WorldWideScience

Sample records for internal force control

  1. Internal and external force-based impedance control for cooperative manipulation

    NARCIS (Netherlands)

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

    2013-01-01

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

  2. A review of a method for dynamic load distribution, dynamical modeling, and explicit internal force control when two manipulators mutually lift and transport a rigid body object

    International Nuclear Information System (INIS)

    Unseren, M.A.

    1997-01-01

    The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system

  3. A review of a method for dynamic load distribution, dynamical modeling, and explicit internal force control when two manipulators mutually lift and transport a rigid body object

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1997-04-20

    The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.

  4. Internal Control: Peran Dan Perkembangannya

    OpenAIRE

    Murtin, Alek

    2000-01-01

    Perhatian terhadap pentingnya internal control dalam organisasi berjalan dari waktu ke waktu untuk meningkatkan fungsi internal control yang disesuaikan dengan perkembangan lingkungan organisasi, dimulai dengan adanya internal check, kemudian internal control system, internal control structure dan terakhir adalah internