooperation in nature and society.

Fault estimation of satellite reaction wheels using covariance based adaptive unscented Kalman filter

Science.gov (United States)

Rahimi, Afshin; Kumar, Krishna Dev; Alighanbari, Hekmat

2017-05-01

Reaction wheels, as one of the most commonly used actuators in satellite attitude control systems, are prone to malfunction which could lead to catastrophic failures. Such malfunctions can be detected and addressed in time if proper analytical redundancy algorithms such as parameter estimation and control reconfiguration are employed. Major challenges in parameter estimation include speed and accuracy of the employed algorithm. This paper presents a new approach for improving parameter estimation with adaptive unscented Kalman filter. The enhancement in tracking speed of unscented Kalman filter is achieved by systematically adapting the covariance matrix to the faulty estimates using innovation and residual sequences combined with an adaptive fault annunciation scheme. The proposed approach provides the filter with the advantage of tracking sudden changes in the system non-measurable parameters accurately. Results showed successful detection of reaction wheel malfunctions without requiring a priori knowledge about system performance in the presence of abrupt, transient, intermittent, and incipient faults. Furthermore, the proposed approach resulted in superior filter performance with less mean squared errors for residuals compared to generic and adaptive unscented Kalman filters, and thus, it can be a promising method for the development of fail-safe satellites.

Control of a perturbed under-actuated mechanical system

KAUST Repository

Zayane, Chadia; Laleg-Kirati, Taous-Meriem; Chemori, Ahmed

2015-01-01

In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed

Inertia in strategy switching transforms the strategy evolution.

Science.gov (United States)

Zhang, Yanling; Fu, Feng; Wu, Te; Xie, Guangming; Wang, Long

2011-12-01

A recent experimental study [Traulsen et al., Proc. Natl. Acad. Sci. 107, 2962 (2010)] shows that human strategy updating involves both direct payoff comparison and the cost of switching strategy, which is equivalent to inertia. However, it remains largely unclear how such a predisposed inertia affects 2 × 2 games in a well-mixed population of finite size. To address this issue, the "inertia bonus" (strategy switching cost) is added to the learner payoff in the Fermi process. We find how inertia quantitatively shapes the stationary distribution and that stochastic stability under inertia exhibits three regimes, with each covering seven regions in the plane spanned by two inertia parameters. We also obtain the extended "1/3" rule with inertia and the speed criterion with inertia; these two findings hold for a population above two. We illustrate the above results in the framework of the Prisoner's Dilemma game. As inertia varies, two intriguing stationary distributions emerge: the probability of coexistence state is maximized, or those of two full states are simultaneously peaked. Our results may provide useful insights into how the inertia of changing status quo acts on the strategy evolution and, in particular, the evolution of cooperation.

Effects of Inertia on Evolutionary Prisoner's Dilemma Game

International Nuclear Information System (INIS)

Du Wenbo; Cao Xianbin; Liu Runran; Wang Zhen

2012-01-01

Considering the inertia of individuals in real life, we propose a modified Fermi updating rule, where the inertia of players is introduced into evolutionary prisoner's dilemma game (PDG) on square lattices. We mainly focus on how the inertia affects the cooperative behavior of the system. Interestingly, we find that the cooperation level has a nonmonotonic dependence on the inertia: with small inertia, cooperators will soon be invaded by defectors; with large inertia, players are unwilling to change their strategies and the cooperation level remains the same as the initial state; while a moderate inertia can induce the highest cooperation level. Moreover, effects of environmental noise and individual inertia are studied. Our work may be helpful in understanding the emergence and persistence of cooperation in nature and society. (interdisciplinary physics and related areas of science and technology)

Event-triggered attitude control of spacecraft

Science.gov (United States)

Wu, Baolin; Shen, Qiang; Cao, Xibin

2018-02-01

The problem of spacecraft attitude stabilization control system with limited communication and external disturbances is investigated based on an event-triggered control scheme. In the proposed scheme, information of attitude and control torque only need to be transmitted at some discrete triggered times when a defined measurement error exceeds a state-dependent threshold. The proposed control scheme not only guarantees that spacecraft attitude control errors converge toward a small invariant set containing the origin, but also ensures that there is no accumulation of triggering instants. The performance of the proposed control scheme is demonstrated through numerical simulation.

Adaptive control of two-wheeled mobile balance robot capable to adapt different surfaces using a novel artificial neural network–based real-time switching dynamic controller

Directory of Open Access Journals (Sweden)

Ali Unluturk

2017-03-01

Full Text Available In this article, a novel real-time artificial neural network–based adaptable switching dynamic controller is developed and practically implemented. It will be used for real-time control of two-wheeled balance robot which can balance itself upright position on different surfaces. In order to examine the efficiency of the proposed controller, a two-wheeled mobile balance robot is designed and a test platform for experimental setup is made for balance problem on different surfaces. In a developed adaptive controller algorithm which is capable to adapt different surfaces, mean absolute target angle deviation error, mean absolute target displacement deviation error and mean absolute controller output data are employed for surface estimation by using artificial neural network. In a designed two-wheeled mobile balance robot system, robot tilt angle is estimated via Kalman filter from accelerometer and gyroscope sensor signals. Furthermore, a visual robot control interface is developed in C++ software development environment so that robot controller parameters can be changed as desired. In addition, robot balance angle, linear displacement and controller output can be observed online on personal computer. According to the real-time experimental results, the proposed novel type controller gives more effective results than the classic ones.

ISS Contingency Attitude Control Recovery Method for Loss of Automatic Thruster Control

Science.gov (United States)

Bedrossian, Nazareth; Bhatt, Sagar; Alaniz, Abran; McCants, Edward; Nguyen, Louis; Chamitoff, Greg

2008-01-01

In this paper, the attitude control issues associated with International Space Station (ISS) loss of automatic thruster control capability are discussed and methods for attitude control recovery are presented. This scenario was experienced recently during Shuttle mission STS-117 and ISS Stage 13A in June 2007 when the Russian GN&C computers, which command the ISS thrusters, failed. Without automatic propulsive attitude control, the ISS would not be able to regain attitude control after the Orbiter undocked. The core issues associated with recovering long-term attitude control using CMGs are described as well as the systems engineering analysis to identify recovery options. It is shown that the recovery method can be separated into a procedure for rate damping to a safe harbor gravity gradient stable orientation and a capability to maneuver the vehicle to the necessary initial conditions for long term attitude hold. A manual control option using Soyuz and Progress vehicle thrusters is investigated for rate damping and maneuvers. The issues with implementing such an option are presented and the key issue of closed-loop stability is addressed. A new non-propulsive alternative to thruster control, Zero Propellant Maneuver (ZPM) attitude control method is introduced and its rate damping and maneuver performance evaluated. It is shown that ZPM can meet the tight attitude and rate error tolerances needed for long term attitude control. A combination of manual thruster rate damping to a safe harbor attitude followed by a ZPM to Stage long term attitude control orientation was selected by the Anomaly Resolution Team as the alternate attitude control method for such a contingency.

Independent effects of adding weight and inertia on balance during quiet standing.

Science.gov (United States)

Costello, Kerry Elizabeth; Matrangola, Sara Louise; Madigan, Michael Lawrence

2012-04-16

Human balance during quiet standing is influenced by adding mass to the body with a backpack, with symmetrically-applied loads to the trunk, or with obesity. Adding mass to the body increases both the weight and inertia of the body, which theoretically could provide counteracting effects on body dynamics and balance. Understanding the independent effects of adding weight and inertia on balance may provide additional insight into human balance that could lead to novel advancements in balance training and rehabilitation. Therefore, the purpose of this study was to investigate the independent effects of adding weight and inertia on balance during quiet standing. Sixteen normal-weight young adult participants stood as still as possible on a custom-built backboard apparatus under four experimental conditions: baseline, added inertia only, added weight only, and added inertia and weight. Adding inertia by itself had no measurable effect on center of pressure movement or backboard movement. Adding weight by itself increased center of pressure movement (indicated greater effort by the postural control system to stand as still as possible) and backboard movement (indicating a poorer ability of the body to stand as still as possible). Adding inertia and weight at the same time increased center of pressure movement but did not increase backboard movement compared to the baseline condition. Adding inertia and adding weight had different effects on balance. Adding inertia by itself had no effect on balance. Adding weight by itself had a negative effect on balance. When adding inertia and weight at the same time, the added inertia appeared to lessen (but did not eliminate) the negative effect of adding weight on balance. These results improve our fundamental understanding of how added mass influences human balance.

Delamination detection in reinforced concrete using thermal inertia

International Nuclear Information System (INIS)

Del Grande, N K; Durbin, P F.

1998-01-01

We investigated the feasibility of thermal inertia mapping for bridge deck inspections. Using pulsed thermal imaging, we heat-stimulated surrogate delaminations in reinforced concrete and asphalt-concrete slabs. Using a dual-band infrared camera system, we measured thermal inertia responses of Styrofoam implants under 5 cm of asphalt, 5 cm of concrete, and 10 cm of asphalt and concrete. We compared thermal maps from solar-heated concrete and asphalt-concrete slabs with thermal inertia maps from flash-heated concrete and asphalt-concrete slabs. Thermal inertia mapping is a tool for visualizing and quantifying subsurface defects. Physically, thermal inertia is a measure of the resistance of the bridge deck to temperature change. Experimentally, it is determined from the inverse slope of the surface temperature versus the inverse square root of time. Mathematically, thermal inertia is the square root of the product of thermal conductivity, density, and heat capacity. Thermal inertia mapping distinguishes delaminated decks which have below-average thermal inertias from normal or shaded decks. Key Words: Pulsed Thermal Imaging, Thermal Inertia, Detection Of Concrete Bridgedeck Delaminations

EMOTIONAL BURNOUT SYNDROME: EFFECT ON CLINICAL INERTIA AND MEDICAL PRACTICE STEREOTYPES

Directory of Open Access Journals (Sweden)

R. A. Khokhlov

2016-01-01

Full Text Available Aim. To estimate the prevalence of burnout in primary care physicians and its influence on medical practice stereotypes and on clinical inertia.Material and Methods. The anonymous single-stage poll was carried out among 184 primary care physicians. The questionnaire included information about sex, age, period and conditions of work, established stereotypes of practices. Burnout was evaluated by Russian analog of Maslach Burnout Inventory. It was defined in high level of emotional exhaustion and depersonalization and low level of personal accomplishment 11 questions were developed to reveal of suboptimal medical practice (for example, “I do not discuss treatment options with patient and do not give full answers to his questions” or “I make diagnostic and treatment errors despite of my professional knowledge and inexperience”.Results. The burnout syndrome (or extreme grade of emotional burnout occurs in 13,1% and high level of emotional burnout – in 49,7% of primary care physicians. Features of suboptimal medical practice are usually found in 24,2% of primary care physicians at least monthly. It expresses more often in improper attitude to paqtients and their problems associated with a disease. Thus, burnout contributes to improper attitude to patients. Professional burnout affects established work stereotypes and can promote development of physician’s clinical inertia.Conclusion. As the burnout is common among primary care physicians, an adequate monitoring and prevention of this state is necessary in medical labour management.

EMOTIONAL BURNOUT SYNDROME: EFFECT ON CLINICAL INERTIA AND MEDICAL PRACTICE STEREOTYPES

Directory of Open Access Journals (Sweden)

R. A. Khokhlov

2009-01-01

Full Text Available Aim. To estimate the prevalence of burnout in primary care physicians and its influence on medical practice stereotypes and on clinical inertia.Material and Methods. The anonymous single-stage poll was carried out among 184 primary care physicians. The questionnaire included information about sex, age, period and conditions of work, established stereotypes of practices. Burnout was evaluated by Russian analog of Maslach Burnout Inventory. It was defined in high level of emotional exhaustion and depersonalization and low level of personal accomplishment 11 questions were developed to reveal of suboptimal medical practice (for example, “I do not discuss treatment options with patient and do not give full answers to his questions” or “I make diagnostic and treatment errors despite of my professional knowledge and inexperience”.Results. The burnout syndrome (or extreme grade of emotional burnout occurs in 13,1% and high level of emotional burnout – in 49,7% of primary care physicians. Features of suboptimal medical practice are usually found in 24,2% of primary care physicians at least monthly. It expresses more often in improper attitude to paqtients and their problems associated with a disease. Thus, burnout contributes to improper attitude to patients. Professional burnout affects established work stereotypes and can promote development of physician’s clinical inertia.Conclusion. As the burnout is common among primary care physicians, an adequate monitoring and prevention of this state is necessary in medical labour management.

Origami Wheel Transformer: A Variable-Diameter Wheel Drive Robot Using an Origami Structure.

Science.gov (United States)

Lee, Dae-Young; Kim, Sa-Reum; Kim, Ji-Suk; Park, Jae-Jun; Cho, Kyu-Jin

2017-06-01

A wheel drive mechanism is simple, stable, and efficient, but its mobility in unstructured terrain is seriously limited. Using a deformable wheel is one of the ways to increase the mobility of a wheel drive robot. By changing the radius of its wheels, the robot becomes able to pass over not only high steps but also narrow gaps. In this article, we propose a novel design for a variable-diameter wheel using an origami-based soft robotics design approach. By simply folding a patterned sheet into a wheel shape, a variable-diameter wheel was built without requiring lots of mechanical parts and a complex assembly process. The wheel's diameter can change from 30 to 68 mm, and it is light in weight at about 9.7 g. Although composed of soft materials (fabrics and films), the wheel can bear more than 400 times its weight. The robot was able to change the wheel's radius in response to terrain conditions, allowing it to pass over a 50-mm gap when the wheel is shrunk and a 50-mm step when the wheel is enlarged.

A method and instruments to identify the torque, the power and the efficiency of an internal combustion engine of a wheeled vehicle

Science.gov (United States)

Egorov, A. V.; Kozlov, K. E.; Belogusev, V. N.

2018-01-01

In this paper, we propose a new method and instruments to identify the torque, the power, and the efficiency of internal combustion engines in transient conditions. This method, in contrast to the commonly used non-demounting methods based on inertia and strain gauge dynamometers, allows controlling the main performance parameters of internal combustion engines in transient conditions without inaccuracy connected with the torque loss due to its transfer to the driving wheels, on which the torque is measured with existing methods. In addition, the proposed method is easy to create, and it does not use strain measurement instruments, the application of which does not allow identifying the variable values of the measured parameters with high measurement rate; and therefore the use of them leads to the impossibility of taking into account the actual parameters when engineering the wheeled vehicles. Thus the use of this method can greatly improve the measurement accuracy and reduce costs and laboriousness during testing of internal combustion engines. The results of experiments showed the applicability of the proposed method for identification of the internal combustion engines performance parameters. In this paper, it was determined the most preferred transmission ratio when using the proposed method.

Optimal control of mode transition for four-wheel-drive hybrid electric vehicle with dry dual-clutch transmission

Science.gov (United States)

Zhao, Zhiguo; Lei, Dan; Chen, Jiayi; Li, Hangyu

2018-05-01

When the four-wheel-drive hybrid electric vehicle (HEV) equipped with a dry dual clutch transmission (DCT) is in the mode transition process from pure electrical rear wheel drive to front wheel drive with engine or hybrid drive, the problem of vehicle longitudinal jerk is prominent. A mode transition robust control algorithm which resists external disturbance and model parameter fluctuation has been developed, by taking full advantage of fast and accurate torque (or speed) response of three electrical power sources and getting the clutch of DCT fully involved in the mode transition process. Firstly, models of key components of driveline system have been established, and the model of five-degrees-of-freedom vehicle longitudinal dynamics has been built by using a Uni-Tire model. Next, a multistage optimal control method has been produced to realize the decision of engine torque and clutch-transmitted torque. The sliding-mode control strategy for measurable disturbance has been proposed at the stage of engine speed dragged up. Meanwhile, the double tracking control architecture that integrates the model calculating feedforward control with H∞ robust feedback control has been presented at the stage of speed synchronization. Finally, the results from Matlab/Simulink software and hardware-in-the-loop test both demonstrate that the proposed control strategy for mode transition can not only coordinate the torque among different power sources and clutch while minimizing vehicle longitudinal jerk, but also provide strong robustness to model uncertainties and external disturbance.

Comparison between two braking control methods integrating energy recovery for a two-wheel front driven electric vehicle

International Nuclear Information System (INIS)

Itani, Khaled; De Bernardinis, Alexandre; Khatir, Zoubir; Jammal, Ahmad

2016-01-01

Highlights: • Comparison between two braking methods for an EV maximizing the energy recovery. • Wheels slip ratio control based on robust sliding mode and ECE R13 control methods. • Regenerative braking control strategy. • Energy recovery of a HESS with respect to road surface type and road condition. - Abstract: This paper presents the comparison between two braking methods for a two-wheel front driven Electric Vehicle maximizing the energy recovery on the Hybrid Energy Storage System. The first method consists in controlling the wheels slip ratio while braking using a robust sliding mode controller. The second method will be based on ECE R13H constraints for an M1 passenger vehicle. The vehicle model used for simulation is a simplified five degrees of freedom model. It is driven by two 30 kW permanent magnet synchronous motor (PMSM) recovering energy during braking phases. Several simulation results for extreme braking conditions will be performed and compared on various road type surfaces using Matlab/Simulink®. For an initial speed of 80 km/h, simulation results demonstrate that the difference of energy recovery efficiency between the two control braking methods is beneficial to the ECE constraints control method and it can vary from 3.7% for high friction road type to 11.2% for medium friction road type. At low friction road type, the difference attains 6.6% due to different reasons treated in the paper. The stability deceleration is also discussed and detailed.

Western diet increases wheel running in mice selectively bred for high voluntary wheel running.

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Meek, T H; Eisenmann, J C; Garland, T

2010-06-01

Mice from a long-term selective breeding experiment for high voluntary wheel running offer a unique model to examine the contributions of genetic and environmental factors in determining the aspects of behavior and metabolism relevant to body-weight regulation and obesity. Starting with generation 16 and continuing through to generation 52, mice from the four replicate high runner (HR) lines have run 2.5-3-fold more revolutions per day as compared with four non-selected control (C) lines, but the nature of this apparent selection limit is not understood. We hypothesized that it might involve the availability of dietary lipids. Wheel running, food consumption (Teklad Rodent Diet (W) 8604, 14% kJ from fat; or Harlan Teklad TD.88137 Western Diet (WD), 42% kJ from fat) and body mass were measured over 1-2-week intervals in 100 males for 2 months starting 3 days after weaning. WD was obesogenic for both HR and C, significantly increasing both body mass and retroperitoneal fat pad mass, the latter even when controlling statistically for wheel-running distance and caloric intake. The HR mice had significantly less fat than C mice, explainable statistically by their greater running distance. On adjusting for body mass, HR mice showed higher caloric intake than C mice, also explainable by their higher running. Accounting for body mass and running, WD initially caused increased caloric intake in both HR and C, but this effect was reversed during the last four weeks of the study. Western diet had little or no effect on wheel running in C mice, but increased revolutions per day by as much as 75% in HR mice, mainly through increased time spent running. The remarkable stimulation of wheel running by WD in HR mice may involve fuel usage during prolonged endurance exercise and/or direct behavioral effects on motivation. Their unique behavioral responses to WD may render HR mice an important model for understanding the control of voluntary activity levels.

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

Science.gov (United States)

Huo, Xueliang; Ghovanloo, Maysam

2009-06-01

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

Attitude Determination and Control Subsystem (ADCS) Preparations for the EPOXI Flyby of Comet Hartley 2

Science.gov (United States)

Luna, Michael E.; Collins, Steven M.

2011-01-01

On November 4, 2010 the former "Deep Impact" spacecraft, renamed "EPOXI" for its extended mission, flew within 700km of comet 103P/Hartley 2. In July 2005, the spacecraft had previously imaged a probe impact of comet Tempel 1. The EPOXI flyby was the fifth close encounter of a spacecraft with a comet nucleus and marked the first time in history that two comet nuclei were imaged at close range with the same suite of onboard science instruments. This challenging objective made the function of the attitude determination and control subsystem (ADCS) critical to the successful execution of the EPOXI flyby.As part of the spacecraft flyby preparations, the ADCS operations team had to perform meticulous sequence reviews, implement complex spacecraft engineering and science activities and perform numerous onboard calibrations. ADCS contributions included design and execution of 10 trajectory correction maneuvers, the science calibration of the two telescopic instruments, an in-flight demonstration of high-rate turns between Earth and comet point, and an ongoing assessment of reaction wheel health. The ADCS team was also responsible for command sequences that included updates to the onboard ephemeris and sun sensor coefficients and implementation of reaction wheel assembly (RWA) de-saturations.

A dynamic marketing model with best reply and inertia

International Nuclear Information System (INIS)

Bischi, Gian Italo; Cerboni Baiardi, Lorenzo

2015-01-01

In this paper we consider a nonlinear discrete-time dynamic model proposed by Farris et al. (2005) as a market share attraction model with two firms that decide marketing efforts over time according to best reply strategies with naïve expectations. The model also considers an adaptive adjustment toward best reply, a form of inertia or anchoring attitude, and we investigate the effects of heterogeneities among firms. A rich scenario of local and global bifurcations is obtained even with just two competing firms, and a comparison is proposed with apparently similar duopoly models based on repeated best reply dynamics with naïve expectations and adaptive adjustment.

PD-like controller for delayed bilateral teleoperation of wheeled robots

Science.gov (United States)

Slawiñski, E.; Mut, V.; Santiago, D.

2016-08-01

This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.

Nesting behavior of house mice (Mus domesticus) selected for increased wheel-running activity.

Science.gov (United States)

Carter, P A; Swallow, J G; Davis, S J; Garland, T

2000-03-01

Nest building was measured in "active" (housed with access to running wheels) and "sedentary" (without wheel access) mice (Mus domesticus) from four replicate lines selected for 10 generations for high voluntary wheel-running behavior, and from four randombred control lines. Based on previous studies of mice bidirectionally selected for thermoregulatory nest building, it was hypothesized that nest building would show a negative correlated response to selection on wheel-running. Such a response could constrain the evolution of high voluntary activity because nesting has also been shown to be positively genetically correlated with successful production of weaned pups. With wheel access, selected mice of both sexes built significantly smaller nests than did control mice. Without wheel access, selected females also built significantly smaller nests than did control females, but only when body mass was excluded from the statistical model, suggesting that body mass mediated this correlated response to selection. Total distance run and mean running speed on wheels was significantly higher in selected mice than in controls, but no differences in amount of time spent running were measured, indicating a complex cause of the response of nesting to selection for voluntary wheel running.

Global control of reaction wheel pendulum through energy regulation and extended linearization of the state variables

Directory of Open Access Journals (Sweden)

Oscar D. Montoya-Giraldo

2014-01-01

Full Text Available This paper presents the design and simulation of a global controller for the Reaction Wheel Pendulum system using energy regulation and extended linearization methods for the state feedback. The proposed energy regulation is based on the gradual reduction of the energy of the system to reach the unstable equilibrium point. The signal input for this task is obtained from the Lyapunov stability theory. The extended state feedback controller design is used to get a smooth nonlinear function that extends the region of operation to a bigger range, in contrast with the static linear state feedback obtained through the method of approximate linearization around an operating point. The general designed controller operates with a switching between the two control signals depending upon the region of operation; perturbations are applied in the control signal and the (simulated measured variables to verify the robustness and efficiency of the controller. Finally, simulations and tests using the model of the reaction wheel pendulum system, allow to observe the versatility and functionality of the proposed controller in the entire operation region of the pendulum.

[INERTIA study: Clinical inertia in non-insulinized patients on oral hypoglycemic treatment. A study in Spanish primary and specialty care settings].

Science.gov (United States)

González-Clemente, José Miguel; Font, Beatriu; Lahoz, Raquel; Llauradó, Gemma; Gambús, Gemma

2014-06-06

To study clinical inertia in the management of oral hypoglycemic agents (OHA) in non-insulin treated patients with type 2 diabetes mellitus (T2DM) in Spain. Epidemiological, cross-sectional, retrospective (2 years), multicenter study. Clinical inertia was measured as the total number of patients without OHA treatment intensification divided by the total number of patients with inadequate HbA1c values (≥7%), multiplied by 100. Total clinical inertia (TCI) was the absence of OHA treatment intensification in all visits with a HbA1c≥7% values in the previous 2 years; partial clinical inertia (PCI) occurred when this absence only occurred in some of these visits. We assessed OHA treatment compliance with the Morisky-Green test. We included 2,971 patients, 1,416 adequately controlled (HbA1c<7%) and 1,555 inadequately controlled (HbA1c≥7%). PCI prevalence was 52.5%(95% confidence interval [95% CI] 52.4-52.6%) while TCI prevalence was 12.8% (95% CI 12.2-13.8%). PCI was lower in patients adequately controlled as compared with those inadequately controlled (31.4% vs. 71.8%; P<.001). PCI was associated with sedentary lifestyle, hypertension and higher prevalence of micro and macrovascular complications. Only 38.0% of patients were compliant with the OHA treatment, being this percentage even lower in subjects with ICP. Two variables were independently associated with ICP: female sex (odds ratio [OR] 1.43; 95% CI 1.09-1.86%) and a shorter duration of DM2 (OR 0.98; 95% CI 0.95-0.99). One out of 2 patients with T2DM and treated with OHA without insulin suffer from PCI. Only 4 out of 10 patients are compliant with OHA treatment. Female sex and a shorter duration of T2DM are independently associated with PCI. Copyright © 2012 Elsevier España, S.L. All rights reserved.

Mice from lines selectively bred for high voluntary wheel running exhibit lower blood pressure during withdrawal from wheel access.

Science.gov (United States)

Kolb, Erik M; Kelly, Scott A; Garland, Theodore

2013-03-15

Exercise is known to be rewarding and have positive effects on mental and physical health. Excessive exercise, however, can be the result of an underlying behavioral/physiological addiction. Both humans who exercise regularly and rodent models of exercise addiction sometimes display behavioral withdrawal symptoms, including depression and anxiety, when exercise is denied. However, few studies have examined the physiological state that occurs during this withdrawal period. Alterations in blood pressure (BP) are common physiological indicators of withdrawal in a variety of addictions. In this study, we examined exercise withdrawal in four replicate lines of mice selectively bred for high voluntary wheel running (HR lines). Mice from the HR lines run almost 3-fold greater distances on wheels than those from non-selected control lines, and have altered brain activity as well as increased behavioral despair when wheel access is removed. We tested the hypothesis that male HR mice have an altered cardiovascular response (heart rate, systolic, diastolic, and mean arterial pressure [MAP]) during exercise withdrawal. Measurements using an occlusion tail-cuff system were taken during 8 days of baseline, 6 days of wheel access, and 2 days of withdrawal (wheel access blocked). During withdrawal, HR mice had significantly lower systolic BP, diastolic BP, and MAP than controls, potentially indicating a differential dependence on voluntary wheel running in HR mice. This is the first characterization of a cardiovascular withdrawal response in an animal model of high voluntary exercise. Copyright © 2013. Published by Elsevier Inc.

Integrated orbit and attitude hardware-in-the-loop simulations for autonomous satellite formation flying

Science.gov (United States)

Park, Han-Earl; Park, Sang-Young; Kim, Sung-Woo; Park, Chandeok

2013-12-01

Development and experiment of an integrated orbit and attitude hardware-in-the-loop (HIL) simulator for autonomous satellite formation flying are presented. The integrated simulator system consists of an orbit HIL simulator for orbit determination and control, and an attitude HIL simulator for attitude determination and control. The integrated simulator involves four processes (orbit determination, orbit control, attitude determination, and attitude control), which interact with each other in the same way as actual flight processes do. Orbit determination is conducted by a relative navigation algorithm using double-difference GPS measurements based on the extended Kalman filter (EKF). Orbit control is performed by a state-dependent Riccati equation (SDRE) technique that is utilized as a nonlinear controller for the formation control problem. Attitude is determined from an attitude heading reference system (AHRS) sensor, and a proportional-derivative (PD) feedback controller is used to control the attitude HIL simulator using three momentum wheel assemblies. Integrated orbit and attitude simulations are performed for a formation reconfiguration scenario. By performing the four processes adequately, the desired formation reconfiguration from a baseline of 500-1000 m was achieved with meter-level position error and millimeter-level relative position navigation. This HIL simulation demonstrates the performance of the integrated HIL simulator and the feasibility of the applied algorithms in a real-time environment. Furthermore, the integrated HIL simulator system developed in the current study can be used as a ground-based testing environment to reproduce possible actual satellite formation operations.

Assessing the influence of wheel defects of a rolling stockon railway tracks

Directory of Open Access Journals (Sweden)

Loktev Aleksey Alekseevich

2015-05-01

- slides (potholes, etc.The motion of the wheels with irregularities on the surface of the rail leads to vertical oscillation of the wheel, resulting in the forces of inertia, which is an additional load on the rail. In case of movement of the wheel with isolated roughness on the tread surface of the slide there is a strike, having a very large additional impact on the rail. Such attacks can cause kinked rails, especially in the winter months when there is increased fragility of rail steel, because of lowered temperatures. This is an abnormal phenomenon and occurs relatively rarely, at a small number of isolated irregularities on a wheel of the rolling stock. As correlations connecting the contact force and local deformation in the interaction of the wheel-rail system, we use the quasi-static Hertz’s model, linear-elastic model and two elastoplastic contact models: Alexandrov-Kadomtsev and Kil’chevsky. According to the results of Loktev’s studies ratios of the contact Hertz’s theory are quite suitable for modeling the dynamic effects of wheel and rail for speeds up to 90 km/h for engineering calculations. Since the contact surface is homogeneous and isotropic, the friction forces in the contact zone are not taken into account, the size of the pad is small compared to the dimensions of the contacting bodies and characteristic radii of curvature of the undeformed surfaces, the contacting surfaces are smooth.When train is driving, the position of the wheelset in relation to the rails varies considerably, giving rise to different combinations of the contact areas of the wheel and rail. Even assuming constant axial load the normal voltage will vary considerably because of the differences in the radii of curvature of the contacting surfaces of these zones. Thus, the proposed method allows evaluating the influence of several types of wheel defects on the condition of the rail and the prospects of its use in the upper structure of a railway track on plots with different

Effect of liquid inertia on bubble growth in the presence of a magnetic field

International Nuclear Information System (INIS)

Wagner, L.Y.; Lykoudis, P.S.

1977-01-01

Liquid metal bubble growth in the presence of a magnetic field has previously been examined by Lykoudis under the assumption that the process is heat transfer controlled. In the present work, the growth of a bubble under the influence of a magnetic field is considered when the effect of the liquid inertia is included. This yields a better description of the phenomena for liquid metals, due to the greater portion of the growth cycle that is dominated by the liquid inertia forces. The results indicate that liquid inertia can significantly affect the growth of a liquid metal bubble when compared with the heat transfer-controlled case. The overall effect of the magnetic field forces the heat transfer-controlled growth to occur earlier in the life of the bubble. Hence, heat transfer effects dominate the growth stage more as the magnetic field is increased. The inertia effects are damped and, in the limit of high magnetic fields, growth is only heat transfer controlled. The heat transfer estimates made in the fashion of Forster and Zuber indicate that the magnetic field reduces the energy transport in nucleate boiling. 5 figures

Gross shell structure of moments of inertia

International Nuclear Information System (INIS)

Deleplanque, M.A.; Frauendorf, S.; Pashkevich, V.V.; Chu, S.Y.; Unzhakova, A.

2002-01-01

Average yrast moments of inertia at high spins, where the pairing correlations are expected to be largely absent, were found to deviate from the rigid-body values. This indicates that shell effects contribute to the moment of inertia. We discuss the gross dependence of moments of inertia and shell energies on the neutron number in terms of the semiclassical periodic orbit theory. We show that the ground-state shell energies, nuclear deformations and deviations from rigid-body moments of inertia are all due to the same periodic orbits

Clinical inertia in poorly controlled elderly hypertensive patients: a cross-sectional study in Spanish physicians to ascertain reasons for not intensifying treatment.

Science.gov (United States)

Gil-Guillén, Vicente; Orozco-Beltrán, Domingo; Carratalá-Munuera, Concepción; Márquez-Contreras, Emilio; Durazo-Arvizu, Ramón; Cooper, Richard; Pertusa-Martínez, Salvador; Pita-Fernandez, Salvador; González-Segura, Diego; Martin-de-Pablo, José Luis; Pallarés, Vicente; Fernández, Antonio; Redón, Josep

2013-06-01

Clinical inertia, the failure of physicians to initiate or intensify therapy when indicated, is a major problem in the management of hypertension and may be more prevalent in elderly patients. Overcoming clinical inertia requires understanding its causes and evaluating certain factors, particularly those related to physicians. The objective of our study was to determine the rate of clinical inertia and the physician-reported reasons for it. An observational, cross-sectional, multi-center study was carried out in a primary care setting. We included 512 physicians, with a consecutive sampling of 1,499 hypertensive patients with clinical inertia. Clinical inertia was defined when physicians did not modify treatment despite knowing that the therapeutic target had not been reached. Clinical inertia was considered to be justified (JCI) when physicians provided an explanation for not intensifying treatment and as not justified (nJCI) when no reasons were given. JCI was observed in 30.1 % (95 % CI 27.8-32.4) of patients (n = 451) and nJCI in 69.9 % (95 % CI 67.6-72.2) (n = 1,058). JCI was associated with higher blood pressure (BP) values (both systolic and diastolic) and diabetes (p = 0.012) than nJCI. nJCI was associated with patients having an isolated increase of systolic or diastolic or high borderline BP values or cardiovascular disease. Physicians provided reasons for not intensifying treatment in poorly controlled patients in only 30 % of instances. Main reasons for not intensifying treatment were borderline BP values, co-morbidity, suspected white coat effect, or perceived difficulty achieving target. nJCI was associated with high borderline BP values and cardiovascular disease.

ANALYSIS OF FORMING TREAD WHEEL SETS

Directory of Open Access Journals (Sweden)

Igor IVANOV

2017-09-01

Full Text Available This paper shows the results of a theoretical study of profile high-speed grinding (PHSG for forming tread wheel sets during repair instead of turning and mold-milling. Significant disadvantages of these methods are low capacity to adapt to the tool and inhomogeneous structure of the wheel material. This leads to understated treatment regimens and difficulties in recovering wheel sets with thermal and mechanical defects. This study carried out modeling and analysis of emerging cutting forces. Proposed algorithms describe the random occurrence of the components of the cutting forces in the restoration profile of wheel sets with an inhomogeneous structure of the material. To identify the statistical features of randomly generated structures fractal dimension and the method of random additions were used. The multifractal spectrum formed is decomposed into monofractals by wavelet transform. The proposed method allows you to create the preconditions for controlling the parameters of the treatment process.

Velocity Tracking Control of Wheeled Mobile Robots by Iterative Learning Control

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Xiaochun Lu

2016-05-01

Full Text Available This paper presents an iterative learning control (ILC strategy to resolve the trajectory tracking problem of wheeled mobile robots (WMRs based on dynamic model. In the previous study of WMRs’ trajectory tracking, ILC was usually applied to the kinematical model of WMRs with the assumption that desired velocity can be tracked immediately. However, this assumption cannot be realized in the real world at all. The kinematic and dynamic models of WMRs are deduced in this chapter, and a novel combination of D-type ILC algorithm and dynamic model of WMR with random bounded disturbances are presented. To analyze the convergence of the algorithm, the method of contracting mapping, which shows that the designed controller can make the velocity tracking errors converge to zero completely when the iteration times tend to infinite, is adopted. Simulation results show the effectiveness of D-type ILC in the trajectory tracking problem of WMRs, demonstrating the effectiveness and robustness of the algorithm in the condition of random bounded disturbance. A comparative study conducted between D-type ILC and compound cosine function neural network (NN controller also demonstrates the effectiveness of the ILC strategy.

Nonlinear dynamics modeling and simulation of two-wheeled self-balancing vehicle

Directory of Open Access Journals (Sweden)

Yunping Liu

2016-11-01

Full Text Available Two-wheeled self-balancing vehicle system is a kind of naturally unstable underactuated system with high-rank unstable multivariable strongly coupling complicated dynamic nonlinear property. Nonlinear dynamics modeling and simulation, as a basis of two-wheeled self-balancing vehicle dynamics research, has the guiding effect for system design of the project demonstration and design phase. Dynamics model of the two-wheeled self-balancing vehicle is established by importing a TSi ProPac package to the Mathematica software (version 8.0, which analyzes the stability and calculates the Lyapunov exponents of the system. The relationship between external force and stability of the system is analyzed by the phase trajectory. Proportional–integral–derivative control is added to the system in order to improve the stability of the two-wheeled self-balancing vehicle. From the research, Lyapunov exponent can be used to research the stability of hyperchaos system. The stability of the two-wheeled self-balancing vehicle is better by inputting the proportional–integral–derivative control. The Lyapunov exponent and phase trajectory can help us analyze the stability of a system better and lay the foundation for the analysis and control of the two-wheeled self-balancing vehicle system.

D-dimensional moments of inertia

International Nuclear Information System (INIS)

Bender, C.M.; Mead, L.R.

1995-01-01

We calculate the moments of inertia of D-dimensional spheres and spherical shells, where D is a complex number. We also examine the moments of inertia of fractional-dimensional geometrical objects such as the Cantor set and the Sierpinski carpet and their D-dimensional analogs. copyright 1995 American Association of Physics Teachers

Zero-G experimental validation of a robotics-based inertia identification algorithm

Science.gov (United States)

Bruggemann, Jeremy J.; Ferrel, Ivann; Martinez, Gerardo; Xie, Pu; Ma, Ou

2010-04-01

The need to efficiently identify the changing inertial properties of on-orbit spacecraft is becoming more critical as satellite on-orbit services, such as refueling and repairing, become increasingly aggressive and complex. This need stems from the fact that a spacecraft's control system relies on the knowledge of the spacecraft's inertia parameters. However, the inertia parameters may change during flight for reasons such as fuel usage, payload deployment or retrieval, and docking/capturing operations. New Mexico State University's Dynamics, Controls, and Robotics Research Group has proposed a robotics-based method of identifying unknown spacecraft inertia properties1. Previous methods require firing known thrusts then measuring the thrust, and the velocity and acceleration changes. The new method utilizes the concept of momentum conservation, while employing a robotic device powered by renewable energy to excite the state of the satellite. Thus, it requires no fuel usage or force and acceleration measurements. The method has been well studied in theory and demonstrated by simulation. However its experimental validation is challenging because a 6- degree-of-freedom motion in a zero-gravity condition is required. This paper presents an on-going effort to test the inertia identification method onboard the NASA zero-G aircraft. The design and capability of the test unit will be discussed in addition to the flight data. This paper also introduces the design and development of an airbearing based test used to partially validate the method, in addition to the approach used to obtain reference value for the test system's inertia parameters that can be used for comparison with the algorithm results.

Development of inertia-increased reactor internal pump

International Nuclear Information System (INIS)

Tanaka, Masaaki; Matsumura, Seiichi; Kikushima, Jun; Kawamura, Shinichi; Yamashita, Norimichi; Kurosaki, Toshikazu; Kondo, Takahisa

2000-01-01

The Reactor Internal Pump (RIP) was adopted for the Reactor Recirculation System (RRS) of Advanced Boiling Water Reactor (ABWR) plants, and ten RIPs are located at the bottom of the reactor pressure vessel. In order to simplify the power supply system for the RIPs, a new inertia-increased RIP was developed, which allows to eliminate the Motor-Generator (M-G) sets. The rotating inertia was increased approximately 2.5 times of current RIP inertia by addition of flywheel on its main shaft. A full scale proving test of the inertia-increased RIP under actual plant operating conditions using full scale test loop was performed to evaluate vibration characteristics and coast down characteristics. From the results of this proving test, the validity of the new inertia-increased RIP and its power supply system (without M-G sets) was confirmed. (author)

Scaling of rotational inertia of primate mandibles.

Science.gov (United States)

Ross, Callum F; Iriarte-Diaz, Jose; Platts, Ellen; Walsh, Treva; Heins, Liam; Gerstner, Geoffrey E; Taylor, Andrea B

2017-05-01

The relative importance of pendulum mechanics and muscle mechanics in chewing dynamics has implications for understanding the optimality criteria driving the evolution of primate feeding systems. The Spring Model (Ross et al., 2009b), which modeled the primate chewing system as a forced mass-spring system, predicted that chew cycle time would increase faster than was actually observed. We hypothesized that if mandibular momentum plays an important role in chewing dynamics, more accurate estimates of the rotational inertia of the mandible would improve the accuracy with which the Spring Model predicts the scaling of primate chew cycle period. However, if mass-related momentum effects are of negligible importance in the scaling of primate chew cycle period, this hypothesis would be falsified. We also predicted that greater "robusticity" of anthropoid mandibles compared with prosimians would be associated with higher moments of inertia. From computed tomography scans, we estimated the scaling of the moment of inertia (I j ) of the mandibles of thirty-one species of primates, including 22 anthropoid and nine prosimian species, separating I j into the moment about a transverse axis through the center of mass (I xx ) and the moment of the center of mass about plausible axes of rotation. We found that across primates I j increases with positive allometry relative to jaw length, primarily due to positive allometry of jaw mass and I xx , and that anthropoid mandibles have greater rotational inertia compared with prosimian mandibles of similar length. Positive allometry of I j of primate mandibles actually lowers the predictive ability of the Spring Model, suggesting that scaling of primate chew cycle period, and chewing dynamics in general, are more strongly influenced by factors other than scaling of inertial properties of the mandible, such as the dynamic properties of the jaw muscles and neural control. Differences in cycle period scaling between chewing and locomotion

Transient Stability Promotion by FACTS Controller Based on Adaptive Inertia Weight Particle Swarm Optimization Method

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Ghazanfar Shahgholian

2018-01-01

Full Text Available This paper examines the influence of Static Synchronous Series Compensator (SSSC on the oscillation damping control in the network. The performance of Flexible AC Transmission System (FACTS controller highly depends upon its parameters and appropriate location in the network. A new Adaptive Inertia Weight Particle Swarm Optimization (AIWPSO method is employed to design the parameters of the SSSC-base controller. In the proposed controller, the proper signal of the power system such as rotor angle is used as the feedback. AIWPSO technique has high flexibility and balanced mechanism for the local and global research. The proposed controller is compared with a Genetic Algorithm (GA based controller that confirms the operation of the controller. To show the integrity of the proposed controller method, the achievement of the simulations is done out in a single-machine infinite-bus and multi-machine grid under multi turmoil.

A development of the distributive law of points on the multi-wheeled machine wheels with electro-mechanical transmission, made under the scheme "motor-axis"

Directory of Open Access Journals (Sweden)

M. M. Jileikin

2014-01-01

Full Text Available Currently, developers of multi-wheeled vehicles (MWV show growing interest in electromechanical drive in the «motor-axis» implementation. However, in designing the traction electric drive (TED based on such approach the problems arise, primarily, from a lack of creating experience and of ready algorithmic solutions to control the traction motors. The use of methods to implement the individual TED is impossible because of the presence of cross-axle differential in the leading axle drive, which does not allow the input torque control of each wheel singly. The paper offers a law to control a traction electric drive of MWV leading axles that comprises the law to control the tractive effort torque and braking moment on the leading axles as well as algorithms of anti-lock brake and traction control systems.An analysis of simulation modeling results shows an efficiency of the developed law that allows control of the traction electric drive of MWV leading axles. The control law includes an algorithm to control the tractive effort torque and braking moment on the driving-wheels, as well as algorithms of anti-lock brake and traction systems.At stationary (constant speed rotation and non-stationary (elk test maneuvering there was no spin of vehicle wheels. Angular speeds of the wheels vary smoothly. Partial loss of vehicle stability when making maneuvers on ice may be reduced through development of algorithms for dynamic stabilization, which will improve the MWV road-holding and trajectory ability. Fullscale tests of MWV with traction electric drive implemented using a “motor-axis" approach are required to have a final answer on the performance and effectiveness of the developed control law.

Optimal magnetic attitude control

DEFF Research Database (Denmark)

Wisniewski, Rafal; Markley, F.L.

1999-01-01

because control torques can only be generated perpendicular to the local geomagnetic field vector. This has been a serious obstacle for using magnetorquer based control for three-axis stabilization of a low earth orbit satellite. The problem of controlling the spacecraft attitude using only magnetic...

Under-treatment of type 2 diabetes: Causes and outcomes of clinical inertia.

Science.gov (United States)

Bailey, Clifford J

2016-12-01

To assess the impact of clinical inertia on type 2 diabetes (T2D) care. PubMed database search from January 2000 until December 2015. Clinical inertia, defined as resistance to initiate or intensify treatment in a patient not at the evidence-based glycated haemoglobin goal, is conservatively estimated to occur in at least 25% of patients with T2D. Consequently, many patients with diagnosed and treated T2D experience extended periods, in some cases years, of ineffectively controlled hyperglycaemia, potentially causing serious microvascular and macrovascular harm. Delayed treatment does not appear to be specific to primary care, but also occurs in the specialist setting. The causes of clinical inertia appear to be complex, involving both reasonable and unacceptable delays on the part of the clinician and poor compliance with treatment regimens on the part of the patient. Evidence suggests that the clinical and organisational context may be particularly important in reinforcing clinical inertia, notably the increasingly severe time constraints for diagnosis and management of multiple morbidities, consideration of complex guidelines, assessment of cost and appreciation of patient concerns, all of which may hamper prioritisation of the important issue of under-treatment. Since the pharmacotherapeutic tools for good control of blood glucose exist in all advanced healthcare systems, initiatives to address the important and widespread problem of clinical inertia may require focused campaigns that encourage attention to guideline recommendations and their adaptation for individualised care. © 2016 John Wiley & Sons Ltd.

Testing quantised inertia on emdrives with dielectrics

Science.gov (United States)

McCulloch, M. E.

2017-05-01

Truncated-cone-shaped cavities with microwaves resonating within them (emdrives) move slightly towards their narrow ends, in contradiction to standard physics. This effect has been predicted by a model called quantised inertia (MiHsC) which assumes that the inertia of the microwaves is caused by Unruh radiation, more of which is allowed at the wide end. Therefore, photons going towards the wide end gain inertia, and to conserve momentum the cavity must move towards its narrow end, as observed. A previous analysis with quantised inertia predicted a controversial photon acceleration, which is shown here to be unnecessary. The previous analysis also mispredicted the thrust in those emdrives with dielectrics. It is shown here that having a dielectric at one end of the cavity is equivalent to widening the cavity at that end, and when dielectrics are considered, then quantised inertia predicts these results as well as the others, except for Shawyer's first test where the thrust is predicted to be the right size but in the wrong direction. As a further test, quantised inertia predicts that an emdrive's thrust can be enhanced by using a dielectric at the wide end.

Clinical Inertia in a Randomized Trial of Telemedicine-Based Chronic Disease Management: Lessons Learned.

Science.gov (United States)

Barton, Anna Beth; Okorodudu, Daniel E; Bosworth, Hayden B; Crowley, Matthew J

2018-01-17

Treatment nonadherence and clinical inertia perpetuate poor cardiovascular disease (CVD) risk factor control. Telemedicine interventions may counter both treatment nonadherence and clinical inertia. We explored why a telemedicine intervention designed to reduce treatment nonadherence and clinical inertia did not improve CVD risk factor control, despite enhancing treatment adherence versus usual care. In this analysis of a randomized trial, we studied recipients of the 12-month telemedicine intervention. This intervention comprised two nurse-administered components: (1) monthly self-management education targeting improved treatment adherence; and (2) quarterly medication management facilitation designed to support treatment intensification by primary care (thereby reducing clinical inertia). For each medication management facilitation encounter, we ascertained whether patients met treatment goals, and if not, whether primary care recommended treatment intensification following the encounter. We assessed disease control associated with encounters, where intensification was/was not recommended. We examined 455 encounters across 182 intervention recipients (100% African Americans with type 2 diabetes). Even after accounting for valid reasons for deferring intensification (e.g., treatment nonadherence), intensification was not recommended in 67.5% of encounters in which hemoglobin A1c was above goal, 72.5% in which systolic blood pressure was above goal, and 73.9% in which low-density lipoprotein cholesterol was above goal. In each disease state, treatment intensification was more likely with poorer control. Despite enhancing treatment adherence, this intervention was unsuccessful in countering clinical inertia, likely explaining its lack of effect on CVD risk factors. We identify several lessons learned that may benefit investigators and healthcare systems.

Frequency Stability Improvement of Low Inertia Systems Using Synchronous Condensers

DEFF Research Database (Denmark)

Nguyen, Ha Thi; Yang, Guangya; Nielsen, Arne Hejde

2016-01-01

of converter interfaced components (wind turbine, HVDC, and Photovoltaic) may have negative effects on the stability of the power system. These components do not have enough inertia response to control frequency excursion, so the power grid can depend on few synchronous machines for frequency regulation...... and reduce the system inertia. Consequently, the frequency stability of the system will be easily jeopardized. To address these issues, the paper studies frequency characteristics of future Western Danish renewable-based system that uses a majority of wind turbine generators. Different scenarios of wind...

Therapeutic inertia in the outpatient management of dyslipidemia in patients with ischemic heart disease. The inertia study.

Science.gov (United States)

Lázaro, Pablo; Murga, Nekane; Aguilar, Dolores; Hernández-Presa, Miguel A

2010-12-01

Studies indicate that dyslipidemia is undertreated. Numerous systematic reviews have shown that, even when therapeutic targets set by clinical practice guidelines have not been met, treatment remains unchanged despite the availability of alternatives approaches. The result is increased morbidity and mortality. Our aims were to investigate this phenomenon, known as therapeutic inertia, in patients with dyslipidemia and ischemic heart disease, and to determine its possible causes. national, multicenter, observational study of data obtained from physicians by questionnaire and from the clinical records of patients with ischemic heart disease. Main variable: therapeutic inertia during a consultation, defined as treatment remaining the same despite a change being indicated (e.g. low-density lipoprotein cholesterol >100 mg/dl or >70 mg/dl in diabetics). Covariates: physician, patient and consultation characteristics. multivariate logistic regression analysis of factors associated with therapeutic inertia during a consultation. Overall, 43% of consultations involved therapeutic inertia, and an association with coronary risk factors, including diabetes, did not result in a change in treatment. Therapeutic inertia occurred more frequently when there was a long time between the diagnosis and treatment of dyslipidemia and that of ischemic heart disease. Undertreatment was particularly common in women despite a greater overall risk. The more experienced physicians treated younger patients more appropriately. Clinical practice was improved by educational sessions at conferences. Therapeutic inertia was common in patients with chronic ischemic heart disease and dyslipidemia, irrespective of overall cardiovascular risk. Factors associated with the patient, disease and physician had an influence.

The response of a high-speed train wheel to a harmonic wheel-rail force

International Nuclear Information System (INIS)

Sheng, Xiaozhen; Liu, Yuxia; Zhou, Xin

2016-01-01

The maximum speed of China's high-speed trains currently is 300km/h and expected to increase to 350-400km/h. As a wheel travels along the rail at such a high speed, it is subject to a force rotating at the same speed along its periphery. This fast moving force contains not only the axle load component, but also many components of high frequencies generated from wheel-rail interactions. Rotation of the wheel also introduces centrifugal and gyroscopic effects. How the wheel responds is fundamental to many issues, including wheel-rail contact, traction, wear and noise. In this paper, by making use of its axial symmetry, a special finite element scheme is developed for responses of a train wheel subject to a vertical and harmonic wheel-rail force. This FE scheme only requires a 2D mesh over a cross-section containing the wheel axis but includes all the effects induced by wheel rotation. Nodal displacements, as a periodic function of the cross-section angle 6, can be decomposed, using Fourier series, into a number of components at different circumferential orders. The derived FE equation is solved for each circumferential order. The sum of responses at all circumferential orders gives the actual response of the wheel. (paper)

Electrohydrodynamics of a viscous drop with inertia.

Science.gov (United States)

Nganguia, H; Young, Y-N; Layton, A T; Lai, M-C; Hu, W-F

2016-05-01

Most of the existing numerical and theoretical investigations on the electrohydrodynamics of a viscous drop have focused on the creeping Stokes flow regime, where nonlinear inertia effects are neglected. In this work we study the inertia effects on the electrodeformation of a viscous drop under a DC electric field using a novel second-order immersed interface method. The inertia effects are quantified by the Ohnesorge number Oh, and the electric field is characterized by an electric capillary number Ca_{E}. Below the critical Ca_{E}, small to moderate electric field strength gives rise to steady equilibrium drop shapes. We found that, at a fixed Ca_{E}, inertia effects induce larger deformation for an oblate drop than a prolate drop, consistent with previous results in the literature. Moreover, our simulations results indicate that inertia effects on the equilibrium drop deformation are dictated by the direction of normal electric stress on the drop interface: Larger drop deformation is found when the normal electric stress points outward, and smaller drop deformation is found otherwise. To our knowledge, such inertia effects on the equilibrium drop deformation has not been reported in the literature. Above the critical Ca_{E}, no steady equilibrium drop deformation can be found, and often the drop breaks up into a number of daughter droplets. In particular, our Navier-Stokes simulations show that, for the parameters we use, (1) daughter droplets are larger in the presence of inertia, (2) the drop deformation evolves more rapidly compared to creeping flow, and (3) complex distribution of electric stresses for drops with inertia effects. Our results suggest that normal electric pressure may be a useful tool in predicting drop pinch-off in oblate deformations.

ATTITUDE DETERMINATION AND CONTROL SYSTEM OF KITSAT-1

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Hyunwoo Lee

1996-06-01

Full Text Available The attitude dynamics of KITSAT-1 are modeled including the gravity gradient stabilization method. We define the operation scenario during the initial attitude stabilization period by means of a magnetorquering control algorithm. The required constraints for the gravity gradient boom deployment are also examined. Attitude dynamics model and control laws are verified by analyzing in-orbit attitude sensor telemetry data.

Development of an Inertia-Increased ABWR Internal Pump

International Nuclear Information System (INIS)

Shirou Takahashi; Kousei Umemori; Kooji Shiina; Tetsuya Totani; Akihiro Sakashita; Norimichi Yamashita; Takahisa Kondo

2002-01-01

It is possible to simplify the reactor internal pump power supply system in the ABWR without affecting the core flow supply when a trip of all RIPs event occurs by eliminating the motor-generator sets and increasing the rotating inertia of the RIPs. This inertia increase due to an additional flywheel, which leads to a gain in weight and length, requires a larger diameter nozzle with a thicker sleeve. However, a thicker sleeve nozzle and a longer and heavier motor casing may change the RIP performance. In the present study, the inertia-increased RIP was verified through full-scale tests. The rotating inertia time constant for coast-down characteristics (behavior of the RIP speed in the event of power loss) for the inertia-increased RIP was doubled compared with the current RIP. The inertia-increased RIP with the thicker sleeve nozzle maintained good performance and its power supply system without motor-generator sets was judged appropriate for the ABWR. (authors)

Clinical inertia causing new or progression of diabetic retinopathy in type 2 diabetes: A retrospective cohort study.

Science.gov (United States)

Osataphan, Soravis; Chalermchai, Thep; Ngaosuwan, Kanchana

2017-03-01

Clinical inertia is a failure to intensify treatment according to evidence-based guidelines, and can have both short- and long-term adverse effects for type 2 diabetes (T2D). The aim of the present study was to demonstrate the effects of clinical inertia on glycemic control and diabetes-related complications. A retrospective cohort study was conducted at a university-based hospital in Thailand. Medical records were evaluated retrospectively from January 2010 to December 2014. Patients were classified into two groups: clinical inertia and non-inertia. Clinical inertia was defined as failure to initiate insulin within 3 months in patients with HbA1c ≥9 % who were already taking two oral antidiabetic agents. From 1206 records, 98 patients with mean HbA1c of 10.3 % were identified and enrolled in the study. The median follow-up time of these patients was 29.5 months and 68.4 % were classified into the clinical inertia group. The mean (± SD) HbA1c decrement in the clinical inertia and non-inertia groups was 0.82 ± 1.50 % and 3.02 ± 1.80 %, respectively, at 6 months (P inertia was associated with a significantly shorter median time to progression of diabetic retinopathy (DR); log rank test, P = 0.02 and a higher incidence of DR progression (10 vs 2.2 cases per 1000 person-months; P = 0.003). The adjusted incidence rate ratio for DR progression in the clinical inertia group was 4.92 (95 % confidence interval 1.11-21.77; P = 0.036). Being treated by general practitioners was the strongest risk factor associated with clinical inertia. Clinical inertia can cause persistently poor glycemic control and speed up the progression of DR in T2D. © 2016 Ruijin Hospital, Shanghai Jiaotong University School of Medicine and John Wiley & Sons Australia, Ltd.

The latent effect of inertia in the modal choice

DEFF Research Database (Denmark)

Cherchi, Elisabetta; Meloni, Italo; Ortúzar, Juan de Dios

2014-01-01

The existence of habit (leading to inertia) in the choice process has been approached in the literature in a number of ways. In transport, inertia has been studied mainly using “long panel” data, or mixed revealed and stated preference data. In these studies inertia links the choice made in two...... approaches. We assume that inertia is revealed by past behaviour and affects also the initial condition, but we recognise that past behaviour is only an indicator of habitual behaviour, the true process behind the formation of habitual behaviour being latent. We estimate a hybrid choice model using a set...... of revealed and stated mode choice preferences collected in Cagliari (Italy). We found a significant latent inertia in the revealed preference data, indicating that inertia affects the initial conditions. The latent inertia is revealed by the frequency of past behaviour but the effect of trip frequency...

A vacuum--generated inertia reaction force

International Nuclear Information System (INIS)

Rueda, Alfonso; Haisch, Bernard

2001-01-01

A clear and succinct covariant approach shows that, in principle, there must be a contribution to the inertia reaction force on an accelerated object by the surrounding vacuum electromagnetic field in which the object is embedded. No details of the vacuum to object electromagnetic interaction need to be specified other than the fact that the object is made of electromagnetically interacting particles. Some interesting consequences of this feature are discussed. This analysis strongly supports the concept that inertia is indeed an opposition of the vacuum fields to any attempt to change the uniform state of motion of material bodies. This also definitely shows that inertia should be viewed as extrinsic to mass and that causing agents and/or mechanisms responsible for the inertia reaction force are neither intrinsic to the notion of mass nor to the entities responsible for the existence of mass in elementary particles (as, e.g., the Higgs field). In other words the mechanism that produces the inertia-reaction-force requires an explicit explanation. This explicit explanation is that inertia is an opposition of the vacuum fields to the accelerated motion of any material entities, i.e., of entities that possess mass. It is briefly commented why the existence of a Higgs field responsible for the generation of mass in elementary particles does not contradict the view presented here. It is also briefly discussed why a strict version of Mach's Principle does really contradict this view, though a broad sense version of Mach's Principle may be in agreement

Decalogue of the Spanish Society of Arteriosclerosis to reduce therapeutic inertia.

Science.gov (United States)

Blasco, Mariano; Pérez-Martínez, Pablo; Lahoz, Carlos

Therapeutic inertia (TI) is defined as the failure of the physician to initiate or intensify a treatment when the therapeutic goal has not been achieved. TI can be of 2types: inertia due to lack of prescription of drugs and inertia in the absence of control of a risk factor. The consequences of TI are poor control of risk factors, an increase in potentially preventable events and an increase in costs. There are factors of the doctor himself, the patient and the care organization that determine the presence of TI. Ten measures are proposed to reduce TI: to promote continuing education, to define clearly therapeutic objectives, to establish audits, to implement computerized medical records with alerts, to encourage research in this field, to disseminate clinical practice guidelines, to create motivational incentives, to organize care, to improve the doctor-patient relationship and to involve other health care providers. Copyright © 2017 Sociedad Española de Arteriosclerosis. Publicado por Elsevier España, S.L.U. All rights reserved.

Miniature Reaction Wheel for Small Satellite Control, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — The overall goal of this project is to design, develop, demonstrate, and deliver a miniature, high torque, low-vibration reaction wheel for use on small satellites....

Experimental studies of breaking of elastic tired wheel under variable normal load

Science.gov (United States)

Fedotov, A. I.; Zedgenizov, V. G.; Ovchinnikova, N. I.

2017-10-01

The paper analyzes the braking of a vehicle wheel subjected to disturbances of normal load variations. Experimental tests and methods for developing test modes as sinusoidal force disturbances of the normal wheel load were used. Measuring methods for digital and analogue signals were used as well. Stabilization of vehicle wheel braking subjected to disturbances of normal load variations is a topical issue. The paper suggests a method for analyzing wheel braking processes under disturbances of normal load variations. A method to control wheel baking processes subjected to disturbances of normal load variations was developed.

Umbrella Wheel - a stair-climbing and obstacle-handling wheel design concept

DEFF Research Database (Denmark)

Iversen, Simon; Jouffroy, Jerome

2017-01-01

This paper proposes a new design for stair-climbing using a wheel that can split into segments and walk up stairs or surmount other obstacles often found where humans traverse, while still being able to retain a perfectly round shape for traveling on smooth ground. Using this change of configurat......This paper proposes a new design for stair-climbing using a wheel that can split into segments and walk up stairs or surmount other obstacles often found where humans traverse, while still being able to retain a perfectly round shape for traveling on smooth ground. Using this change...... of configuration, staircases with a wide range of dimensions can be covered efficiently and safely. The design, named Umbrella Wheel, can consist of as many wheel segments as desired, and as few as two. A smaller or higher number of wheel segments has advantages and disadvantages depending on the specific...

Sleep inertia, sleep homeostatic and circadian influences on higher-order cognitive functions.

Science.gov (United States)

Burke, Tina M; Scheer, Frank A J L; Ronda, Joseph M; Czeisler, Charles A; Wright, Kenneth P

2015-08-01

Sleep inertia, sleep homeostatic and circadian processes modulate cognition, including reaction time, memory, mood and alertness. How these processes influence higher-order cognitive functions is not well known. Six participants completed a 73-day-long study that included two 14-day-long 28-h forced desynchrony protocols to examine separate and interacting influences of sleep inertia, sleep homeostasis and circadian phase on higher-order cognitive functions of inhibitory control and selective visual attention. Cognitive performance for most measures was impaired immediately after scheduled awakening and improved during the first ~2-4 h of wakefulness (decreasing sleep inertia); worsened thereafter until scheduled bedtime (increasing sleep homeostasis); and was worst at ~60° and best at ~240° (circadian modulation, with worst and best phases corresponding to ~09:00 and ~21:00 hours, respectively, in individuals with a habitual wake time of 07:00 hours). The relative influences of sleep inertia, sleep homeostasis and circadian phase depended on the specific higher-order cognitive function task examined. Inhibitory control appeared to be modulated most strongly by circadian phase, whereas selective visual attention for a spatial-configuration search task was modulated most strongly by sleep inertia. These findings demonstrate that some higher-order cognitive processes are differentially sensitive to different sleep-wake regulatory processes. Differential modulation of cognitive functions by different sleep-wake regulatory processes has important implications for understanding mechanisms contributing to performance impairments during adverse circadian phases, sleep deprivation and/or upon awakening from sleep. © 2015 European Sleep Research Society.

Moments of Inertia: Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID)

Science.gov (United States)

Haro, Helida C.

2010-01-01

The objective of this research effort is to determine the most appropriate, cost efficient, and effective method to utilize for finding moments of inertia for the Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID). A moment is a measure of the body's tendency to turn about its center of gravity (CG) and inertia is the resistance of a body to changes in its momentum. Therefore, the moment of inertia (MOI) is a body's resistance to change in rotation about its CG. The inertial characteristics of an UAV have direct consequences on aerodynamics, propulsion, structures, and control. Therefore, it is imperative to determine the precise inertial characteristics of the DROID.

Moments of Inertia - Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID)

Science.gov (United States)

Haro, Helida C.

2010-01-01

The objective of this research effort is to determine the most appropriate, cost efficient, and effective method to utilize for finding moments of inertia for the Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID). A moment is a measure of the body's tendency to turn about its center of gravity (CG) and inertia is the resistance of a body to changes in its momentum. Therefore, the moment of inertia (MOI) is a body's resistance to change in rotation about its CG. The inertial characteristics of an UAV have direct consequences on aerodynamics, propulsion, structures, and control. Therefore, it is imperative to determine the precise inertial characteristics of the DROID.

Experimental study of the moment of inertia of a cone-angular variation and inertia ellipsoid

International Nuclear Information System (INIS)

Pintao, Carlos A F; Souza de Filho, Moacir P; Usida, Wesley F; Xavier, Jose A

2007-01-01

In this paper, an experimental set-up which differs from the traditional ones is established in order to determine the moment of inertia of a right circular cone. Its angular variation and inertia ellipsoid are determined by means of an experimental study. In addition, a system that allows for the evaluation of the angular acceleration and torque through electric current or frequency measurement is utilized

Robust Switched Predictive Braking Control for Rollover Prevention in Wheeled Vehicles

Directory of Open Access Journals (Sweden)

Martín Antonio Rodríguez Licea

2014-01-01

Full Text Available The aim of this paper is to propose a differential braking rollover mitigation strategy for wheeled vehicles. The strategy makes use of a polytopic (piecewise linear description of the vehicle and includes translational and rotational dynamics, as well as suspension effects. The braking controller is robust and the system states are predicted to estimate the rollover risk up to a given time horizon. In contrast to existing works, the switched predictive nature of the control allows it to be applied only when risk of rollover is foreseen, interfering a minimum with driver’s actions. The stability of the strategy is analyzed and its robustness is illustrated via numerical simulations using CarSim for a variety of vehicles.

Collective inertia in paired systems

International Nuclear Information System (INIS)

Arve, P.O.; Bertsch, G.F.; Michigan State Univ., East Lansing

1988-01-01

Two definitions of the collective inertia are examined. One of them was recently proposed and applied in a calculation of exotic radioactivity. The other expression is the Inglis cranking formula. It is shown that the new formula corresponds to rapid collective motion while the cranking corresponds to slow collective motion. It is also seen that the two forms of the inertia differ only in the choice of the collective momentum. (orig.)

Clinical inertia and its impact on treatment intensification in people with type 2 diabetes mellitus.

Science.gov (United States)

Reach, G; Pechtner, V; Gentilella, R; Corcos, A; Ceriello, A

2017-12-01

Many people with type 2 diabetes mellitus (T2DM) fail to achieve glycaemic control promptly after diagnosis and do not receive timely treatment intensification. This may be in part due to 'clinical inertia', defined as the failure of healthcare providers to initiate or intensify therapy when indicated. Physician-, patient- and healthcare-system-related factors all contribute to clinical inertia. However, decisions that appear to be clinical inertia may, in fact, be only 'apparent' clinical inertia and may reflect good clinical practice on behalf of the physician for a specific patient. Delay in treatment intensification can happen at all stages of treatment for people with T2DM, including prescription of lifestyle changes after diagnosis, introduction of pharmacological therapy, use of combination therapy where needed and initiation of insulin. Clinical inertia may contribute to people with T2DM living with suboptimal glycaemic control for many years, with dramatic consequences for the patient in terms of quality of life, morbidity and mortality, and for public health because of the huge costs associated with uncontrolled T2DM. Because multiple factors can lead to clinical inertia, potential solutions most likely require a combination of approaches involving fundamental changes in medical care. These could include the adoption of a person-centred model of care to account for the complex considerations influencing treatment decisions by patients and physicians. Better patient education about the progressive nature of T2DM and the risks inherent in long-term poor glycaemic control may also reinforce the need for regular treatment reviews, with intensification when required. Copyright © 2017 The Authors. Published by Elsevier Masson SAS.. All rights reserved.

Design of Wheeled Mobile Robot with Tri-Star Wheel as Rescue Robot

Directory of Open Access Journals (Sweden)

Rafiuddin Syam

2014-10-01

Full Text Available This study aims to design, and analyze a mobile robot that can handle some of the obstacles, they are uneven surfaces, slopes, can also climb stairs. WMR in this study is Tristar wheel that is containing three wheels for each set. On average surface only two wheels in contact with the surface, if there is an uneven surface or obstacle then the third wheel will rotate with the rotation center of the wheel in contact with the leading obstacle then only one wheel in contact with the surface. This study uses the C language program. Furthermore, the minimum thrust to be generated torque of the motor and transmission is 9.56 kg. The results obtained by calculation and analysis of DC motors used must have a torque greater than 14.67 kg.cm. Minimum thrust to be generated motor torque and the transmission is 9.56 kg. The experimental results give good results for robot to moving forward, backward, turn left, turn right and climbing the stairs.

Electron-inertia effects on driven magnetic field reconnection

International Nuclear Information System (INIS)

Al-Salti, N.; Shivamoggi, B.K.

2003-01-01

Electron-inertia effects on the magnetic field reconnection induced by perturbing the boundaries of a slab of plasma with a magnetic neutral surface inside are considered. Energetics of the tearing mode dynamics with electron inertia which controls the linearized collisionless magnetohydrodynamics (MHD) are considered with a view to clarify the role of the plasma pressure in this process. Cases with the boundaries perturbed at rates slow or fast compared with the hydromagnetic evolution rate are considered separately. When the boundaries are perturbed at a rate slow compared with the hydromagnetic evolution rate and fast compared with the resistive diffusion rate, the plasma response for early times is according to ideal MHD. A current sheet formation takes place at the magnetic neutral surface for large times in the ideal MHD stage and plasma becomes motionless. The subsequent evolution of the current sheet is found to be divided into two distinct stages: (i) the electron-inertia stage for small times (when the current sheet is very narrow); (ii) the resistive-diffusion stage for large times. The current sheet mainly undergoes exponential damping in the electron-inertia regime while the bulk of the diffusion happens in the resistivity regime. For large times of the resistive-diffusion stage when plasma flow is present, the current sheet completely disappears and the magnetic field reconnection takes place. When the boundaries are perturbed at a rate fast compared even with the hydromagnetic evolution rate, there is no time for the development of a current sheet and the magnetic field reconnection has been found not to take place

EVALUATION OF A CONCEPTUAL VEHICLE STEERING SYSTEM FOR INDEPENDENT WHEEL CONTROL

Directory of Open Access Journals (Sweden)

Ryszard BUCHALIK

2017-03-01

Full Text Available This paper presents a brief description of an unconventional steering system involving electronic stability control and its influence on vehicle motion. The proposed configuration enables individual changes in steering angle for each single wheel, in contrast to the mechanical linkage solution. An analysis of vehicle behaviour during emergency braking on a heterogeneous surface is conducted, especially with regard to the undesirable rotation of the vehicle body. The benefits of using this active steering system, implemented in the steer-by-wire mode, are characterized, while the problems for further consideration and the potential benefits of such a solution are described.

Isolated colonic inertia is not usually the cause of chronic constipation.

Science.gov (United States)

Ragg, J; McDonald, R; Hompes, R; Jones, O M; Cunningham, C; Lindsey, I

2011-11-01

Chronic constipation is classified as outlet obstruction, colonic inertia or both. We aimed to determine the incidence of isolated colonic inertia in chronic constipation and to study symptom pattern in those with prolonged colonic transit time. Chronic constipation patients were classified radiologically by surgeon-reported defaecating proctography and transit study into four groups: isolated outlet obstruction, isolated colonic inertia, outlet obstruction plus colonic inertia, or normal. Symptom patterns were defined as stool infrequency (twice weekly or less) or frequent unsuccessful evacuations (more than twice weekly). Of 541 patients with chronic constipation, 289 (53%) were classified as isolated outlet obstruction, 26 (5%) as isolated colonic inertia, 159 (29%) as outlet obstruction plus colonic inertia and 67 (12%) as normal. Of 448 patients (83%) with outlet obstruction, 35% had additional colonic inertia. Only 14% of those with prolonged colonic transit time had isolated colonic inertia. Frequent unsuccessful evacuations rather than stool infrequency was the commonest symptom pattern in all three disease groups (isolated outlet obstruction 86%, isolated colonic inertia 54% and outlet obstruction plus colonic inertia 63%). Isolated colonic inertia is an unusual cause of chronic constipation. Most patients with colonic inertia have associated outlet obstruction. These data question the clinical significance of isolated colonic inertia. © 2011 The Authors. Colorectal Disease © 2011 The Association of Coloproctology of Great Britain and Ireland.

Smoothelin expression in the gastrointestinal tract: implication in colonic inertia.

Science.gov (United States)

Chan, Owen T M; Chiles, Lauren; Levy, Mary; Zhai, Jing; Yerian, Lisa M; Xu, Haodong; Xiao, Shu-Yuan; Soffer, Edy E; Conklin, Jeffrey L; Dhall, Deepti; Kahn, Melissa E; Balzer, Bonnie L; Amin, Mahul B; Wang, Hanlin L

2013-10-01

Colonic inertia is a frustrating motility disorder to patients, clinicians, and pathologists. The pathogenesis is largely unknown. The aims of this study were to: (1) characterize the expression of smoothelin, a novel smooth muscle-specific contractile protein expressed only by terminally differentiated smooth muscle cells, in the normal gastrointestinal (GI) tract; and (2) determine whether smoothelin is aberrantly expressed in patients with colonic inertia. A total of 57 resections of the normal GI tract (distal esophagus to left colon) were obtained from patients without GI motor dysfunction. Sixty-one colon resections were obtained from patients with a clinical diagnosis of colonic inertia. Smoothelin immunostaining was conducted on full-thickness tissue sections. In the nondysmotile controls, strong and diffuse cytoplasmic staining for smoothelin was observed in both the inner circular and outer longitudinal layers of the muscularis propria (MP) throughout the entire GI tract. The muscularis mucosae (MM) and muscular vessel walls were either completely negative or only patchily and weakly stained. The 1 exception to this pattern was observed in the distal esophagus, in which the MM was also diffusely and strongly stained. In cases with colonic inertia, a moderate to marked reduction of smoothelin immunoreactivity was observed in 15 of 61 (24.6%) colon resections, selectively seen in the outer layer of the MP. The data demonstrate that smoothelin is differentially expressed in the MP and MM of the normal GI tract and suggest that defective smoothelin expression may play a role in the pathogenesis of colonic inertia in a subset of patients.

Inducverters: PLL-Less Converters with Auto-Synchronization and Emulated Inertia Capability

DEFF Research Database (Denmark)

Ashabani, Mahdi; Freijedo Fernandez, Francisco Daniel; Golestan, Saeed

2016-01-01

current information and can track grid frequency, angle and voltage amplitude variations while feeding constant amount of power which is of high interest in frequency varying grids and also in the case of grid voltage angle jump. Another advantage of the inducverter is that it introduces virtual inertia...... impedance. The controller also offers stable and high-performance synchronization and operation under unbalanced and/or distorted grid conditions. The work beside synchronous current converters give a bird’s eye view to research in the new area of PLL-less and virtual inertia-based operation of VSCs...

Finite element analysis of rail-wheel interaction

International Nuclear Information System (INIS)

Rahman, F.; Kharlamov, Y.A.; Islam, S.; Khan, A.A.

2006-01-01

Damage mechanisms such as surface cracks, plastic deformation and wear can significantly reduce the service life of railway track and rolling stock. They also have a negative impact on the rolling noise as well as: on the riding comfort. A proper understanding of these mechanisms requires a detailed knowledge of physical interaction between wheel and rail. Furthermore, demands for higher train speeds and increased axle loads implies that the consequences of larger contact. forces between wheel and rail must be thoroughly investigated. Two methods have traditionally been used to investigate the rail-wheel contact, that is the Hertz analytical method and simplified numerical method based on the boundary element (BE) method. These methods rely on a half-space assumption and a linear material model. This paper presents that to overcome these limitations, a tool for FE-based quasistatic wheel-rail contact simulations has been developed. The tool is a library of ANSYS macro routines for configuring, meshing and loading of a parametric wheel-rail model. The meshing is based on measured wheel and rail profiles. The wheel and rail materials in the contact region are treated as elastic-plastic with kinematic hardening. By controlling the values of the configuration parameters, representations of various driving cases can be generated. The quasi-static loads are obtained from train motion. Interaction phenomena such as rolling, spinning and sidling can be included. The modeling tool and a methodology are described in the presented paper. Significant differences in the calculated state between the FE solution and the traditional approaches can be observed. These differences are most significant in situations with flange contact. (author)

Analysis of motion of the three wheeled mobile platform

Directory of Open Access Journals (Sweden)

Jaskot Anna

2018-01-01

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

Nonlinear transient waves in coupled phase oscillators with inertia.

Science.gov (United States)

Jörg, David J

2015-05-01

Like the inertia of a physical body describes its tendency to resist changes of its state of motion, inertia of an oscillator describes its tendency to resist changes of its frequency. Here, we show that finite inertia of individual oscillators enables nonlinear phase waves in spatially extended coupled systems. Using a discrete model of coupled phase oscillators with inertia, we investigate these wave phenomena numerically, complemented by a continuum approximation that permits the analytical description of the key features of wave propagation in the long-wavelength limit. The ability to exhibit traveling waves is a generic feature of systems with finite inertia and is independent of the details of the coupling function.

Design of wheel-type walking-assist device

International Nuclear Information System (INIS)

Jung, Seung Ho; Kim, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil; Jung, Kyung Min; Lee, Sung Uk

2006-03-01

In this research, a outdoor wheel-type walking-assist device is developed to help an elder having a poor muscular strength at legs for walking, sitting and standing up easily at outdoors, and also for going and downing stairs. In conceptually designing, the environments of an elder's activity, the size of an elder's body and a necessary function of helping an elder are considered. This device has 4 wheels for stability. When an elder walks in incline plane with the proposed device, a rear-wing is rotated to keep the supporting device horizontal, regardless of an angle of inclination. A height-controlling device, which can control the height of the supporting device for adjusting an elder's height, is varied vertically to help an elder to sit and stand-up easily. Moreover, a outdoor wheel-type walking-assist device is conceptually designed and is made. In order to design it, the preview research is investigated firstly. On the basis of the proposed walking-assist device, the outdoor walking-assist device is designed and made. The outdoor wheel-type walking-assist device can go and down stairs automatically. This device go up and down the stair of having maximum 20cm height and an angle of 25 degrees with maximum 4 sec/stairs speed, and move at flatland with 60cm/sec speed

A dynamic wheel-rail impact analysis of railway track under wheel flat by finite element analysis

Science.gov (United States)

Bian, Jian; Gu, Yuantong; Murray, Martin Howard

2013-06-01

Wheel-rail interaction is one of the most important research topics in railway engineering. It involves track impact response, track vibration and track safety. Track structure failures caused by wheel-rail impact forces can lead to significant economic loss for track owners through damage to rails and to the sleepers beneath. Wheel-rail impact forces occur because of imperfections in the wheels or rails such as wheel flats, irregular wheel profiles, rail corrugations and differences in the heights of rails connected at a welded joint. A wheel flat can cause a large dynamic impact force as well as a forced vibration with a high frequency, which can cause damage to the track structure. In the present work, a three-dimensional finite element (FE) model for the impact analysis induced by the wheel flat is developed by the use of the FE analysis (FEA) software package ANSYS and validated by another validated simulation. The effect of wheel flats on impact forces is thoroughly investigated. It is found that the presence of a wheel flat will significantly increase the dynamic impact force on both rail and sleeper. The impact force will monotonically increase with the size of wheel flats. The relationships between the impact force and the wheel flat size are explored from this FEA and they are important for track engineers to improve their understanding of the design and maintenance of the track system.

Uncovering the inertia of dislocation motion and negative mechanical response in crystals.

Science.gov (United States)

Tang, Yizhe

2018-01-09

Dislocations are linear defects in crystals and their motion controls crystals' mechanical behavior. The dissipative nature of dislocation propagation is generally accepted although the specific mechanisms are still not fully understood. The inertia, which is undoubtedly the nature of motion for particles with mass, seems much less convincing for configuration propagation. We utilize atomistic simulations in conditions that minimize dissipative effects to enable uncovering of the hidden nature of dislocation motion, in three typical model metals Mg, Cu and Ta. We find that, with less/no dissipation, dislocation motion is under-damped and explicitly inertial at both low and high velocities. The inertia of dislocation motion is intrinsic, and more fundamental than the dissipative nature. The inertia originates from the kinetic energy imparted from strain energy and stored in the moving core. Peculiar negative mechanical response associated with the inertia is also discovered. These findings shed light on the fundamental nature of dislocation motion, reveal the underlying physics, and provide a new physical explanation for phenomena relevant to high-velocity dislocations.

Mars Surface Heterogeneity From Variations in Apparent Thermal Inertia

Science.gov (United States)

Putzig, N. E.; Mellon, M. T.

2005-12-01

Current techniques used in the calculation of thermal inertia from observed brightness temperatures typically assume that planetary surface properties are uniform on the scale of the instrument's observational footprint. Mixed or layered surfaces may yield different apparent thermal inertia values at different seasons or times of day due to the nonlinear relationship between temperature and thermal inertia. To obtain sufficient data coverage for investigating temporal changes, we processed three Mars years of observations from the Mars Global Surveyor Thermal Emission Spectrometer and produced seasonal nightside and dayside maps of apparent thermal inertia. These maps show broad regions with seasonal and diurnal differences as large as 200 J m-2 K-1 s-½ at mid-latitudes (60°S to 60°N) and ranging up to 600 J m-2 K-1 s-½ or greater in the polar regions. Comparison of the maps with preliminary results from forward-modeling of heterogeneous surfaces indicates that much of the martian surface may be dominated by (1) horizontally mixed surfaces, such as those containing differing proportions of rocks, sand, dust, duricrust, and localized frosts; (2) higher thermal inertia layers over lower thermal inertia substrates, such as duricrust or desert pavements; and (3) lower thermal inertia layers over higher thermal inertia substrates, such as dust over sand or rocks and soils with an ice table at depth.

Reinventing the wheel: comparison of two wheel cage styles for assessing mouse voluntary running activity.

Science.gov (United States)

Seward, T; Harfmann, B D; Esser, K A; Schroder, E A

2018-04-01

Voluntary wheel cage assessment of mouse activity is commonly employed in exercise and behavioral research. Currently, no standardization for wheel cages exists resulting in an inability to compare results among data from different laboratories. The purpose of this study was to determine whether the distance run or average speed data differ depending on the use of two commonly used commercially available wheel cage systems. Two different wheel cages with structurally similar but functionally different wheels (electromechanical switch vs. magnetic switch) were compared side-by-side to measure wheel running data differences. Other variables, including enrichment and cage location, were also tested to assess potential impacts on the running wheel data. We found that cages with the electromechanical switch had greater inherent wheel resistance and consistently led to greater running distance per day and higher average running speed. Mice rapidly, within 1-2 days, adapted their running behavior to the type of experimental switch used, suggesting these running differences are more behavioral than due to intrinsic musculoskeletal, cardiovascular, or metabolic limits. The presence of enrichment or location of the cage had no detectable impact on voluntary wheel running. These results demonstrate that mice run differing amounts depending on the type of cage and switch mechanism used and thus investigators need to report wheel cage type/wheel resistance and use caution when interpreting distance/speed run across studies. NEW & NOTEWORTHY The results of this study highlight that mice will run different distances per day and average speed based on the inherent resistance present in the switch mechanism used to record data. Rapid changes in running behavior for the same mouse in the different cages demonstrate that a strong behavioral factor contributes to classic exercise outcomes in mice. Caution needs to be taken when interpreting mouse voluntary wheel running activity to

Satellite Dynamics and Control in a Quaternion Formulation (2nd edition)

DEFF Research Database (Denmark)

Blanke, Mogens; Larsen, Martin Birkelund

to represent rotation. A general linearised model is derived such that the user can specify an arbitrary point of operation in angular velocity and wheel angular momentum, specifying the a inertia matrix for a rigid satellite. A set of Simulink® models that simulate the satellite’s nonlinear behaviour...

Treating inertia in passive microbead rheology.

Science.gov (United States)

Indei, Tsutomu; Schieber, Jay D; Córdoba, Andrés; Pilyugina, Ekaterina

2012-02-01

The dynamic modulus G(*) of a viscoelastic medium is often measured by following the trajectory of a small bead subject to Brownian motion in a method called "passive microbead rheology." This equivalence between the positional autocorrelation function of the tracer bead and G(*) is assumed via the generalized Stokes-Einstein relation (GSER). However, inertia of both bead and medium are neglected in the GSER so that the analysis based on the GSER is not valid at high frequency where inertia is important. In this paper we show how to treat both contributions to inertia properly in one-bead passive microrheological analysis. A Maxwell fluid is studied as the simplest example of a viscoelastic fluid to resolve some apparent paradoxes of eliminating inertia. In the original GSER, the mean-square displacement (MSD) of the tracer bead does not satisfy the correct initial condition. If bead inertia is considered, the proper initial condition is realized, thereby indicating an importance of including inertia, but the MSD oscillates at a time regime smaller than the relaxation time of the fluid. This behavior is rather different from the original result of the GSER and what is observed. What is more, the discrepancy from the GSER result becomes worse with decreasing bead mass, and there is an anomalous gap between the MSD derived by naïvely taking the zero-mass limit in the equation of motion and the MSD for finite bead mass as indicated by McKinley et al. [J. Rheol. 53, 1487 (2009)]. In this paper we show what is necessary to take the zero-mass limit of the bead safely and correctly without causing either the inertial oscillation or the anomalous gap, while obtaining the proper initial condition. The presence of a very small purely viscous element can be used to eliminate bead inertia safely once included in the GSER. We also show that if the medium contains relaxation times outside the window where the single-mode Maxwell behavior is observed, the oscillation can be

The Influence of Wheel/Rail Contact Conditions on the Microstructure and Hardness of Railway Wheels

Directory of Open Access Journals (Sweden)

Paul Molyneux-Berry

2014-01-01

Full Text Available The susceptibility of railway wheels to wear and rolling contact fatigue damage is influenced by the properties of the wheel material. These are influenced by the steel composition, wheel manufacturing process, and thermal and mechanical loading during operation. The in-service properties therefore vary with depth below the surface and with position across the wheel tread. This paper discusses the stress history at the wheel/rail contact (derived from dynamic simulations and observed variations in hardness and microstructure. It is shown that the hardness of an “in-service” wheel rim varies significantly, with three distinct effects. The underlying hardness trend with depth can be related to microstructural changes during manufacturing (proeutectoid ferrite fraction and pearlite lamellae spacing. The near-surface layer exhibits plastic flow and microstructural shear, especially in regions which experience high tangential forces when curving, with consequentially higher hardness values. Between 1 mm and 7 mm depth, the wheel/rail contacts cause stresses exceeding the material yield stress, leading to work hardening, without a macroscopic change in microstructure. These changes in material properties through the depth of the wheel rim would tend to increase the likelihood of crack initiation on wheels toward the end of their life. This correlates with observations from several train fleets.

49 CFR 570.10 - Wheel assemblies.

Science.gov (United States)

2010-10-01

... bead through one full wheel revolution and note runout in excess of one-eighth of an inch. (c) Mounting... 49 Transportation 6 2010-10-01 2010-10-01 false Wheel assemblies. 570.10 Section 570.10... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

The Inertia Weight Updating Strategies in Particle Swarm Optimisation Based on the Beta Distribution

Directory of Open Access Journals (Sweden)

Petr Maca

2015-01-01

Full Text Available The presented paper deals with the comparison of selected random updating strategies of inertia weight in particle swarm optimisation. Six versions of particle swarm optimization were analysed on 28 benchmark functions, prepared for the Special Session on Real-Parameter Single Objective Optimisation at CEC2013. The random components of tested inertia weight were generated from Beta distribution with different values of shape parameters. The best analysed PSO version is the multiswarm PSO, which combines two strategies of updating the inertia weight. The first is driven by the temporally varying shape parameters, while the second is based on random control of shape parameters of Beta distribution.

Research on Robot Pose Control Technology Based on Kinematics Analysis Model

Science.gov (United States)

Liu, Dalong; Xu, Lijuan

2018-01-01

In order to improve the attitude stability of the robot, proposes an attitude control method of robot based on kinematics analysis model, solve the robot walking posture transformation, grasping and controlling the motion planning problem of robot kinematics. In Cartesian space analytical model, using three axis accelerometer, magnetometer and the three axis gyroscope for the combination of attitude measurement, the gyroscope data from Calman filter, using the four element method for robot attitude angle, according to the centroid of the moving parts of the robot corresponding to obtain stability inertia parameters, using random sampling RRT motion planning method, accurate operation to any position control of space robot, to ensure the end effector along a prescribed trajectory the implementation of attitude control. The accurate positioning of the experiment is taken using MT-R robot as the research object, the test robot. The simulation results show that the proposed method has better robustness, and higher positioning accuracy, and it improves the reliability and safety of robot operation.

Design of Wheeled Mobile Robot with Tri-Star Wheel as Rescue Robot

Directory of Open Access Journals (Sweden)

Rafiuddin Syam

2016-05-01

Full Text Available This study aims to design, and analyze a mobilerobot that can handle some of the obstacles, they are unevensurfaces, slopes, can also climb stairs. WMR in this study is Tristarwheel that is containing three wheels for each set. Onaverage surface only two wheels in contact with the surface, ifthere is an uneven surface or obstacle then the third wheel willrotate with the rotation center of the wheel in contact with theleading obstacle then only one wheel in contact with the surface.This study uses the C language program. Furthermore, theminimum thrust to be generated torque of the motor andtransmission is 9.56 kg. The results obtained by calculation andanalysis of DC motors used must have a torque greater than14.67 kg.cm. Minimum thrust to be generated motor torque andthe transmission is 9.56 kg. The experimental results give goodresults for robot to moving forward, backward, turn left, turnright and climbing the stairs

Wheel-running reinforcement in free-feeding and food-deprived rats.

Science.gov (United States)

Belke, Terry W; Pierce, W David

2016-03-01

Rats experiencing sessions of 30min free access to wheel running were assigned to ad-lib and food-deprived groups, and given additional sessions of free wheel activity. Subsequently, both ad-lib and deprived rats lever pressed for 60s of wheel running on fixed ratio (FR) 1, variable ratio (VR) 3, VR 5, and VR 10 schedules, and on a response-initiated variable interval (VI) 30s schedule. Finally, the ad-lib rats were switched to food deprivation and the food-deprived rats were switched to free food, as rats continued responding on the response-initiated VI 30-s schedule. Wheel running functioned as reinforcement for both ad-lib and food-deprived rats. Food-deprived rats, however, ran faster and had higher overall lever-pressing rates than free-feeding rats. On the VR schedules, wheel-running rates positively correlated with local and overall lever pressing rates for deprived, but not ad-lib rats. On the response-initiated VI 30s schedule, wheel-running rates and lever-pressing rates changed for ad-lib rats switched to food deprivation, but not for food-deprived rats switched to free-feeding. The overall pattern of results suggested different sources of control for wheel running: intrinsic motivation, contingencies of automatic reinforcement, and food-restricted wheel running. An implication is that generalizations about operant responding for wheel running in food-deprived rats may not extend to wheel running and operant responding of free-feeding animals. Copyright © 2015 Elsevier B.V. All rights reserved.

Social inertia and diversity in collaboration networks

Science.gov (United States)

Ramasco, J. J.

2007-04-01

Random graphs are useful tools to study social interactions. In particular, the use of weighted random graphs allows to handle a high level of information concerning which agents interact and in which degree the interactions take place. Taking advantage of this representation, we recently defined a magnitude, the Social Inertia, that measures the eagerness of agents to keep ties with previous partners. To study this magnitude, we used collaboration networks that are specially appropriate to obtain valid statitical results due to the large size of publically available databases. In this work, I study the Social Inertia in two of these empirical networks, IMDB movie database and condmat. More specifically, I focus on how the Inertia relates to other properties of the graphs, and show that the Inertia provides information on how the weight of neighboring edges correlates. A social interpretation of this effect is also offered.

Development of a control model for a four wheel mecanum vehicle

CSIR Research Space (South Africa)

De Villiers, M

2010-07-01

Full Text Available Page 1 of 10 25th International Conference of CAD/CAM, Robotics & Factories of the Future Conference, 13-16 July 2010, Pretoria, South Africa DEVELOPMENT OF A CONTROL MODEL FOR A FOUR WHEEL MECANUM VEHICLE M. de Villiers1, Prof. G. Bright2... and summed to get the following equations (1)(2) defining the total force applied to the vehicle, the subscript T is applied to show that these are total forces: g1832g3021g3051 g2191 g3404 g3533 g1832g3051g3050 g2191 g2781 g2205g2880g2778 (1...

Neural predictors of emotional inertia in daily life.

Science.gov (United States)

Waugh, Christian E; Shing, Elaine Z; Avery, Bradley M; Jung, Youngkyoo; Whitlow, Christopher T; Maldjian, Joseph A

2017-09-01

Assessing emotional dynamics in the brain offers insight into the fundamental neural and psychological mechanisms underlying emotion. One such dynamic is emotional inertia-the influence of one's emotional state at one time point on one's emotional state at a subsequent time point. Emotion inertia reflects emotional rigidity and poor emotion regulation as evidenced by its relationship to depression and neuroticism. In this study, we assessed changes in cerebral blood flow (CBF) from before to after an emotional task and used these changes to predict stress, positive and negative emotional inertia in daily life events. Cerebral blood flow changes in the lateral prefrontal cortex (lPFC) predicted decreased non-specific emotional inertia, suggesting that the lPFC may feature a general inhibitory mechanism responsible for limiting the impact that an emotional state from one event has on the emotional state of a subsequent event. CBF changes in the ventromedial prefrontal cortex and lateral occipital cortex were associated with positive emotional inertia and negative/stress inertia, respectively. These data advance the blossoming literature on the temporal dynamics of emotion in the brain and on the use of neural indices to predict mental health-relevant behavior in daily life. © The Author (2017). Published by Oxford University Press.

Attitude Control Subsystem for the Advanced Communications Technology Satellite

Science.gov (United States)

Hewston, Alan W.; Mitchell, Kent A.; Sawicki, Jerzy T.

1996-01-01

This paper provides an overview of the on-orbit operation of the Attitude Control Subsystem (ACS) for the Advanced Communications Technology Satellite (ACTS). The three ACTS control axes are defined, including the means for sensing attitude and determining the pointing errors. The desired pointing requirements for various modes of control as well as the disturbance torques that oppose the control are identified. Finally, the hardware actuators and control loops utilized to reduce the attitude error are described.

Validity, Reliability, and Inertia of Four Different Temperature Capsule Systems.

Science.gov (United States)

Bongers, Coen C W G; Daanen, Hein A M; Bogerd, Cornelis P; Hopman, Maria T E; Eijsvogels, Thijs M H

2018-01-01

Telemetric temperature capsule systems are wireless, relatively noninvasive, and easily applicable in field conditions and have therefore great advantages for monitoring core body temperature. However, the accuracy and responsiveness of available capsule systems have not been compared previously. Therefore, the aim of this study was to examine the validity, reliability, and inertia characteristics of four ingestible temperature capsule systems (i.e., CorTemp, e-Celsius, myTemp, and VitalSense). Ten temperature capsules were examined for each system in a temperature-controlled water bath during three trials. The water bath temperature gradually increased from 33°C to 44°C in trials 1 and 2 to assess the validity and reliability, and from 36°C to 42°C in trial 3 to assess the inertia characteristics of the temperature capsules. A systematic difference between capsule and water bath temperature was found for CorTemp (0.077°C ± 0.040°C), e-Celsius (-0.081°C ± 0.055°C), myTemp (-0.003°C ± 0.006°C), and VitalSense (-0.017°C ± 0.023°C; P 0.05). Comparable inertia characteristics were found for CorTemp (25 ± 4 s), e-Celsius (21 ± 13 s), and myTemp (19 ± 2 s), whereas the VitalSense system responded more slowly (39 ± 6 s) to changes in water bath temperature (P inertia were observed between capsule systems, an excellent validity, test-retest reliability, and inertia was found for each system between 36°C and 44°C after removal of outliers.

Orbital and angular motion construction for low thrust interplanetary flight

Science.gov (United States)

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

2016-11-01

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

Moment of inertia and the interacting boson model

International Nuclear Information System (INIS)

Yoshida, N.; Sagawa, H.; Otsuka, T.; Arima, A.

1989-01-01

Mass-number dependence of the moment of inertia is studied in relation with the boson number in the SU(3) limit of the interacting boson model 1 (IBM-1). The analytic formula in the limit indicates the pairing correlation between nucleons is directly related to the moment of inertia in the IBM. It is shown in general that the kink of the moment of inertia coincides with the maximum boson number of each element. (author)

Selective effects of weight and inertia on maximum lifting.

Science.gov (United States)

Leontijevic, B; Pazin, N; Kukolj, M; Ugarkovic, D; Jaric, S

2013-03-01

A novel loading method (loading ranged from 20% to 80% of 1RM) was applied to explore the selective effects of externally added simulated weight (exerted by stretched rubber bands pulling downward), weight+inertia (external weights added), and inertia (covariation of the weights and the rubber bands pulling upward) on maximum bench press throws. 14 skilled participants revealed a load associated decrease in peak velocity that was the least associated with an increase in weight (42%) and the most associated with weight+inertia (66%). However, the peak lifting force increased markedly with an increase in both weight (151%) and weight+inertia (160%), but not with inertia (13%). As a consequence, the peak power output increased most with weight (59%), weight+inertia revealed a maximum at intermediate loads (23%), while inertia was associated with a gradual decrease in the peak power output (42%). The obtained findings could be of importance for our understanding of mechanical properties of human muscular system when acting against different types of external resistance. Regarding the possible application in standard athletic training and rehabilitation procedures, the results speak in favor of applying extended elastic bands which provide higher movement velocity and muscle power output than the usually applied weights. © Georg Thieme Verlag KG Stuttgart · New York.

Therapeutic inertia in the management of hyperlipidaemia in type 2 diabetic patients: a cross-sectional study in the primary care setting.

Science.gov (United States)

Man, F Y; Chen, C Xr; Lau, Y Y; Chan, K

2016-08-01

To study the prevalence of therapeutic inertia in lipid management among type 2 diabetic patients in the primary care setting and to explore associated factors. This was a cross-sectional study involving type 2 diabetic patients with suboptimal lipid control followed up in all general out-patient clinics of Kowloon Central Cluster in Hong Kong from 1 October 2011 to 30 September 2013. Main outcome measures included prevalence of therapeutic inertia in low-density lipoprotein management among type 2 diabetic patients and its association with patient and physician characteristics. Based on an agreed standard, lipid control was suboptimal in 49.1% (n=9647) of type 2 diabetic patients who attended for a regular annual check-up (n=19 662). Among the sampled 369 type 2 diabetic patients with suboptimal lipid control, therapeutic inertia was found to be present in 244 cases, with a prevalence rate of 66.1%. When the attending doctors' profiles were compared, the mean duration of clinical practice was significantly longer in the therapeutic inertia group than the non-therapeutic inertia group. Doctors without prior training in family medicine were also found to have a higher rate of therapeutic inertia. Patients in the therapeutic inertia group had longer disease duration, a higher co-morbidity rate of cardiovascular disease, and a closer-to-normal low-density lipoprotein level. Logistic regression analysis revealed that lack of family medicine training among doctors was positively associated with the presence of therapeutic inertia whereas patient's low-density lipoprotein level was inversely associated. Therapeutic inertia was common in the lipid management of patients with type 2 diabetes in a primary care setting. Lack of family medicine training among doctors and patient's low-density lipoprotein level were associated with the presence of therapeutic inertia. Further study of the barriers and strategies to overcome therapeutic inertia is needed to improve patient

Dynamical moments of inertia for superdeformed nuclei

International Nuclear Information System (INIS)

Obikhod, T.V.

1995-01-01

The method of quantum groups has been applied for calculation the dynamical moments of inertia for the yrast superdeformed bands in 194 Hg and 192 Hg as well as to calculation of the dynamical moments of inertia of superdeformed bands in 150 Gd and 148 Gd

Effects of microscale inertia on dynamic ductile crack growth

Science.gov (United States)

Jacques, N.; Mercier, S.; Molinari, A.

2012-04-01

The aim of this paper is to investigate the role of microscale inertia in dynamic ductile crack growth. A constitutive model for porous solids that accounts for dynamic effects due to void growth is proposed. The model has been implemented in a finite element code and simulations of crack growth in a notched bar and in an edge cracked specimen have been performed. Results are compared to predictions obtained via the Gurson-Tvergaard-Needleman (GTN) model where micro-inertia effects are not accounted for. It is found that microscale inertia has a significant influence on the crack growth. In particular, it is shown that micro-inertia plays an important role during the strain localisation process by impeding void growth. Therefore, the resulting damage accumulation occurs in a more progressive manner. For this reason, simulations based on the proposed modelling exhibit much less mesh sensitivity than those based on the viscoplastic GTN model. Microscale inertia is also found to lead to lower crack speeds. Effects of micro-inertia on fracture toughness are evaluated.

Study on general theory of kinematics and dynamics of wheeled mobile robots

Science.gov (United States)

Tsukishima, Takahiro; Sasaki, Ken; Takano, Masaharu; Inoue, Kenji

1992-03-01

This paper proposes a general theory of kinematics and dynamics of wheeled mobile robots (WMRs). Unlike robotic manipulators which are modeled as 3-dimensional serial link mechanism, WMRs will be modeled as planar linkage mechanism with multiple links branching out from the base and/or another link. Since this model resembles a tree with branches, it will be called 'tree-structured-link'. The end of each link corresponds to the wheel which is in contact with the floor. In dynamics of WMR, equation of motion of a WMR is derived from joint input torques incorporating wheel dynamics. The wheel dynamics determines forces and moments acting on wheels as a function of slip velocity. This slippage of wheels is essential in dynamics of WMR. It will also be shown that the dynamics of WMR reduces to kinematics when slippage of wheels is neglected. Furthermore, the equation of dynamics is rewritten in velocity input form, since most of industrial motors are velocity controlled.

A novel KFCM based fault diagnosis method for unknown faults in satellite reaction wheels.

Science.gov (United States)

Hu, Di; Sarosh, Ali; Dong, Yun-Feng

2012-03-01

Reaction wheels are one of the most critical components of the satellite attitude control system, therefore correct diagnosis of their faults is quintessential for efficient operation of these spacecraft. The known faults in any of the subsystems are often diagnosed by supervised learning algorithms, however, this method fails to work correctly when a new or unknown fault occurs. In such cases an unsupervised learning algorithm becomes essential for obtaining the correct diagnosis. Kernel Fuzzy C-Means (KFCM) is one of the unsupervised algorithms, although it has its own limitations; however in this paper a novel method has been proposed for conditioning of KFCM method (C-KFCM) so that it can be effectively used for fault diagnosis of both known and unknown faults as in satellite reaction wheels. The C-KFCM approach involves determination of exact class centers from the data of known faults, in this way discrete number of fault classes are determined at the start. Similarity parameters are derived and determined for each of the fault data point. Thereafter depending on the similarity threshold each data point is issued with a class label. The high similarity points fall into one of the 'known-fault' classes while the low similarity points are labeled as 'unknown-faults'. Simulation results show that as compared to the supervised algorithm such as neural network, the C-KFCM method can effectively cluster historical fault data (as in reaction wheels) and diagnose the faults to an accuracy of more than 91%. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Neutron star moments of inertia

Science.gov (United States)

Ravenhall, D. G.; Pethick, C. J.

1994-01-01

An approximation for the moment of inertia of a neutron star in terms of only its mass and radius is presented, and insight into it is obtained by examining the behavior of the relativistic structural equations. The approximation is accurate to approximately 10% for a variety of nuclear equations of state, for all except very low mass stars. It is combined with information about the neutron-star crust to obtain a simple expression (again in terms only of mass and radius) for the fractional moment of inertia of the crust.

Extending the Duluth Model to Workplace Bullying: A Modification and Adaptation of the Workplace Power-Control Wheel.

Science.gov (United States)

Scott, Hannah S

2018-03-01

Workplace bullying (WB) is an increasingly prevalent topic in the nursing literature. Recently, a new concept has been introduced into WB research to explain the motivations of WB instigators using elements of the Power-Control Wheel (PCW). Initially, this wheel was designed to assist intimate partner violence (IPV) targets/victims identify patterns of abuse and intervene with male batterers/instigators. Research examining IPV and victims/survivors of WB demonstrate that targets often share common abusive experiences, including intimidation, coercion and threats, isolation, and economic and emotional abuse. This article demonstrates clear support for the Duluth Model and its application to WB target experiences. Applications of this model to identify WB and assist individuals to identify and describe experiences of abusive work environments are discussed.

Grinding Characteristics Of Directionally Aligned SiC Whisker Wheel-Comparison With Al2O3 Fiber Wheel

Institute of Scientific and Technical Information of China (English)

魏源迁; 山口胜美; 菊泽贤二; 洞口严; 中根正喜

2003-01-01

A unique SiC whisker wheel was invented,in which the whiskers were aligned normally to the grinding wheel surface.In this paper,grindabilities of the SiC whisker wheel are investigated and compared with those of other wheels of SiC grains,Al2O3 grains,as well as Al2O3 long and short fibres which were also aligned normally to the grinding wheel surface,respectively.The main research contents concern grinding characteristics of a directionally aligned SiC whisker wheel such as material-removal volume,wheel-wear rates,integrity of the ground surfaces,grinding ratios and grinding efficiency.Furthermore,grinding wheels of whiskers and fibres have a common disadvantage:they tend to load easily.The authors have proposed a simple method of loading-free grinding to overcome this propensity and investigate some related grinding characteristics under loading-free grinding conditions.

Tracked Vehicle Road Wheel Puller

Science.gov (United States)

2009-02-01

employed for removing smaller-size components, such as bolts and the like. U.S. Patent No. 5,410,792, issued to Freeman (3), discloses a caster wheel ...separation of the rubberized annular layer from the outer annular surface of the wheel . Figure 5 further illustrates a modification of the wheel puller...2001. 2. Rubino et al. Pulling Tool. U.S. Patent 5,479,688, 1996. 3. Freeman. Caster Wheel Axle Extraction Apparatus. U.S. Patent 5,410,792

Kπ=0+ band moment of inertia anomaly

International Nuclear Information System (INIS)

Zeng, J.Y.; Wu, C.S.; Cheng, L.; Lin, C.Z.; China Center of Advanced Science and Technology

1990-01-01

The moments of inertia of K π =0 + bands in the well-deformed nuclei are calculated by a particle-number-conserving treatment for the cranked shell model. The very accurate solutions to the low-lying K π =0 + bands are obtained by making use of an effective K truncation. Calculations show that the main contribution to the moments of inertia comes from the nucleons in the intruding high-j orbits. Considering the fact that no free parameter is involved in the calculation and no extra inert core contribution is added, the agreement between the calculated and the observed moments of inertia of 0 + bands in 168 Er is very satisfactory

Roles of superconducting magnetic bearings and active magnetic bearings in attitude control and energy storage flywheel

International Nuclear Information System (INIS)

Tang Jiqiang; Fang Jiancheng; Ge, Shuzhi Sam

2012-01-01

Compared with conventional energy storage flywheel, the rotor of attitude control and energy storage flywheel (ACESF) used in space not only has high speed, but also is required to have precise and stable direction. For the presented superconducting magnetic bearing (SMB) and active magnetic bearing (AMB) suspended ACESF, the rotor model including gyroscopic couples is established originally by taking the properties of SMB and AMB into account, the forces of SMB and AMB are simplified by linearization within their own neighbors of equilibrium points. For the high-speed rigid discal rotor with large inertia, the negative effect of gyroscopic effect of rotor is prominent, the radial translation and tilting movement of rotor suspended by only SMB, SMB with equivalent PMB, or SMB together with PD controlled AMB are researched individually. These analysis results proved originally that SMB together with AMB can make the rotor be stable and make the radial amplitude of the vibration of rotor be small while the translation of rotor suspended by only SMB or SMB and PM is not stable and the amplitude of this vibration is large. For the stability of the high-speed rotor in superconducting ACESF, the AMB can suppress the nutation and precession of rotor effectively by cross-feedback control based on the separated PD type control or by other modern control methods.

[Morphological features of the myometrium in connective tissue dysplasia in women with uterine inertia].

Science.gov (United States)

Konovalov, P V; Mitrofanova, L B; Gorshkov, A N; Ovsyannikov, F A

2015-01-01

to reveal the morphological features of the lower uterine segment myometrium in connective tissue dysplasia (CTD) in women with uterine inertia. Histological, immunohistochemical (with antibodies against collagen types I and III, matrix metalloproteinases 1 and 9 (MMR-1, MMP-9), tissue inhibitor of metalloproteinase 1 (TIMP-1), fibronectin; fibulin-5, connexin-43), electron microscopic, and electron immunocytochemical studies with morphometry of myometrial fragments from 15 parturient women with CTD and uterine inertia (a study group) and those from 10 women without CTD (a control group). The myometrium in CTD exhibited the decreased expression of connextin-43, fibulin-5, TIMP-1, collagens types I and III with collagen type III predominance and the unchanged levels of fibronectin and MMP-1 and MMP-9. Electron microscopy and immunocytochemistry showed fewer intercellular contacts and the dramatically lower expression of connexin-43 than in the control. A set of found myometrial changes in women with uterine inertia is a manifestation of CTD.

Grinding Wheel System

Science.gov (United States)

Malkin, Stephen; Gao, Robert; Guo, Changsheng; Varghese, Biju; Pathare, Sumukh

2003-08-05

A grinding wheel system includes a grinding wheel with at least one embedded sensor. The system also includes an adapter disk containing electronics that process signals produced by each embedded sensor and that transmits sensor information to a data processing platform for further processing of the transmitted information.

Nonlinear Inertia Classification Model and Application

Directory of Open Access Journals (Sweden)

Mei Wang

2014-01-01

Full Text Available Classification model of support vector machine (SVM overcomes the problem of a big number of samples. But the kernel parameter and the punishment factor have great influence on the quality of SVM model. Particle swarm optimization (PSO is an evolutionary search algorithm based on the swarm intelligence, which is suitable for parameter optimization. Accordingly, a nonlinear inertia convergence classification model (NICCM is proposed after the nonlinear inertia convergence (NICPSO is developed in this paper. The velocity of NICPSO is firstly defined as the weighted velocity of the inertia PSO, and the inertia factor is selected to be a nonlinear function. NICPSO is used to optimize the kernel parameter and a punishment factor of SVM. Then, NICCM classifier is trained by using the optical punishment factor and the optical kernel parameter that comes from the optimal particle. Finally, NICCM is applied to the classification of the normal state and fault states of online power cable. It is experimentally proved that the iteration number for the proposed NICPSO to reach the optimal position decreases from 15 to 5 compared with PSO; the training duration is decreased by 0.0052 s and the recognition precision is increased by 4.12% compared with SVM.

Dependence of nuclear moments of inertia on the triaxial parameter

International Nuclear Information System (INIS)

Helgesson, J.; Hamamoto, Ikuko

1989-01-01

The dependence of nuclear moments of inertia on the triaxial parameter (γ-variable) is investigated including both the Belyaev term and the Migdal term. The obtained dependence is compared with that of hydrodynamical moments of inertia and other moments of inertia used conventionally. (orig.)

Recovery tread wheel pairs of machining

Directory of Open Access Journals (Sweden)

Igor IVANOV

2013-01-01

Full Text Available The basic methods of resurfacing wheels are determined and analised. It’sshown that for raising resource of used wheels and decreasing requirements of railwaytransport for new wheels it’s reasonable to use methods of recovering not only geometricparameters of rim, but also its mechanical properties. It’s marked that use of infeedprofile high-speed grinding (VPVSh enables to intensify significantly process ofmechanical treatment of wheel rim profile both when its resurfacing in service and whenmanufacturing new wheel.

SSS-A attitude control prelaunch analysis and operations plan

Science.gov (United States)

Werking, R. D.; Beck, J.; Gardner, D.; Moyer, P.; Plett, M.

1971-01-01

A description of the attitude control support being supplied by the Mission and Data Operations Directorate is presented. Descriptions of the computer programs being used to support the mission for attitude determination, prediction, control, and definitive attitude processing are included. In addition, descriptions of the operating procedures which will be used to accomplish mission objectives are provided.

Thermal inertia and surface heterogeneity on Mars

Science.gov (United States)

Putzig, Nathaniel E.

Thermal inertia derived from temperature observations is critical for understanding surface geology and assessing potential landing sites on Mars. Derivation methods generally assume uniform surface properties for any given observation. Consequently, horizontal heterogeneity and near-surface layering may yield apparent thermal inertia that varies with time of day and season. To evaluate the effects of horizontal heterogeneity, I modeled the thermal behavior of surfaces containing idealized material mixtures (dust, sand, duricrust, and rocks) and differing slope facets. These surfaces exhibit diurnal and seasonal variability in apparent thermal inertia of several 100 tiu, 1 even for components with moderately contrasting thermal properties. To isolate surface effects on the derived thermal inertia of Mars, I mapped inter- annual and seasonal changes in albedo and atmospheric dust opacity, accounting for their effects in a modified derivation algorithm. Global analysis of three Mars years of MGS-TES 2 data reveals diurnal and seasonal variations of ~200 tiu in the mid-latitudes and 600 tiu or greater in the polar regions. Correlation of TES results and modeled apparent thermal inertia of heterogeneous surfaces indicates pervasive surface heterogeneity on Mars. At TES resolution, the near-surface thermal response is broadly dominated by layering and is consistent with the presence of duricrusts over fines in the mid-latitudes and dry soils over ground ice in the polar regions. Horizontal surface mixtures also play a role and may dominate at higher resolution. In general, thermal inertia obtained from single observations or annually averaged maps may misrepresent surface properties. In lieu of a robust heterogeneous- surface derivation technique, repeat coverage can be used together with forward-modeling results to constrain the near-surface heterogeneity of Mars. 1 tiu == J m -2 K -1 s - 2 Mars Global Surveyor Thermal Emission Spectrometer

Conditioned taste avoidance induced by forced and voluntary wheel running in rats.

Science.gov (United States)

Forristall, J R; Hookey, B L; Grant, V L

2007-03-01

Voluntary exercise by rats running in a freely rotating wheel (free wheel) produces conditioned taste avoidance (CTA) of a flavored solution consumed before running [e.g., Lett, B.T., Grant, V.L., 1996. Wheel running induces conditioned taste aversion in rats trained while hungry and thirsty. Physiol. Behav. 59, 699-702]. Forced exercise, swimming or running, also produces CTA in rats [e.g., Masaki, T., Nakajima, S., 2006. Taste aversion induced by forced swimming, voluntary running, forced running, and lithium chloride injection treatments. Physiol. Behav. 88, 411-416]. Energy expenditure may be the critical factor in producing such CTA. If so, forced running in a motorized running wheel should produce CTA equivalent to that produced by a similar amount of voluntary running. In two experiments, we compared forced running in a motorized wheel with voluntary running in a free wheel. Mean distance run over 30 min was equated as closely as possible in the two apparatuses. Both types of exercise produced CTA relative to sedentary, locked-wheel controls. However, voluntary running produced greater CTA than forced running. We consider differences between running in the free and motorized wheels that may account for the differences in strength of CTA.

The hydraulic wheel

International Nuclear Information System (INIS)

Alvarez Cardona, A.

1985-01-01

The present article this dedicated to recover a technology that key in disuse for the appearance of other techniques. It is the hydraulic wheel with their multiple possibilities to use their energy mechanical rotational in direct form or to generate electricity directly in the fields in the place and to avoid the high cost of transport and transformation. The basic theory is described that consists in: the power of the currents of water and the hydraulic receivers. The power of the currents is determined knowing the flow and east knowing the section of the flow and its speed; they are given you formulate to know these and direct mensuration methods by means of floodgates, drains and jumps of water. The hydraulic receivers or properly this hydraulic wheels that are the machines in those that the water acts like main force and they are designed to transmit the biggest proportion possible of absolute work of the water, the hydraulic wheels of horizontal axis are the common and they are divided in: you rotate with water for under, you rotate with side water and wheels with water for above. It is analyzed each one of them, their components are described; the conditions that should complete to produce a certain power and formulate them to calculate it. There are 25 descriptive figures of the different hydraulic wheels

Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems

Directory of Open Access Journals (Sweden)

Hao Ce

2018-01-01

Full Text Available A continuous finite-time robust control method for the trajectory tracking control of a nonholonomic wheeled mobile robot (NWMR is presented in this paper. The proposed approach is composed of conventional sliding-mode control (SMC in the internal loop and modified switched second-order sliding-mode (S-SOSM control in the external loop. Sliding-mode controller is equivalently represented as stabilization of the nominal system without uncertainties. An S-SOSM control algorithm is employed to counteract the impact of state-dependent unmodeled dynamics and time-varying external disturbances, and the unexpected chattering has been attenuated significantly. Particularly, state-space partitioning is constructed to obtain the bounds of uncertainty terms and accomplish different control objectives under different requirements. Simulation and experiment results are used to demonstrate the effectiveness and applicability of the proposed approach.

Computation of wheel-rail contact force for non-mapping wheel-rail profile of Translohr tram

Science.gov (United States)

Ji, Yuanjin; Ren, Lihui; Zhou, Jinsong

2017-09-01

Translohr tram has steel wheels, in V-like arrangements, as guide wheels. These operate over the guide rails in inverted-V arrangements. However, the horizontal and vertical coordinates of the guide wheels and guide rails are not always mapped one-to-one. In this study, a simplified elastic method is proposed in order to calculate the contact points between the wheels and the rails. By transforming the coordinates, the non-mapping geometric relationship between wheel and rail is converted into a mapping relationship. Considering the Translohr tram's multi-point contact between the guide wheel and the guide rail, the elastic-contact hypothesis take into account the existence of contact patches between the bodies, and the location of the contact points is calculated using a simplified elastic method. In order to speed up the calculation, a multi-dimensional contact table is generated, enabling the use of simulation for Translohr tram running on curvatures with different radii.

Increasing viscosity and inertia using a robotically-controlled pen improves handwriting in children

Science.gov (United States)

Ben-Pazi, Hilla; Ishihara, Abraham; Kukke, Sahana; Sanger, Terence D

2010-01-01

The aim of this study was to determine the effect of mechanical properties of the pen on the quality of handwriting in children. Twenty two school aged children, ages 8–14 years wrote in cursive using a pen attached to a robot. The robot was programmed to increase the effective weight (inertia) and stiffness (viscosity) of the pen. Speed, frequency, variability, and quality of the two handwriting samples were compared. Increased inertia and viscosity improved handwriting quality in 85% of children (pHandwriting quality did not correlate with changes in speed, suggesting that improvement was not due to reduced speed. Measures of movement variability remained unchanged, suggesting that improvement was not due to mechanical smoothing of pen movement by the robot. Since improvement was not explained by reduced speed or mechanical smoothing, we conclude that children alter handwriting movements in response to pen mechanics. Altered movement could be caused by changes in proprioceptive sensory feedback. PMID:19794098

Simulation of Intelligent Single Wheel Mobile Robot

Directory of Open Access Journals (Sweden)

Maki K. Rashid

2008-11-01

Full Text Available Stabilization of a single wheel mobile robot attracted researcher attentions in robotic area. However, the budget requirements for building experimental setups capable in investigating isolated parameters and implementing others encouraged the development of new simulation methods and techniques that beat such limitations. In this work we have developed a simulation platform for testing different control tactics to stabilize a single wheel mobile robot. The graphic representation of the robot, the dynamic solution, and, the control scheme are all integrated on common computer platform using Visual Basic. Simulation indicates that we can control such robot without knowing the detail of it's internal structure or dynamics behaviour just by looking at it and using manual operation tactics. Twenty five rules are extracted and implemented using Takagi-Sugeno's fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance

Characterizing the Performance of the Wheel Electrostatic Spectrometer

Science.gov (United States)

Johansen, Michael R.; Mackey, P. J.; Holbert, E.; Calle, C. I.; Clements, J. S.

2013-01-01

Insulators need to be discharged after each wheel revolution. Sensor responses repeatable within one standard deviation in the noise of the signal. Insulators may not need to be cleaned after each revolution. Parent Technology- Mars Environmental Compatibility Assessment/Electrometer Electrostatic sensors with dissimilar cover insulators Protruding insulators tribocharge against regolith simulant Developed for use on the scoop for the 2001 Mars Odyssey lander Wheel Electrostatic Spectrometer Embedded electrostatic sensors in prototype Martian rover wheel If successful, this technology will enable constant electrostatic testing on Mars Air ionizing fan used to neutralize the surface charge on cover insulators . WES rolled on JSClA lunar simulant Control experiment -Static elimination not conducted between trials -Capacitor discharged after each experiment Charge neutralization experiment -Static elimination conducted between trials -Capacitor discharged after each experiment. Air ionizing fan used on insulators after each wheel revolution Capacitor discharged after each trial Care was taken to roll WES with same speed/pressure Error bars represent one standard deviation in the noise of e ach sensor

From resistance to relational inertia

DEFF Research Database (Denmark)

Scheuer, John Damm

-network-theory as a point of departure a new concept – relational inertia – is developed. In this view change agents are theorized as translators who interacts with humans as well as non-humans (objects) in order to construct different types of socio-technical systems which are constructed to perform certain “wished...... inertia that had to be handled in order to succeed with constructing a performative socio-technical risk-management system in practice. Finally it is discussed how this view supplements the resistance to change view and other views with a focus on barriers to change....

Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes

OpenAIRE

Botelho, Wagner Tanaka; Okada, Tokuji; Mahmoud, Abeer; Shimizu, Toshimi

2011-01-01

One of the objectives of the paper is to describe the hybrid robot PEOPLER-II (Perpendicularly Oriented Planetary Legged Robot) with regard to switching between leg-type and wheel-type. Our robot has an easier design and control system than other hybrid robots. The software and hardware control in the process of performing five robot tasks are considered. These are the walking, rolling, switching, turning and spinning. In the switching task, we show the control method based on minimization of...

Modeling and analysis of linearized wheel-rail contact dynamics

International Nuclear Information System (INIS)

Soomro, Z.

2014-01-01

The dynamics of the railway vehicles are nonlinear and depend upon several factors including vehicle speed, normal load and adhesion level. The presence of contaminants on the railway track makes them unpredictable too. Therefore in order to develop an effective control strategy it is important to analyze the effect of each factor on dynamic response thoroughly. In this paper a linearized model of a railway wheel-set is developed and is later analyzed by varying the speed and adhesion level by keeping the normal load constant. A wheel-set is the wheel-axle assembly of a railroad car. Patch contact is the study of the deformation of solids that touch each other at one or more points. (author)

A Novel Flexible Inertia Weight Particle Swarm Optimization Algorithm.

Science.gov (United States)

Amoshahy, Mohammad Javad; Shamsi, Mousa; Sedaaghi, Mohammad Hossein

2016-01-01

Particle swarm optimization (PSO) is an evolutionary computing method based on intelligent collective behavior of some animals. It is easy to implement and there are few parameters to adjust. The performance of PSO algorithm depends greatly on the appropriate parameter selection strategies for fine tuning its parameters. Inertia weight (IW) is one of PSO's parameters used to bring about a balance between the exploration and exploitation characteristics of PSO. This paper proposes a new nonlinear strategy for selecting inertia weight which is named Flexible Exponential Inertia Weight (FEIW) strategy because according to each problem we can construct an increasing or decreasing inertia weight strategy with suitable parameters selection. The efficacy and efficiency of PSO algorithm with FEIW strategy (FEPSO) is validated on a suite of benchmark problems with different dimensions. Also FEIW is compared with best time-varying, adaptive, constant and random inertia weights. Experimental results and statistical analysis prove that FEIW improves the search performance in terms of solution quality as well as convergence rate.

Fault-Tolerant Control Strategy for Steering Failures in Wheeled Planetary Rovers

Directory of Open Access Journals (Sweden)

Alexandre Carvalho Leite

2012-01-01

Full Text Available Fault-tolerant control design of wheeled planetary rovers is described. This paper covers all steps of the design process, from modeling/simulation to experimentation. A simplified contact model is used with a multibody simulation model and tuned to fit the experimental data. The nominal mode controller is designed to be stable and has its parameters optimized to improve tracking performance and cope with physical boundaries and actuator saturations. This controller was implemented in the real rover and validated experimentally. An impact analysis defines the repertory of faults to be handled. Failures in steering joints are chosen as fault modes; they combined six fault modes and a total of 63 possible configurations of these faults. The fault-tolerant controller is designed as a two-step procedure to provide alternative steering and reuse the nominal controller in a way that resembles a crab-like driving mode. Three fault modes are injected (one, two, and three failed steering joints in the real rover to evaluate the response of the nonreconfigured and reconfigured control systems in face of these faults. The experimental results justify our proposed fault-tolerant controller very satisfactorily. Additional concluding comments and an outlook summarize the lessons learned during the whole design process and foresee the next steps of the research.

Nuclear inertia for fission in a generalized cranking model

International Nuclear Information System (INIS)

Kunz, J.; Nix, J.R.

1984-01-01

A time dependent formalism which is appropriate for β vibrations and fission is developed for a generalized cranking model. The formalism leads to additional terms in the density matrix which affect the nuclear inertia. The case of a harmonic oscillator potential is used to demonstrate the contribution of the pairing gap term on the β vibrational inertia for Pu 240. The inertia remains finite and close to the limiting irrotational value

An Algorithm for Online Inertia Identification and Load Torque Observation via Adaptive Kalman Observer-Recursive Least Squares

Directory of Open Access Journals (Sweden)

Ming Yang

2018-03-01

Full Text Available In this paper, an on-line parameter identification algorithm to iteratively compute the numerical values of inertia and load torque is proposed. Since inertia and load torque are strongly coupled variables due to the degenerate-rank problem, it is hard to estimate relatively accurate values for them in the cases such as when load torque variation presents or one cannot obtain a relatively accurate priori knowledge of inertia. This paper eliminates this problem and realizes ideal online inertia identification regardless of load condition and initial error. The algorithm in this paper integrates a full-order Kalman Observer and Recursive Least Squares, and introduces adaptive controllers to enhance the robustness. It has a better performance when iteratively computing load torque and moment of inertia. Theoretical sensitivity analysis of the proposed algorithm is conducted. Compared to traditional methods, the validity of the proposed algorithm is proved by simulation and experiment results.

Dynamic modeling of moment wheel assemblies with nonlinear rolling bearing supports

Science.gov (United States)

Wang, Hong; Han, Qinkai; Luo, Ruizhi; Qing, Tao

2017-10-01

Moment wheel assemblies (MWA) have been widely used in spacecraft attitude control and large angle slewing maneuvers over the years. Understanding and controlling vibration of MWAs is a crucial factor to achieving the desired level of payload performance. Dynamic modeling of a MWA with nonlinear rolling bearing supports is conducted. An improved load distribution analysis is proposed to more accurately obtain the contact deformations and angles between the rolling balls and raceways. Then, the bearing restoring forces are then obtained through iteratively solving the load distribution equations at every time step. The effects of preload condition, surface waviness, Hertz contact and elastohydrodynamic lubrication could all be reflected in the nonlinear bearing forces. Considering the mass imbalances of the flywheel, flexibility of supporting structures and rolling bearing nonlinearity, the dynamic model of a typical MWA is established based upon the energy theorem. Dynamic tests are conducted to verify the nonlinear dynamic model. The influences of flywheel mass eccentricity and inner/outer waviness amplitudes on the dynamic responses are discussed in detail. The obtained results would be useful for the design and vibration control of the MWA system.

On the influence of microscale inertia on dynamic ductile crack extension

Science.gov (United States)

Jacques, N.; Mercier, S.; Molinari, A.

2012-08-01

The present paper is devoted to the modelling of damage by micro-voiding in ductile solids under dynamic loading conditions. Using a dynamic homogenization procedure, a constitutive damage model accounting for inertial effects due to void growth (microscale inertia or micro-inertia) has been developed. The role played by microscale inertia in dynamic ductile crack growth is investigated with the use of the proposed micromechanical modelling. It is found that micro-inertia has a significant influence on the fracture behaviour. Micro-inertia limits the velocity at which cracks propagate. It also contributes to increase the apparent dynamic toughness of the material.

Analysis and control of underactuated mechanical systems

CERN Document Server

Choukchou-Braham, Amal; Djemaï, Mohamed; Busawon, Krishna

2014-01-01

This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. The text is illustrated with MATL...

Wheel inspection system environment.

Science.gov (United States)

2008-11-18

International Electronic Machines Corporation (IEM) has developed and is now marketing a state-of-the-art Wheel Inspection System Environment (WISE). WISE provides wheel profile and dimensional measurements, i.e. rim thickness, flange height, flange ...

The prospects for retail wheeling

International Nuclear Information System (INIS)

O'Donnell, E.H.; Center, J.A.

1992-01-01

This paper as published is an outline of a presentation on retail wheeling of electric power. The topics discussed are development of increased wholesale transmission access, government regulatory policies on wholesale transmission, examples of past and present retail transmission access agreements, examples of Federal Energy Regulatory Commission jurisdiction over retail wheeling, and state policies on retail wheeling

Therapeutic inertia amongst general practitioners with interest in diabetes.

Science.gov (United States)

Seidu, Samuel; Than, Tun; Kar, Deb; Lamba, Amrit; Brown, Pam; Zafar, Azhar; Hussain, Rizwan; Amjad, Ahmed; Capehorn, Mathew; Martin, Elizabeth; Fernando, Kevin; McMoran, Jim; Millar-Jones, David; Kahn, Shahzada; Campbell, Nigel; Brice, Richard; Mohan, Rahul; Mistry, Mukesh; Kanumilli, Naresh; St John, Joan; Quigley, Richard; Kenny, Colin; Khunti, Kamlesh

2018-02-01

As the therapeutic options in the management of type 2 diabetes increase, there is an increase confusion among health care professionals, thus leading to the phenomenon of therapeutic inertia. This is the failure to escalate or de-escalate treatment when the clinical need for this is required. It has been studied extensively in various settings, however, it has never been reported in any studies focusing solely on primary care physicians with an interest in diabetes. This group is increasingly becoming the focus of managing complex diabetes care in the community, albeit with the support from specialists. In this retrospective audit, we assessed the prevalence of the phenomenon of therapeutic inertia amongst primary care physicians with an interest in diabetes in UK. We also assessed the predictive abilities of various patient level characteristics on therapeutic inertia amongst this group of clinicians. Out of the 240 patients reported on, therapeutic inertia was judged to have occurred in 53 (22.1%) of patients. The full model containing all the selected variables was not statistically significant, p=0.59. So the model was not able to distinguish between situations in which therapeutic inertia occurred and when it did not occur. None of the patient level characteristics on its own was predictive of therapeutic inertia. Therapeutic inertia was present only in about a fifth of patient patients with diabetes being managed by primary care physicians with an interest in diabetes. Copyright © 2017 Primary Care Diabetes Europe. Published by Elsevier Ltd. All rights reserved.

Selection for increased voluntary wheel-running affects behavior and brain monoamines in mice

Science.gov (United States)

Waters, R.Parrish; Pringle, R.B.; Forster, G.L.; Renner, K.J.; Malisch, J.L.; Garland, T.; Swallow, J.G.

2013-01-01

Selective-breeding of house mice for increased voluntary wheel-running has resulted in multiple physiological and behavioral changes. Characterizing these differences may lead to experimental models that can elucidate factors involved in human diseases and disorders associated with physical inactivity, or potentially treated by physical activity, such as diabetes, obesity, and depression. Herein, we present ethological data for adult males from a line of mice that has been selectively bred for high levels of voluntary wheel-running and from a non-selected control line, housed with or without wheels. Additionally, we present concentrations of central monoamines in limbic, striatal, and midbrain regions. We monitored wheel-running for 8 weeks, and observed home-cage behavior during the last 5 weeks of the study. Mice from the selected line accumulated more revolutions per day than controls due to increased speed and duration of running. Selected mice exhibited more active behaviors than controls, regardless of wheel access, and exhibited less inactivity and grooming than controls. Selective-breeding also influenced the longitudinal patterns of behavior. We found statistically significant differences in monoamine concentrations and associated metabolites in brain regions that influence exercise and motivational state. These results suggest underlying neurochemical differences between selected and control lines that may influence the observed differences in behavior. Our results bolster the argument that selected mice can provide a useful model of human psychological and physiological diseases and disorders. PMID:23352668

Improving yaw dynamics by feedforward rear wheel steering

NARCIS (Netherlands)

Besselink, I.J.M.; Veldhuizen, T.J.; Nijmeijer, H.

2008-01-01

Active rear wheel steering can be applied to improve vehicle yaw dynamics. In this paper two possible control algorithms are discussed. The first method is a yaw rate feedback controller with a reference model, which has been reported in a similar form previously in literature. The second controller

Time to do more: addressing clinical inertia in the management of type 2 diabetes mellitus.

Science.gov (United States)

Strain, W D; Cos, X; Hirst, M; Vencio, S; Mohan, V; Vokó, Z; Yabe, D; Blüher, M; Paldánius, P M

2014-09-01

Clinical inertia, the tendency to maintain current treatment strategies despite results demanding escalation, is thought to substantially contribute to the disconnect between clinical aspirations for patients with diabetes and targets achieved. We wished to explore potential causes of clinical inertia among physicians and people with diabetes. A 20-min online survey of 652 adults with diabetes and 337 treating physicians in six countries explored opinions relating to clinical inertia from both perspectives, in order to correlate perceptions and expectations relating to diagnosis, treatment, diabetes complications and therapeutic escalation. Physicians had low expectations for their patients, despite the belief that the importance of good glycaemic control through lifestyle and pharmacological interventions had been adequately conveyed. Conversely, people with diabetes had, at best, a rudimentary understanding of the risks of complications and the importance of good control; indeed, only a small proportion believed lifestyle changes were important and the majority did not intend to comply. The principal findings of this survey suggest that impairments in communication are at the heart of clinical inertia. This manuscript lays out four key principles that we believe are achievable in all environments and can improve the lives of people with diabetes. Copyright © 2014 The Authors. Published by Elsevier Ireland Ltd.. All rights reserved.

Implementation and validation of synthetic inertia support employing series produced electric vehicles

DEFF Research Database (Denmark)

Rezkalla, Michel M.N.; Martinenas, Sergejus; Zecchino, Antonio

2017-01-01

The high integration of renewable energy resources (inverter connected) replacing conventional generation reduces the available rotational inertia in the power system. This introduces the need for faster regulation services including synthetic inertia services. These services could potentially...... be provided by electric vehicles due to their fast response capability. This work evaluates and experimentally shows the capability and limits of EVs in providing synthetic inertia services. Three series produced EVs are used during the experiment. The results show the performance of the EVs in providing...... synthetic inertia. It shows also that, on the contrary of synchronous inertia, synthetic inertia might lead to unstable frequency behavior....

Sliding Mode Attitude Control for Magnetic Actuated Satellite

DEFF Research Database (Denmark)

Wisniewski, Rafal

1998-01-01

control torques can only be generated perpendicular to the local geomagnetic field vector. This has been a serious obstacle for using magnetorquer based control for three-axis attitude control. This paper deals with three-axis stabilization of a low earth orbit satellite. The problem of controlling...... the spacecraft attitude using only magnetic torquing is realized in the form of the sliding mode control. A three dimensional sliding manifold is proposed, and it is shown that the satellite motion on the sliding manifold is asymptotically stable...

Four-Wheel Vehicle Suspension System

Science.gov (United States)

Bickler, Donald B.

1990-01-01

Four-wheel suspension system uses simple system of levers with no compliant components to provide three-point suspension of chassis of vehicle while maintaining four-point contact with uneven terrain. Provides stability against tipping of four-point rectangular base, without rocking contact to which rigid four-wheel frame susceptible. Similar to six-wheel suspension system described in "Articulated Suspension Without Springs" (NPO-17354).

Transmission access and retail wheeling. The key questions

International Nuclear Information System (INIS)

Casazza, J.A.

1996-01-01

The key questions involving transmission access and retail wheeling are discussed, distinguishing between opposing views regarding the effect on system costs and the environment, particularly on optimal planning involving matching capacity and demand, generation use, demand side management, and economic operations. Also discussed are contrasting views regarding the effect of cost control pressures, regulatory advantages and disadvantages, the impact on system reliability, and the stranding of investment. The author's key concern is the effect of retail wheeling upon optimal planning and operation i.e., will competitors be willing to provide one another with the cost and technical information required for coordination? In his worst scenario, retail wheeling may lead to substantial production cost increases, lessened reliability, and unfair cost-shifting between customer classes. More optimistically, production costs and reliability may be unaffected and the cost-shifting could be salubrious. 7 figs., 11 refs

Propulsion Wheel Motor for an Electric Vehicle

Science.gov (United States)

Figuered, Joshua M. (Inventor); Herrera, Eduardo (Inventor); Waligora, Thomas M. (Inventor); Bluethmann, William J. (Inventor); Farrell, Logan Christopher (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Winn, Ross Briant (Inventor); Eggleston, IV, Raymond Edward (Inventor); Guo, Raymond (Inventor);

A Novel Flexible Inertia Weight Particle Swarm Optimization Algorithm

Science.gov (United States)

Shamsi, Mousa; Sedaaghi, Mohammad Hossein

2016-01-01

Particle swarm optimization (PSO) is an evolutionary computing method based on intelligent collective behavior of some animals. It is easy to implement and there are few parameters to adjust. The performance of PSO algorithm depends greatly on the appropriate parameter selection strategies for fine tuning its parameters. Inertia weight (IW) is one of PSO’s parameters used to bring about a balance between the exploration and exploitation characteristics of PSO. This paper proposes a new nonlinear strategy for selecting inertia weight which is named Flexible Exponential Inertia Weight (FEIW) strategy because according to each problem we can construct an increasing or decreasing inertia weight strategy with suitable parameters selection. The efficacy and efficiency of PSO algorithm with FEIW strategy (FEPSO) is validated on a suite of benchmark problems with different dimensions. Also FEIW is compared with best time-varying, adaptive, constant and random inertia weights. Experimental results and statistical analysis prove that FEIW improves the search performance in terms of solution quality as well as convergence rate. PMID:27560945

Precision Attitude Control for the BETTII Balloon-Borne Interferometer

Science.gov (United States)

Benford, Dominic J.; Fixsen, Dale J.; Rinehart. Stephen

2012-01-01

The Balloon Experimental Twin Telescope for Infrared Interferometry (BETTII) is an 8-meter baseline far-infrared interferometer to fly on a high altitude balloon. Operating at wavelengths of 30-90 microns, BETTII will obtain spatial and spectral information on science targets at angular resolutions down to less than half an arcsecond, a capability unmatched by other far-infrared facilities. This requires attitude control at a level ofless than a tenth of an arcsecond, a great challenge for a lightweight balloon-borne system. We have designed a precision attitude determination system to provide gondola attitude knowledge at a level of 2 milliarcseconds at rates up to 100Hz, with accurate absolute attitude determination at the half arcsecond level at rates of up to 10Hz. A mUlti-stage control system involving rigid body motion and tip-tilt-piston correction provides precision pointing stability to the level required for the far-infrared instrument to perform its spatial/spectral interferometry in an open-loop control. We present key aspects of the design of the attitude determination and control and its development status.

Compensations for increased rotational inertia during human cutting turns.

Science.gov (United States)

Qiao, Mu; Brown, Brian; Jindrich, Devin L

2014-02-01

Locomotion in a complex environment is often not steady state, but unsteady locomotion (stability and maneuverability) is not well understood. We investigated the strategies used by humans to perform sidestep cutting turns when running. Previous studies have argued that because humans have small yaw rotational moments of inertia relative to body mass, deceleratory forces in the initial velocity direction that occur during the turning step, or 'braking' forces, could function to prevent body over-rotation during turns. We tested this hypothesis by increasing body rotational inertia and testing whether braking forces during stance decreased. We recorded ground reaction force and body kinematics from seven participants performing 45 deg sidestep cutting turns and straight running at five levels of body rotational inertia, with increases up to fourfold. Contrary to our prediction, braking forces remained consistent at different rotational inertias, facilitated by anticipatory changes to body rotational speed. Increasing inertia revealed that the opposing effects of several turning parameters, including rotation due to symmetrical anterior-posterior forces, result in a system that can compensate for fourfold changes in rotational inertia with less than 50% changes to rotational velocity. These results suggest that in submaximal effort turning, legged systems may be robust to changes in morphological parameters, and that compensations can involve relatively minor adjustments between steps to change initial stance conditions.

Sensor fault detection and recovery in satellite attitude control

Science.gov (United States)

Nasrolahi, Seiied Saeed; Abdollahi, Farzaneh

2018-04-01

This paper proposes an integrated sensor fault detection and recovery for the satellite attitude control system. By introducing a nonlinear observer, the healthy sensor measurements are provided. Considering attitude dynamics and kinematic, a novel observer is developed to detect the fault in angular rate as well as attitude sensors individually or simultaneously. There is no limit on type and configuration of attitude sensors. By designing a state feedback based control signal and Lyapunov stability criterion, the uniformly ultimately boundedness of tracking errors in the presence of sensor faults is guaranteed. Finally, simulation results are presented to illustrate the performance of the integrated scheme.

Piezoelectric Inertia Motors—A Critical Review of History, Concepts, Design, Applications, and Perspectives

Directory of Open Access Journals (Sweden)

Matthias Hunstig

2017-02-01

Full Text Available Piezoelectric inertia motors—also known as stick-slip motors or (smooth impact drives—use the inertia of a body to drive it in small steps by means of an uninterrupted friction contact. In addition to the typical advantages of piezoelectric motors, they are especially suited for miniaturisation due to their simple structure and inherent fine-positioning capability. Originally developed for positioning in microscopy in the 1980s, they have nowadays also found application in mass-produced consumer goods. Recent research results are likely to enable more applications of piezoelectric inertia motors in the future. This contribution gives a critical overview of their historical development, functional principles, and related terminology. The most relevant aspects regarding their design—i.e., friction contact, solid state actuator, and electrical excitation—are discussed, including aspects of control and simulation. The article closes with an outlook on possible future developments and research perspectives.

Hysteretic transitions in the Kuramoto model with inertia.

Science.gov (United States)

Olmi, Simona; Navas, Adrian; Boccaletti, Stefano; Torcini, Alessandro

2014-10-01

We report finite-size numerical investigations and mean-field analysis of a Kuramoto model with inertia for fully coupled and diluted systems. In particular, we examine, for a gaussian distribution of the frequencies, the transition from incoherence to coherence for increasingly large system size and inertia. For sufficiently large inertia the transition is hysteretic, and within the hysteretic region clusters of locked oscillators of various sizes and different levels of synchronization coexist. A modification of the mean-field theory developed by Tanaka, Lichtenberg, and Oishi [Physica D 100, 279 (1997)] allows us to derive the synchronization curve associated to each of these clusters. We have also investigated numerically the limits of existence of the coherent and of the incoherent solutions. The minimal coupling required to observe the coherent state is largely independent of the system size, and it saturates to a constant value already for moderately large inertia values. The incoherent state is observable up to a critical coupling whose value saturates for large inertia and for finite system sizes, while in the thermodinamic limit this critical value diverges proportionally to the mass. By increasing the inertia the transition becomes more complex, and the synchronization occurs via the emergence of clusters of whirling oscillators. The presence of these groups of coherently drifting oscillators induces oscillations in the order parameter. We have shown that the transition remains hysteretic even for randomly diluted networks up to a level of connectivity corresponding to a few links per oscillator. Finally, an application to the Italian high-voltage power grid is reported, which reveals the emergence of quasiperiodic oscillations in the order parameter due to the simultaneous presence of many competing whirling clusters.

ADCS controllers comparison for small satellitess in Low Earth Orbit

Science.gov (United States)

Calvo, Daniel; Laverón-Simavilla, Ana; Lapuerta, Victoria

2016-07-01

Fuzzy logic controllers are flexible and simple, suitable for small satellites Attitude Determination and Control Subsystems (ADCS). In a previous work, a tailored Fuzzy controller was designed for a nanosatellite. Its performance and efficiency were compared with a traditional Proportional Integrative Derivative (PID) controller within the same specific mission. The orbit height varied along the mission from injection at around 380 km down to 200 km height, and the mission required pointing accuracy over the whole time. Due to both, the requirements imposed by such a low orbit, and the limitations in the power available for the attitude control, an efficient ADCS is required. Both methodologies, fuzzy and PID, were fine-tuned using an automated procedure to grant maximum efficiency with fixed performances. The simulations showed that the Fuzzy controller is much more efficient (up to 65% less power required) in single manoeuvres, achieving similar, or even better, precision than the PID. The accuracy and efficiency improvement of the Fuzzy controller increase with orbit height because the environmental disturbances decrease, approaching the ideal scenario. However, the controllers are meant to be used in a vast range of situations and configurations which exceed those used in the calibration process carried out in the previous work. To assess the suitability and performance of both controllers in a wider framework, parametric and statistical methods have been applied using the Monte Carlo technique. Several parameters have been modified randomly at the beginning of each simulation: the moments of inertia of the whole satellite and of the momentum wheel, the residual magnetic dipole and the initial conditions of the test. These parameters have been chosen because they are the main source of uncertainty during the design phase. The variables used for the analysis are the error (critical for science) and the operation cost (which impacts the mission lifetime and

Modeling and Experimental Validation of an Islanded No-Inertia Microgrid Site

DEFF Research Database (Denmark)

Bonfiglio, Andrea; Delfino, Federico; Labella, Alessandro

2018-01-01

The paper proposes a simple but effective model for no-inertia microgrids suitable to represent the instantaneous values of its meaningful electric variables, becoming a useful platform to test innovative control logics and energy management systems. The proposed model is validated against a more...

Wheel traffic effect on air-filled porosity and air permeability in a soil catena across the wheel rut

DEFF Research Database (Denmark)

Berisso, Feto Esimo; Schjønning, Per; Lamandé, Mathieu

might induce different effects on soil physical properties. The objective of this study was to investigate the impact of vehicle traffic on soil physical properties and air permeability by systematic collection of samples in a transect running from the center to the outside of the wheel rut. A field...... catena running from center of the wheel rut to un wheeled part of the field ( 0, 20, 40, 50,60 and 400 cm horizontal distance). We measured water retention and air permeability (ka) at -30, -100 and -300 hPa matric potentials. At -100 hPa, we obtained consistently lower air filled under the wheel rut......The impact of wheel traffic on soil physical properties is usually quantified by randomly collecting soil cores at specific depths below the wheeled surface. However, modeling studies as well as few measurements indicated a non-uniform stress distribution in a catena across the wheel rut, which...

Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism.

Science.gov (United States)

Goher, K M; Fadlallah, S O

2017-01-01

This paper presents the performance of utilizing a bacterial foraging optimization algorithm on a PID control scheme for controlling a five DOF two-wheeled robotic machine with two-directional handling mechanism. The system under investigation provides solutions for industrial robotic applications that require a limited-space working environment. The system nonlinear mathematical model, derived using Lagrangian modeling approach, is simulated in MATLAB/Simulink ® environment. Bacterial foraging-optimized PID control with decoupled nature is designed and implemented. Various working scenarios with multiple initial conditions are used to test the robustness and the system performance. Simulation results revealed the effectiveness of the bacterial foraging-optimized PID control method in improving the system performance compared to the PID control scheme.

Experiments study on attitude coupling control method for flexible spacecraft

Science.gov (United States)

Wang, Jie; Li, Dongxu

2018-06-01

High pointing accuracy and stabilization are significant for spacecrafts to carry out Earth observing, laser communication and space exploration missions. However, when a spacecraft undergoes large angle maneuver, the excited elastic oscillation of flexible appendages, for instance, solar wing and onboard antenna, would downgrade the performance of the spacecraft platform. This paper proposes a coupling control method, which synthesizes the adaptive sliding mode controller and the positive position feedback (PPF) controller, to control the attitude and suppress the elastic vibration simultaneously. Because of its prominent performance for attitude tracking and stabilization, the proposed method is capable of slewing the flexible spacecraft with a large angle. Also, the method is robust to parametric uncertainties of the spacecraft model. Numerical simulations are carried out with a hub-plate system which undergoes a single-axis attitude maneuver. An attitude control testbed for the flexible spacecraft is established and experiments are conducted to validate the coupling control method. Both numerical and experimental results demonstrate that the method discussed above can effectively decrease the stabilization time and improve the attitude accuracy of the flexible spacecraft.

GOES-R active vibration damping controller design, implementation, and on-orbit performance

Science.gov (United States)

Clapp, Brian R.; Weigl, Harald J.; Goodzeit, Neil E.; Carter, Delano R.; Rood, Timothy J.

2018-01-01

GOES-R series spacecraft feature a number of flexible appendages with modal frequencies below 3.0 Hz which, if excited by spacecraft disturbances, can be sources of undesirable jitter perturbing spacecraft pointing. To meet GOES-R pointing stability requirements, the spacecraft flight software implements an Active Vibration Damping (AVD) rate control law which acts in parallel with the nadir point attitude control law. The AVD controller commands spacecraft reaction wheel actuators based upon Inertial Measurement Unit (IMU) inputs to provide additional damping for spacecraft structural modes below 3.0 Hz which vary with solar wing angle. A GOES-R spacecraft dynamics and attitude control system identified model is constructed from pseudo-random reaction wheel torque commands and IMU angular rate response measurements occurring over a single orbit during spacecraft post-deployment activities. The identified Fourier model is computed on the ground, uplinked to the spacecraft flight computer, and the AVD controller filter coefficients are periodically computed on-board from the Fourier model. Consequently, the AVD controller formulation is based not upon pre-launch simulation model estimates but upon on-orbit nadir point attitude control and time-varying spacecraft dynamics. GOES-R high-fidelity time domain simulation results herein demonstrate the accuracy of the AVD identified Fourier model relative to the pre-launch spacecraft dynamics and control truth model. The AVD controller on-board the GOES-16 spacecraft achieves more than a ten-fold increase in structural mode damping for the fundamental solar wing mode while maintaining controller stability margins and ensuring that the nadir point attitude control bandwidth does not fall below 0.02 Hz. On-orbit GOES-16 spacecraft appendage modal frequencies and damping ratios are quantified based upon the AVD system identification, and the increase in modal damping provided by the AVD controller for each structural mode is

Magnetic moment of inertia within the torque-torque correlation model.

Science.gov (United States)

Thonig, Danny; Eriksson, Olle; Pereiro, Manuel

2017-04-19

An essential property of magnetic devices is the relaxation rate in magnetic switching which strongly depends on the energy dissipation. This is described by the Landau-Lifshitz-Gilbert equation and the well known damping parameter, which has been shown to be reproduced from quantum mechanical calculations. Recently the importance of inertia phenomena have been discussed for magnetisation dynamics. This magnetic counterpart to the well-known inertia of Newtonian mechanics, represents a research field that so far has received only limited attention. We present and elaborate here on a theoretical model for calculating the magnetic moment of inertia based on the torque-torque correlation model. Particularly, the method has been applied to bulk itinerant magnets and we show that numerical values are comparable with recent experimental measurements. The theoretical analysis shows that even though the moment of inertia and damping are produced by the spin-orbit coupling, and the expression for them have common features, they are caused by very different electronic structure mechanisms. We propose ways to utilise this in order to tune the inertia experimentally, and to find materials with significant inertia dynamics.

Effects of moment of inertia on restricted motion swing speed.

Science.gov (United States)

Schorah, David; Choppin, Simon; James, David

2015-06-01

In many sports, the maximum swing speed of a racket, club, or bat is a key performance parameter. Previous research in multiple sports supports the hypothesis of an inverse association between the swing speed and moment of inertia of an implement. The aim of this study was to rigorously test and quantify this relationship using a restricted swinging motion. Eight visually identical rods with a common mass but variable moment of inertia were manufactured. Motion capture technology was used to record eight participants' maximal effort swings with the rods. Strict exclusion criteria were applied to data that did not adhere to the prescribed movement pattern. The study found that for all participants, swing speed decreased with respect to moment of inertia according to a power relationship. However, in contrast to previous studies, the rate of decrease varied from participant to participant. With further analysis it was found that participants performed more consistently at the higher end of the moment of inertia range tested. The results support the inverse association between swing speed and moment of inertia but only for higher moment of inertia implements.

Biaxial wheel/hub test facility. Proceedings

Energy Technology Data Exchange (ETDEWEB)

Fischer, G.; Grubisic, V. [eds.

2000-07-01

The 4{sup th} meeting aims to exchange the experience and knowledge of engineers during several presentations and discussions about new developments required for a reliable, time and cost reducing validation of the wheel/hub assembly. Tremendous development of the wheel performance, described by the ratio of the rated load (kg) versus the wheel weight (kg) had taken place during the last 5000 years. Starting from the ratio of 3 for wooden 2-piece-disc-wheels in Mesopotamia it needed nearly 1000 years to increase the ratio to approx 5 at light-weight spoke wheels for fighting carriages, found in the grave of king Tutenchamon in Egypt. Modern light alloy wheels of commercial vehicles reach values up to 160 kg/kg. Additionally the comlex design of the modern systems for cars and commercial vehicles comprising wheel, brake, hub, bearing, spindle and hub carrier, including different materials and their treatment, fasteners, press-fits, require an appropriate testing procedure. The variable loading conditions, caused by operational wheel forces, brake and torque moments including heating, may result in changing tolerances and press-fits during operation and consequently in different damage mechanisms. This can be simulated in the Biaxial Wheel Test Machine, whereby corresponding load programs are necessary. An overview about all biaxial test machines in usage at the end of 1999 is shown in the introduction. The total number is 17 for cars, 7 for commercial vehicles and 1 for trains. The six presentations of this meeting were consequently concentrated on: (a) recommendations for a standardization of load programs of the German Wheel Committee, (b) the simulation of brake and torque events and (c) the possibility for a numerical stress analyses and fatigue life assessment. (orig./AKF)

Bounds on the moment of inertia of nonrotating neutron stars

International Nuclear Information System (INIS)

Sabbadini, A.G.; Hartle, J.B.

1977-01-01

Upper and lower bounds are placed on the moments of inertia of relativistic, spherical, perfect fluid neutron stars assuming that the pressure p and density p are positive and that (dp/drho) is positive. Bounds are obtained (a) for the moment of inertia of a star with given mass and radius, (b) for the moment of inertia of neutron stars for which the equation of state is known below a given density rho/sub omicron/and (c) for the mass-moment of inertia relation for stars whose equation of state is known below a given density rho/sub omicron/The bounds are optimum ones in the sense that there always exists a configuration consistent with the assumptions having a moment of inertia equal to that of the bound. The implications of the results for the maximum mass of slowly rotating neutron stars are discussed

Nuclear moment of inertia and spin distribution of nuclear levels

International Nuclear Information System (INIS)

Alhassid, Y.; Fang, L.; Liu, S.; Bertsch, G.F.

2005-01-01

We introduce a simple model to calculate the nuclear moment of inertia at finite temperature. This moment of inertia describes the spin distribution of nuclear levels in the framework of the spin-cutoff model. Our model is based on a deformed single-particle Hamiltonian with pairing interaction and takes into account fluctuations in the pairing gap. We derive a formula for the moment of inertia at finite temperature that generalizes the Belyaev formula for zero temperature. We show that a number-parity projection explains the strong odd-even effects observed in shell model Monte Carlo studies of the nuclear moment of inertia in the iron region

Inertia and Double Bending of Light from Equivalence

Science.gov (United States)

Shuler, Robert L., Jr.

2010-01-01

Careful examination of light paths in an accelerated reference frame, with use of Special Relativity, can account fully for the observed bending of light in a gravitational field, not just half of it as reported in 1911. This analysis also leads to a Machian formulation of inertia similar to the one proposed by Einstein in 1912 and later derived from gravitational field equations in Minkowsky Space by Sciama in 1953. There is a clear inference from equivalence that there is some type of inertial mass increase in a gravitational field. It is the purpose of the current paper to suggest that equivalence provides a more complete picture of gravitational effects than previously thought, correctly predicting full light bending, and that since the theory of inertia is derivable from equivalence, any theory based on equivalence must take account of it. Einstein himself clearly was not satisfied with the status of inertia in GRT, as our quotes have shown. Many have tried to account for inertia and met with less than success, for example Davidson s integration of Sciama s inertia into GRT but only for a steady state cosmology [10], and the Machian gravity theory of Brans and Dicke [11]. Yet Mach s idea hasn t gone away, and now it seems that it cannot go away without also disposing of equivalence.

Filament stretching rheometer: inertia compensation revisited

DEFF Research Database (Denmark)

Szabo, Peter; McKinley, Gareth H.

2003-01-01

The necessary inertia compensation used in the force balance for the filament stretching rheometer is derived for an arbitrary frame of reference. This enables the force balance to be used to extract correctly the extensional viscosity from measurements of the tensile force at either end of the e......The necessary inertia compensation used in the force balance for the filament stretching rheometer is derived for an arbitrary frame of reference. This enables the force balance to be used to extract correctly the extensional viscosity from measurements of the tensile force at either end...

A Nontoxic Barlow's Wheel

Science.gov (United States)

Daffron, John A.; Greenslade, Thomas B.

2015-01-01

Barlow's wheel has been a favorite demonstration since its invention by Peter Barlow (1776-1862) in 1822.1 In the form shown in Fig. 1, it represents the first electric motor. The interaction between the electric current passing from the axle of the wheel to the rim and the magnetic field produced by the U-magnet produces a torque that turns the wheel. The original device used mercury to provide electrical contact to the rim, and the dangers involved with the use of this heavy metal have caused the apparatus to disappear from the lecture hall.

The cranking moment of inertia in a static potential

International Nuclear Information System (INIS)

Bengtsson, R.; Hamamoto, I.; Ibarra, R.H.

1978-01-01

Taking into account the self-consistency condition for the deformation, the authors estimate the cranking moment of inertia in the absence of pair-correlations for the Woods-Saxon potential and various versions of the modified oscillator potential. The authors investigate the expectation that in a static potential the moment of inertia is almost equal to the rigid-body moment of inertia at the self-consistent deformation. They examine especially the consequence of the presence of the l 2 term in the conventional modified oscillator potential. (Auth.)

Problems of locomotive wheel wear in fleet replacement

Directory of Open Access Journals (Sweden)

L.P. Lingaytis

2013-08-01

Full Text Available Purpose. To conduct a research and find out the causes of defects appearing on the wheel thread of freight locomotives 2М62 and SIEMENS ER20CF. Methodology. To find the ways to solve this problem comparing the locomotive designs and their operating conditions. Findings. After examining the nature of the wheel wear the main difference was found: in locomotives of the 2M62 line wears the wheel flange, and in the locomotives SIEMENS ER20CF – the tread surface. After installation on the 2M62 locomotive the lubrication system of flanges their wear rate significantly decreased. On the new freight locomotives SIEMENS ER20CF the flange lubrication systems of the wheel set have been already installed at the factory, however the wheel thread is wearing. As for locomotives 2M62, and on locomotives SIEMENS ER20CF most wear profile skating wheels of the first wheel set. On both locomotive lines the 2М62 and the SIEMENS ER20CF the tread profile of the first wheel set most of all is subject to the wear. After reaching the 170 000 km run, the tread surface of some wheels begins to crumble. There was a suspicion that the reason for crumb formation of the wheel surface may be insufficient or excessive wheel hardness or its chemical composition. In order to confirm or deny this suspicion the following studies were conducted: the examination of the rim surface, the study of the wheel metal hardness and the document analysis of the wheel production and their comparison with the results of wheel hardness measurement. Practical value. The technical condition of locomotives is one of the bases of safety and reliability of the rolling stock. The reduction of the wheel wear significantly reduces the operating costs of railway transport. After study completion it was found that there was no evidence to suggest that the ratio of the wheel-rail hardness could be the cause of the wheel surface crumbling.

Rectal cooling test in the differentiation between constipation due to rectal inertia and anismus.

Science.gov (United States)

Shafik, A; Shafik, I; El Sibai, O; Shafik, A A

2007-03-01

The differentiation between constipation due to rectal inertia and that due to outlet obstruction from non-relaxing puborectalis muscle (PRM) is problematic and not easily achieved with one diagnostic test. Therefore, we studied the hypothesis that the rectal cooling test (RCT) can effectively be used to differentiate between those two forms of constipation. The study enrolled 28 patients with constipation and abnormal transit study in whom radio-opaque markers accumulated in the rectum; 15 healthy volunteers acted as controls. Electromyographic activity of the external anal sphincter (EAS) and PRM was initially recorded. Subsequently rectal wall tone was assessed by a barostat system during rectal infusion with normal saline at 30 degrees C and at 4 degrees C with simultaneous electromyography (EMG). There was a significant increase in EMG activity of the EAS and PRM on strain- ing (panismus, in 10 of 28 patients and 0 of 15 controls. Rectal tone in controls did not respond to saline infusion at 30 degrees C, but it increased at 4 degrees C (panismus (panismus while it had no effect in the remaining patients. Lack of increase of rectal tone may be secondary to rectal inertia. According to these preliminary observations, the rectal cooling test may be useful in differentiating between rectal inertia and anismus.

Spacecraft attitude control using neuro-fuzzy approximation of the optimal controllers

Science.gov (United States)

Kim, Sung-Woo; Park, Sang-Young; Park, Chandeok

2016-01-01

In this study, a neuro-fuzzy controller (NFC) was developed for spacecraft attitude control to mitigate large computational load of the state-dependent Riccati equation (SDRE) controller. The NFC was developed by training a neuro-fuzzy network to approximate the SDRE controller. The stability of the NFC was numerically verified using a Lyapunov-based method, and the performance of the controller was analyzed in terms of approximation ability, steady-state error, cost, and execution time. The simulations and test results indicate that the developed NFC efficiently approximates the SDRE controller, with asymptotic stability in a bounded region of angular velocity encompassing the operational range of rapid-attitude maneuvers. In addition, it was shown that an approximated optimal feedback controller can be designed successfully through neuro-fuzzy approximation of the optimal open-loop controller.

Apparent thermal inertia and the surface heterogeneity of Mars

Science.gov (United States)

Putzig, Nathaniel E.; Mellon, Michael T.

2007-11-01

Thermal inertia derivation techniques generally assume that surface properties are uniform at horizontal scales below the footprint of the observing instrument and to depths of several decimeters. Consequently, surfaces with horizontal or vertical heterogeneity may yield apparent thermal inertia which varies with time of day and season. To investigate these temporal variations, we processed three Mars years of Mars Global Surveyor Thermal Emission Spectrometer observations and produced global nightside and dayside seasonal maps of apparent thermal inertia. These maps show broad regions with diurnal and seasonal differences up to 200 J m -2 K -1s -1/2 at mid-latitudes (60° S to 60° N) and 600 J m -2 K -1s -1/2 or greater in the polar regions. We compared the seasonal mapping results with modeled apparent thermal inertia and created new maps of surface heterogeneity at 5° resolution, delineating regions that have thermal characteristics consistent with horizontal mixtures or layers of two materials. The thermal behavior of most regions on Mars appears to be dominated by layering, with upper layers of higher thermal inertia (e.g., duricrusts or desert pavements over fines) prevailing in mid-latitudes and upper layers of lower thermal inertia (e.g., dust-covered rock, soils with an ice table at shallow depths) prevailing in polar regions. Less common are regions dominated by horizontal mixtures, such as those containing differing proportions of rocks, sand, dust, and duricrust or surfaces with divergent local slopes. Other regions show thermal behavior that is more complex and not well-represented by two-component surface models. These results have important implications for Mars surface geology, climate modeling, landing-site selection, and other endeavors that employ thermal inertia as a tool for characterizing surface properties.

Customer loads of two-wheeled vehicles

Science.gov (United States)

Gorges, C.; Öztürk, K.; Liebich, R.

2017-12-01

Customer usage profiles are the most unknown influences in vehicle design targets and they play an important role in durability analysis. This publication presents a customer load acquisition system for two-wheeled vehicles that utilises the vehicle's onboard signals. A road slope estimator was developed to reveal the unknown slope resistance force with the help of a linear Kalman filter. Furthermore, an automated mass estimator was developed to consider the correct vehicle loading. The mass estimation is performed by an extended Kalman filter. Finally, a model-based wheel force calculation was derived, which is based on the superposition of forces calculated from measured onboard signals. The calculated wheel forces were validated by measurements with wheel-load transducers through the comparison of rainflow matrices. The calculated wheel forces correspond with the measured wheel forces in terms of both quality and quantity. The proposed methods can be used to gather field data for improved vehicle design loads.

The role of inertia in modeling decisions from experience with instance-based learning.

Science.gov (United States)

Dutt, Varun; Gonzalez, Cleotilde

2012-01-01

One form of inertia is the tendency to repeat the last decision irrespective of the obtained outcomes while making decisions from experience (DFE). A number of computational models based upon the Instance-Based Learning Theory, a theory of DFE, have included different inertia implementations and have shown to simultaneously account for both risk-taking and alternations between alternatives. The role that inertia plays in these models, however, is unclear as the same model without inertia is also able to account for observed risk-taking quite well. This paper demonstrates the predictive benefits of incorporating one particular implementation of inertia in an existing IBL model. We use two large datasets, estimation and competition, from the Technion Prediction Tournament involving a repeated binary-choice task to show that incorporating an inertia mechanism in an IBL model enables it to account for the observed average risk-taking and alternations. Including inertia, however, does not help the model to account for the trends in risk-taking and alternations over trials compared to the IBL model without the inertia mechanism. We generalize the two IBL models, with and without inertia, to the competition set by using the parameters determined in the estimation set. The generalization process demonstrates both the advantages and disadvantages of including inertia in an IBL model.

General motors front wheel drive 2-mode hybrid transmission

Energy Technology Data Exchange (ETDEWEB)

Hendrickson, James [General Motors Corp., Pontiac, MI (United States). New Transmission Products Group.; Holmes, Alan G. [General Motors Corp., Pontiac, MI (United States). Powertrain Hybrid Architecture

2009-07-01

General Motors now expands the application of two-mode hybrid technology to front wheel drive vehicles with the development of a hybrid electric transmission packaged into essentially the same space as a conventional automatic transmission for front wheel drive. This was accomplished using a space-efficient arrangement based on two planetary gear sets and electric motor-generators with large internal diameters. A combination of damper and hydraulically-controlled clutch allow comfortable shutdown and restarting of large-displacement engines in front wheel drive vehicles. The hybrid system delivers electric low-speed urban driving, two continuously variable ranges of transmission speed ratios, four fixed transmission speed ratios, electric acceleration boosting, and regenerative braking. In the first vehicle application, the two-mode hybrid helps to reduce vehicle fuel consumption by approximately one-third. (orig.)

Assessment of a Boat Fractured Steering Wheel

Directory of Open Access Journals (Sweden)

Vukelic Goran

2016-09-01

Full Text Available During regular use of the steering wheel mounted on a boat, two cracks emanating from a fastener hole were noticed which, consequently, caused final fracture of the wheel. To determine the behavior of a boat steering wheel with cracks present, assessment of a fractured wheel was performed. Torque moments of the fasteners were measured prior to removing the steering wheel from the boat. Visual and dye penetrant inspection followed along with the material detection. Besides using experimental procedures, assessment of the fractured wheel was performed using finite element analysis, i.e. stress intensity factor values were numerically determined. Variation of stress intensity factor with crack length is presented. Possible causes of crack occurrence are given and they include excessive values of fastener torque moments coupled with fretting between fastener and fastener hole that was poorly machined. Results obtained by this assessment can be taken for predicting fracture behavior of a cracked steering wheel and as a reference in the design, mounting and exploitation process of steering wheels improving that way their safety in transportation environment.

Haulage trucks model with four electric separate wheel drives

Directory of Open Access Journals (Sweden)

R. Setlak

2005-02-01

Full Text Available This article contains a course of work of the construction of a vehicle model that has four electrical motors built into each wheel. During the project two models of a vehicle were constructed. A microprocessor based control system has also been designed and built. A vehicle is controlled by a steering unit which contains a steering wheel with a force feedback system, push buttons, an accelerator and a brake. The connection between a steering unit and a model is realized by interface RS-485. The driving motors are dc motors with permanent magnets. Power supply consists of an acid battery located in the vehicle. The vehicle control system is divided into two parts. The first part is built into the vehicle and operates as a vehicle main control system and the second is built into a steering unit and operates as the main control steering system.

A survey of wheel-rail contact models for rail vehicles

Science.gov (United States)

Meymand, Sajjad Z.; Keylin, Alexander; Ahmadian, Mehdi

2016-03-01

Accurate and efficient contact models for wheel-rail interaction are essential for the study of the dynamic behaviour of a railway vehicle. Assessment of the contact forces and moments, as well as contact geometry provide a fundamental foundation for such tasks as design of braking and traction control systems, prediction of wheel and rail wear, and evaluation of ride safety and comfort. This paper discusses the evolution and the current state of the theories for solving the wheel-rail contact problem for rolling stock. The well-known theories for modelling both normal contact (Hertzian and non-Hertzian) and tangential contact (Kalker's linear theory, FASTSIM, CONTACT, Polach's theory, etc.) are reviewed. The paper discusses the simplifying assumptions for developing these models and compares their functionality. The experimental studies for evaluation of contact models are also reviewed. This paper concludes with discussing open areas in contact mechanics that require further research for developing better models to represent the wheel-rail interaction.

Moments of inertia of neutron stars

Energy Technology Data Exchange (ETDEWEB)

Greif, Svenja Kim; Hebeler, Kai; Schwenk, Achim [Institut fuer Kernphysik, Technische Universitaet Darmstadt (Germany); ExtreMe Matter Institute EMMI, GSI Helmholtzzentrum fuer Schwerionenforschung GmbH (Germany)

2016-07-01

Neutron stars are unique laboratories for matter at extreme conditions. While nuclear forces provide systematic constraints on properties of neutron-rich matter up to around nuclear saturation density, the composition of matter at high densities is still unknown. Recent precise observations of 2 M {sub CircleDot} neutron stars made it possible to derive systematic constraints on the equation of state at high densities and also neutron star radii. Further improvements of these constraints require the observation of even heavier neutron stars or a simultaneous measurement of mass and radius of a single neutron star. Since the precise measurement of neutron star radii is an inherently difficult problem, the observation of moment of inertia of neutron stars provides a promising alternative, since they can be measured by pulsar timing experiments. We present a theoretical framework that allows to calculate moments of inertia microscopically, we show results based on state of the art equations of state and illustrate how future measurements of moments of inertia allow to constrain the equation of state and other properties of neutron stars.

Factors associated with clinical inertia: an integrative review

Science.gov (United States)

Aujoulat, Isabelle; Jacquemin, Patricia; Rietzschel, Ernst; Scheen, André; Tréfois, Patrick; Wens, Johan; Darras, Elisabeth; Hermans, Michel P

2014-01-01

Failure to initiate or intensify therapy according to evidence-based guidelines is increasingly being acknowledged as a phenomenon that contributes to inadequate management of chronic conditions, and is referred to as clinical inertia. However, the number and complexity of factors associated with the clinical reasoning that underlies the decision-making processes in medicine calls for a critical examination of the consistency of the concept. Indeed, in the absence of information on and justification of treatment decisions that were made, clinical inertia may be only apparent, and actually reflect good clinical practice. This integrative review seeks to address the factors generally associated with clinical inaction, in order to better delineate the concept of true clinical inertia. PMID:24868181

Deformation and lifetime behaviour of cyclic loaded rail and wheel steels

Energy Technology Data Exchange (ETDEWEB)

Denne, B.; Lang, K.-H.; Loehe, D. [Karlsruhe Univ. (T.H.) (Germany). Inst. fuer Werkstoffkunde 1

2000-07-01

Corrugation, shelling and squats are some unexpected technical problems caused by increasing service tonnage, increasing load of the rails and increasing train speed at Deutsche Bahn AG lines since the last decades. As the complex phenomena of rolling contact fatigue in the rail / wheel system is difficult to understand extensive investigations have to be done to describe the multiaxial rolling contact fatigue processes and to develop and verify multiaxial fatigue criteria and lifetime predictions. To reach this aim a reliable fatigue data base of the utilised steels is required. To obtain such data, specimens were worked out of rails and wheels used in high speed traffic. With these specimens the lifetime behaviour and the endurance limit were estimated from push-pull tests. For the rail steel stress and total strain controlled fatigue tests were performed. The resulting lifetime behaviour is compared. In the wheel there are several regions with different microstructures due to the heat treatment at the end of the manufacturing process. Specimens were taken from the wheel rim representing these different microstructures. With these specimens stress controlled fatigue tests were performed. The influence of the different microstructures on the deformation and lifetime behaviour is showed. (orig.)

A novel dual motor drive system for three wheel electric vehicles

Science.gov (United States)

Panmuang, Piyapat; Thongsan, Taweesak; Suwapaet, Nuchida; Laohavanich, Juckamass; Photong, Chonlatee

2018-03-01

This paper presents a novel dual motor drive system used for three wheel electric vehicles that have one free wheel at the front and two wheels with a drive system at the end of the vehicles. A novel dual motor drive system consists of two identical DC motors that are independently controlled by its speed-torque controller. Under light load conditions, only one of the DC motors will operate around it rated whilst under hard load conditions both of the DC motors will operate. With this drive system, the motors will operate only at its high performance at rated or else no operate to retain longer lifetime. The simulated results for the Skylab three wheel electric vehicle prototype with 8kW at full load (high torque, low speed) and around 4kW at light/normal operating loads (regular speed-torque) showed that the proposed system provides better dynamic responses with faster overshoot current/voltage recovery time, has lower investment costs, has longer lifetime of the motors and allows the motors to always operate at their high performance and thus achieve more cost effective system compared to a single motor drive system with 8kW DC motors.

Research on Design of MUH Attitude Stability Augmentation Control System

Science.gov (United States)

Fan, Shigang

2017-09-01

Attitude stability augmentation control system with a lower cost need to be designed so that MUH (Mini Unmanned Helicopter) can adapt to different types of geographic environment and fly steadily although the weather may be bad. Attitude feedback was calculated mainly by filtering estimation within attitude acquisition module in this system. Stability augmentation can be improved mainly by PI. This paper will depict running principle and designing process of MUH attitude stability augmentation control system and algorithm that is considered as an important part in this system.

An Ultrasonic Wheel-Array Probe

Science.gov (United States)

Drinkwater, B. W.; Brotherhood, C. J.; Freemantle, R. J.

2004-02-01

This paper describes the development and modeling of an ultrasonic array wheel probe scanning system. The system operates at 10 MHz using a 64 element array transducer which is 50 mm in length and located in a fluid filled wheel. The wheel is coupled to the test structure dry, or with a small amount of liquid couplant. When the wheel is rolled over the surface of the test structure a defect map (C-Scan) is generated in real-time. The tyre is made from a soft, durable polymer which has very little acoustic loss. Two application studies are presented; the inspection of sealant layers in an aluminum aircraft wing structure and the detection of embedded defects in a thick section carbon composite sample.

Distributed Power System Virtual Inertia Implemented by Grid-Connected Power Converters

DEFF Research Database (Denmark)

Fang, Jingyang; Li, Hongchang; Tang, Yi

2018-01-01

Renewable energy sources (RESs), e.g. wind and solar photovoltaics, have been increasingly used to meet worldwide growing energy demands and reduce greenhouse gas emissions. However, RESs are normally coupled to the power grid through fast-response power converters without any inertia, leading...... to decreased power system inertia. As a result, the grid frequency may easily go beyond the acceptable range under severe frequency events, resulting in undesirable load-shedding, cascading failures, or even large-scale blackouts. To address the ever-decreasing inertia issue, this paper proposes the concept...... of distributed power system virtual inertia, which can be implemented by grid-connected power converters. Without modifications of system hardware, power system inertia can be emulated by the energy stored in the dc-link capacitors of grid-connected power converters. By regulating the dc-link voltages...

Semiclassical shell structure of moments of inertia in deformed Fermi systems

International Nuclear Information System (INIS)

Magner, A.G.; Gzhebinsky, A.M.; Sitdikov, A.S.; Khamzin, A.A.; Bartel, J.

2010-01-01

The collective moment of inertia is derived analytically within the cranking model in the adiabatic mean-field approximation at finite temperature. Using the nonperturbative periodic-orbit theory the semiclassical shell-structure components of the collective moment of inertia are obtained for any potential well. Their relation to the free-energy shell corrections are found semiclassically as being given through the shell-structure components of the rigid-body moment of inertia of the statistically equilibrium rotation in terms of short periodic orbits. Shell effects in the moment of inertia disappear exponentially with increasing temperature. For the case of the harmonic-oscillator potential one observes a perfect agreement between semiclassical and quantum shell-structure components of the free energy and the moment of inertia for several critical bifurcation deformations and several temperatures. (author)

Wheeled hopping robot

Science.gov (United States)

Fischer, Gary J [Albuquerque, NM

2010-08-17

The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

49 CFR 229.73 - Wheel sets.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Wheel sets. 229.73 Section 229.73 Transportation... TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS Safety Requirements Suspension System § 229.73 Wheel sets. (a...) when applied or turned. (b) The maximum variation in the diameter between any two wheel sets in a three...

Diagnostic inertia in dyslipidaemia: results of a preventative programme in Spain.

Science.gov (United States)

Palazón-Bru, Antonio; Sepehri, Armina; Ramírez-Prado, Dolores; Navarro-Cremades, Felipe; Cortés, Ernesto; Rizo-Baeza, Mercedes; Gil-Guillén, Vicente Francisco

2015-01-01

Others have analysed the relationship between inadequate behaviour by healthcare professionals in the diagnosis of dyslipidaemia (diagnostic inertia) and the history of cardiovascular risk factors. However, since no study has assessed cardiovascular risk scores as associated factors, we carried out a study to quantify diagnostic inertia in dyslipidaemia and to determine if cardiovascular risk scores are associated with this inertia. In the Valencian Community (Spain), a preventive programme (cardiovascular, gynaecologic and vaccination) was started in 2003 inviting persons aged ≥40 years to undergo a health check-up at their health centre. This cross-sectional study examined persons with no known dyslipidaemia seen during the first six months of the programme (n = 16, 905) but whose total cholesterol (TC) was ≥5.17 mmol/L. Diagnostic inertia was defined as lack of follow-up to confirm/discard the dyslipidaemia diagnosis. Other variables included in the analysis were gender, history of cardiovascular risk factors/cardiovascular disease, counselling (diet/exercise), body mass index (BMI), age, blood pressure, fasting blood glucose and lipids. TC was grouped as ≥/Inertia was quantified and the adjusted odds ratios calculated from multivariate models. In the overall sample, the rate of diagnostic inertia was 52% (95% CI [51.2-52.7]); associated factors were TC ≥ 6.20 mmol/L, high or "not measured" BMI, hypertension, smoking and higher values of fasting blood glucose, systolic blood pressure and TC. In the REGICOR sample, the rate of diagnostic inertia was 51.9% (95% CI [51.1-52.7]); associated factors were REGICOR high and high or "not measured" BMI. In the SCORE sample the rate of diagnostic inertia was 51.7% (95% CI [50.9-52.5]); associated factors were SCORE high and high or "not measured" BMI. Diagnostic inertia existed in over half the patients and was associated with a greater cardiovascular risk.

Factors associated with therapeutic inertia in hypertension: validation of a predictive model.

Science.gov (United States)

Redón, Josep; Coca, Antonio; Lázaro, Pablo; Aguilar, Ma Dolores; Cabañas, Mercedes; Gil, Natividad; Sánchez-Zamorano, Miguel Angel; Aranda, Pedro

2010-08-01

To study factors associated with therapeutic inertia in treating hypertension and to develop a predictive model to estimate the probability of therapeutic inertia in a given medical consultation, based on variables related to the consultation, patient, physician, clinical characteristics, and level of care. National, multicentre, observational, cross-sectional study in primary care and specialist (hospital) physicians who each completed a questionnaire on therapeutic inertia, provided professional data and collected clinical data on four patients. Therapeutic inertia was defined as a consultation in which treatment change was indicated (i.e., SBP >or= 140 or DBP >or= 90 mmHg in all patients; SBP >or= 130 or DBP >or= 80 in patients with diabetes or stroke), but did not occur. A predictive model was constructed and validated according to the factors associated with therapeutic inertia. Data were collected on 2595 patients and 13,792 visits. Therapeutic inertia occurred in 7546 (75%) of the 10,041 consultations in which treatment change was indicated. Factors associated with therapeutic inertia were primary care setting, male sex, older age, SPB and/or DBP values close to normal, treatment with more than one antihypertensive drug, treatment with an ARB II, and more than six visits/year. Physician characteristics did not weigh heavily in the association. The predictive model was valid internally and externally, with acceptable calibration, discrimination and reproducibility, and explained one-third of the variability in therapeutic inertia. Although therapeutic inertia is frequent in the management of hypertension, the factors explaining it are not completely clear. Whereas some aspects of the consultations were associated with therapeutic inertia, physician characteristics were not a decisive factor.

A fly-wheel drive with controlled-torque clutch for a reactors cooling circuit pumps; Entrainement des pompes du circuit de refrigeration d'un reacteur par volant a embrayage sous couple controle

Energy Technology Data Exchange (ETDEWEB)

Riettini, A [Commissariat a l' Energie Atomique, Grenoble (France). Centre d' Etudes Nucleaires

1964-10-15

After a theoretical study on the slowing down of a centrifugal pump, the motion equations have been checked by means of experimental tests. In order to have important slowing down times (which is the case of the cooling pumps of a research reactor) it is necessary to add a fly-wheel. To prevent troubles when starting, a block pump-fly-wheel with clutch under controlled torque was developed. It is so possible to start the fly-wheel progressively without increasing too much power of the driving motor. (author) [French] Apres une etude theorique sur le mouvement de ralentissement d'une pompe centrifuge, les equations du mouvement ont ete verifiees par des essais pratiques. Pour obtenir des temps de ralentissement importants (cas des pompes de refrigeration d'un reacteur de recherche) il est necessaire d'y adjoindre un volant d'inertie. Pour eviter les inconvenients au demarrage, on a etudie un ensemble pompe-volant avec embrayage sous couple controle. Cette solution permet de lancer progressivement le volant sans augmentation appreciable de la puissance du moteur d'entrainement. (auteur)

Wheel-running activity and energy metabolism in relation to ambient temperature in mice selected for high wheel-running activity

NARCIS (Netherlands)

Vaanholt, Lobke M.; Garland, Theodore; Daan, Serge; Visser, G. Henk; Garland Jr., Theodore; Heldmaier, G.

Interrelationships between ambient temperature, activity, and energy metabolism were explored in mice that had been selectively bred for high spontaneous wheel-running activity and their random-bred controls. Animals were exposed to three different ambient temperatures (10, 20 and 30 degrees C) and

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

Science.gov (United States)

Keum, Jung-Hoon; Ra, Sung-Woong

2009-12-01

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

Spacecraft Attitude Control in Hamiltonian Framework

DEFF Research Database (Denmark)

Wisniewski, Rafal

2000-01-01

The objective of this paper is to give a design scheme for attitude control algorithms of a generic spacecraft. Along with the system model formulated in the Hamilton's canonical form the algorithm uses information about a required potential energy and a dissipative term. The control action...

Voluntary resistance running wheel activity pattern and skeletal muscle growth in rats.

Science.gov (United States)

Legerlotz, Kirsten; Elliott, Bradley; Guillemin, Bernard; Smith, Heather K

2008-06-01

The aims of this study were to characterize the pattern of voluntary activity of young rats in response to resistance loading on running wheels and to determine the effects of the activity on the growth of six limb skeletal muscles. Male Sprague-Dawley rats (4 weeks old) were housed individually with a resistance running wheel (R-RUN, n = 7) or a conventional free-spinning running wheel (F-RUN, n = 6) or without a wheel, as non-running control animals (CON, n = 6). The torque required to move the wheel in the R-RUN group was progressively increased, and the activity (velocity, distance and duration of each bout) of the two running wheel groups was recorded continuously for 45 days. The R-RUN group performed many more, shorter and faster bouts of running than the F-RUN group, yet the mean daily distance was not different between the F-RUN (1.3 +/- 0.2 km) and R-RUN group (1.4 +/- 0.6 km). Only the R-RUN resulted in a significantly (P RUN and R-RUN led to a significantly greater wet mass relative to increase in body mass and muscle fibre cross-sectional area in the soleus muscle compared with CON. We conclude that the pattern of voluntary activity on a resistance running wheel differs from that on a free-spinning running wheel and provides a suitable model to induce physiological muscle hypertrophy in rats.

On the moment of inertia of a proto neutron star

International Nuclear Information System (INIS)

Zhao Xianfeng; Zhang Hua; Jia Huanyu

2010-01-01

The influences of σ * and Φ mesons,temperature and coupling constants of nucleons on the moment of inertia of the proto neutron star (PNS) are examined in the framework of relativistic mean field theory for the baryon octet {n, p, Λ , Σ - , Σ 0 , Σ + , Ξ - , Ξ 0 } system. It is found that, compared with that without considering σ * and Φ mesons, the moment of inertia decreases. It is also found that the higher the temperature, the larger the incompressibility and symmetry energy coefficient, and the larger the moment of inertia of a PNS. The influence of temperature and coupling constants of the nucleons on the moment of inertia of a PNS is larger than that of the σ * and Φ mesons. (authors)

IMP-J attitude control prelaunch analysis and operations plan

Science.gov (United States)

Hooper, H. L.; Mckendrew, J. B.; Repass, G. D.

1973-01-01

A description of the attitude control support being supplied for the Explorer 50 mission is given. Included in the document are descriptions of the computer programs being used to support attitude determination, prediction, and control for the mission and descriptions of the operating procedures that will be used to accomplish mission objectives.

Adherence to blood pressure and glucose recommendations in chronic kidney disease hospital inpatients: Clinical inertia and patient adherence.

Science.gov (United States)

Gardiner, Fergus William; Nwose, Ezekiel Uba; Bwititi, Phillip Taderera; Crockett, Judith; Wang, Lexin

2018-05-01

To determine the extent to which targets for blood pressure (BP) (inertia affects BP and glucose control in CKD and diabetes mellitus (DM). Data was collected from the 1st January 2015 until 31st December 2015 on key patient pathology, admission reason, final discharge diagnosis, and information concerning clinical guideline adherence. Eighty-seven (n = 87) CKD patients were included. The average hospital BP for all CKD patients was 134.3/73.4 mmHg, adhering to recommendations of 7.0% >53 mmol/mol). There were 21 cases of clinical inertia, affecting 18 out of 87 patients (20.7%), with significant adverse hospital discharge differences (p = inertia and non- clinical inertia patient systolic BP (144.2 vs. 132.8 mmHg), deranged BGL (66.7% vs. 35.3%), and reduction in kidney function (83.3% vs. 30.9%). Adherence appears to be related to inpatient clinical inertia and outpatient patient health literacy and empowerment. Copyright © 2017 Diabetes India. Published by Elsevier Ltd. All rights reserved.

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

Science.gov (United States)

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

2018-05-01

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

Modeling of Two-Wheeled Self-Balancing Robot Driven by DC Gearmotors

Science.gov (United States)

Frankovský, P.; Dominik, L.; Gmiterko, A.; Virgala, I.; Kurylo, P.; Perminova, O.

2017-08-01

This paper is aimed at modelling a two-wheeled self-balancing robot driven by the geared DC motors. A mathematical model consists of two main parts, the model of robot's mechanical structure and the model of the actuator. Linearized equations of motion are derived and the overall model of the two-wheeled self-balancing robot is represented in state-space realization for the purpose of state feedback controller design.

On the role of micro-inertia in enriched continuum mechanics.

Science.gov (United States)

Madeo, Angela; Neff, Patrizio; Aifantis, Elias C; Barbagallo, Gabriele; d'Agostino, Marco Valerio

2017-02-01

In this paper, the role of gradient micro-inertia terms [Formula: see text] and free micro-inertia terms [Formula: see text] is investigated to unveil their respective effects on the dynamic behaviour of band-gap metamaterials. We show that the term [Formula: see text] alone is only able to disclose relatively simplified dispersive behaviour. On the other hand, the term [Formula: see text] alone describes the full complex behaviour of band-gap metamaterials. A suitable mixing of the two micro-inertia terms allows us to describe a new feature of the relaxed-micromorphic model, i.e. the description of a second band-gap occurring for higher frequencies. We also show that a split of the gradient micro-inertia [Formula: see text], in the sense of Cartan-Lie decomposition of matrices, allows us to flatten separately the longitudinal and transverse optic branches, thus giving us the possibility of a second band-gap. Finally, we investigate the effect of the gradient inertia [Formula: see text] on more classical enriched models such as the Mindlin-Eringen and the internal variable ones. We find that the addition of such a gradient micro-inertia allows for the onset of one band-gap in the Mindlin-Eringen model and three band-gaps in the internal variable model. In this last case, however, non-local effects cannot be accounted for, which is a too drastic simplification for most metamaterials. We conclude that, even when adding gradient micro-inertia terms, the relaxed micromorphic model remains the best performing one, among the considered enriched models, for the description of non-local band-gap metamaterials.

On the moment of inertia of a quantum harmonic oscillator

International Nuclear Information System (INIS)

Khamzin, A. A.; Sitdikov, A. S.; Nikitin, A. S.; Roganov, D. A.

2013-01-01

An original method for calculating the moment of inertia of the collective rotation of a nucleus on the basis of the cranking model with the harmonic-oscillator Hamiltonian at arbitrary frequencies of rotation and finite temperature is proposed. In the adiabatic limit, an oscillating chemical-potential dependence of the moment of inertia is obtained by means of analytic calculations. The oscillations of the moment of inertia become more pronounced as deformations approach the spherical limit and decrease exponentially with increasing temperature.

Two-fluid turbulence including electron inertia

Energy Technology Data Exchange (ETDEWEB)

Andrés, Nahuel, E-mail: nandres@iafe.uba.ar; Gómez, Daniel [Instituto de Astronomía y Física del Espacio, CC. 67, suc. 28, 1428 Buenos Aires (Argentina); Departamento de Física, Facultad de Ciencias Exactas y Naturales, Universidad de Buenos Aires, Pabellón I, 1428 Buenos Aires (Argentina); Gonzalez, Carlos; Martin, Luis; Dmitruk, Pablo [Departamento de Fisica, Facultad de Ciencias Exactas y Naturales, Universidad de Buenos Aires and IFIBA, CONICET, 1428 Buenos Aires (Argentina)

2014-12-15

We present a full two-fluid magnetohydrodynamic (MHD) description for a completely ionized hydrogen plasma, retaining the effects of the Hall current, electron pressure, and electron inertia. According to this description, each plasma species introduces a new spatial scale: the ion inertial length λ{sub i} and the electron inertial length λ{sub e}, which are not present in the traditional MHD description. In the present paper, we seek for possible changes in the energy power spectrum in fully developed turbulent regimes, using numerical simulations of the two-fluid equations in two-and-a-half dimensions. We have been able to reproduce different scaling laws in different spectral ranges, as it has been observed in the solar wind for the magnetic energy spectrum. At the smallest wavenumbers where plain MHD is valid, we obtain an inertial range following a Kolmogorov k{sup −5∕3} law. For intermediate wavenumbers such that λ{sub i}{sup −1}≪k≪λ{sub e}{sup −1}, the spectrum is modified to a k{sup −7∕3} power-law, as has also been obtained for Hall-MHD neglecting electron inertia terms. When electron inertia is retained, a new spectral region given by k>λ{sub e}{sup −1} arises. The power spectrum for magnetic energy in this region is given by a k{sup −11∕3} power law. Finally, when the terms of electron inertia are retained, we study the self-consistent electric field. Our results are discussed and compared with those obtained in the solar wind observations and previous simulations.

Learning-based adaptive prescribed performance control of postcapture space robot-target combination without inertia identifications

Science.gov (United States)

Wei, Caisheng; Luo, Jianjun; Dai, Honghua; Bian, Zilin; Yuan, Jianping

2018-05-01

In this paper, a novel learning-based adaptive attitude takeover control method is investigated for the postcapture space robot-target combination with guaranteed prescribed performance in the presence of unknown inertial properties and external disturbance. First, a new static prescribed performance controller is developed to guarantee that all the involved attitude tracking errors are uniformly ultimately bounded by quantitatively characterizing the transient and steady-state performance of the combination. Then, a learning-based supplementary adaptive strategy based on adaptive dynamic programming is introduced to improve the tracking performance of static controller in terms of robustness and adaptiveness only utilizing the input/output data of the combination. Compared with the existing works, the prominent advantage is that the unknown inertial properties are not required to identify in the development of learning-based adaptive control law, which dramatically decreases the complexity and difficulty of the relevant controller design. Moreover, the transient and steady-state performance is guaranteed a priori by designer-specialized performance functions without resorting to repeated regulations of the controller parameters. Finally, the three groups of illustrative examples are employed to verify the effectiveness of the proposed control method.

DC Brushless Motor Control Design and Preliminary Testing for Independent 4-Wheel Drive Rev-11 Robotic Platform

Directory of Open Access Journals (Sweden)

Roni Permana Saputra

2012-03-01

Full Text Available This paper discusses the design of control system for brushless DC motor using microcontroller ATMega 16 that will be applied to an independent 4-wheel drive Mobile Robot LIPI version 2 (REV-11. The control system consists of two parts which are brushless DC motor control module and supervisory control module that coordinates the desired command to the motor control module. To control the REV-11 platform, supervisory control transmit the reference data of speed and direction of motor to control the speed and direction of each actuator on the platform REV-11. From the test results it is concluded that the designed control system work properly to coordinate and control the speed and direction of motion of the actuator motor REV-11 platform. 

Elimination of torque pulsations in a direct drive EV wheel motor

Energy Technology Data Exchange (ETDEWEB)

Hredzak, B.; Gair, S. [Napier Univ., Edinburgh (United Kingdom); Eastham, J.F. [Univ. of Bath (United Kingdom)

1996-09-01

Double sided axial field machines are attractive for direct wheel drives in electric vehicles. This is due to the fact that stator/rotor misalignments can be accommodated. In this case the stator of the machine is envisaged mounted on the chassis of the car while the rotor directly drives the road wheel. Since the wheel is perturbed by the road surface the rotor will move vertically between the outside stator assemblies and thus give rise to torque pulsations. A vector control scheme has been implemented whereby the torque pulsations are eliminated by (i) calculation of the flux variation due to the rotor perturbation and (ii) using this signal for the modulation of the motor input current.

Maximum Torque and Momentum Envelopes for Reaction Wheel Arrays

Science.gov (United States)

Markley, F. Landis; Reynolds, Reid G.; Liu, Frank X.; Lebsock, Kenneth L.

2009-01-01

Spacecraft reaction wheel maneuvers are limited by the maximum torque and/or angular momentum that the wheels can provide. For an n-wheel configuration, the torque or momentum envelope can be obtained by projecting the n-dimensional hypercube, representing the domain boundary of individual wheel torques or momenta, into three dimensional space via the 3xn matrix of wheel axes. In this paper, the properties of the projected hypercube are discussed, and algorithms are proposed for determining this maximal torque or momentum envelope for general wheel configurations. Practical strategies for distributing a prescribed torque or momentum among the n wheels are presented, with special emphasis on configurations of four, five, and six wheels.

Particle number fluctuations in the moment of inertia

International Nuclear Information System (INIS)

Allal, N.H.; Fellah, M.

1991-01-01

The nonphysical effects due to the false components introduced by the nonconservation of the particle number in the BCS states are eliminated in the theoretical values of the moment of inertia calculated by the microscopic cranking model. The states of the system are obtained by successive projections of the BCS states in the occupation number space. The moment of inertia appears then as a limit of a rapidly convergent sequence. The errors due to this false component have been numerically estimated and appear to be important both in the BCS states and in the matrix elements of the angular momentum. The predicted values of the moment of inertia satisfactorily reproduce the experimental data over a large number of nuclei within rare-earth and actinide regions with discrepancies ranging from 0.1% to 8%

Attitude tracking control of flexible spacecraft with large amplitude slosh

Science.gov (United States)

Deng, Mingle; Yue, Baozeng

2017-12-01

This paper is focused on attitude tracking control of a spacecraft that is equipped with flexible appendage and partially filled liquid propellant tank. The large amplitude liquid slosh is included by using a moving pulsating ball model that is further improved to estimate the settling location of liquid in microgravity or a zero-g environment. The flexible appendage is modelled as a three-dimensional Bernoulli-Euler beam, and the assumed modal method is employed. A hybrid controller that combines sliding mode control with an adaptive algorithm is designed for spacecraft to perform attitude tracking. The proposed controller has proved to be asymptotically stable. A nonlinear model for the overall coupled system including spacecraft attitude dynamics, liquid slosh, structural vibration and control action is established. Numerical simulation results are presented to show the dynamic behaviors of the coupled system and to verify the effectiveness of the control approach when the spacecraft undergoes the disturbance produced by large amplitude slosh and appendage vibration. Lastly, the designed adaptive algorithm is found to be effective to improve the precision of attitude tracking.

High Accuracy Attitude Control System Design for Satellite with Flexible Appendages

Directory of Open Access Journals (Sweden)

Wenya Zhou

2014-01-01

Full Text Available In order to realize the high accuracy attitude control of satellite with flexible appendages, attitude control system consisting of the controller and structural filter was designed. When the low order vibration frequency of flexible appendages is approximating the bandwidth of attitude control system, the vibration signal will enter the control system through measurement device to bring impact on the accuracy or even the stability. In order to reduce the impact of vibration of appendages on the attitude control system, the structural filter is designed in terms of rejecting the vibration of flexible appendages. Considering the potential problem of in-orbit frequency variation of the flexible appendages, the design method for the adaptive notch filter is proposed based on the in-orbit identification technology. Finally, the simulation results are given to demonstrate the feasibility and effectiveness of the proposed design techniques.

Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

Directory of Open Access Journals (Sweden)

Xing Huo

2014-01-01

Full Text Available The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV known as the quadrotor are investigated. The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude. The control design is accomplished by using backstepping control technique. The proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque. The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study.

Why Animals Run on Legs, Not on Wheels.

Science.gov (United States)

Diamond, Jared

1983-01-01

Speculates why animals have not developed wheels in place of inefficient legs. One study cited suggests three reasons why animals are better off without wheels: wheels are efficient only on hard surfaces, limitation of wheeled motion due to vertical obstructions, and the problem of turning in spaces cluttered with obstacles. (JN)

A Comparative Study of Actuator Configurations for Satellite Attitude Control

Directory of Open Access Journals (Sweden)

Raymond Kristiansen

2005-10-01

Full Text Available In this paper a controllability study of different actuator configurations consisting of magnetic torquers, reaction wheels and a gravity boom is presented. The theoretical analysis is performed with use of controllability gramians, and simulation results with the different configurations are presented and compared regarding settling time and power consumption to substantiate the theoretical analysis. A reference model is also introduced to show how the power consumption can he lowered to the same magnitude as when magnetic torquers are used, without degrading the satellite response significantly.

A Rotating Speed Controller Design Method for Power Levelling by Means of Inertia Energy in Wind Power Systems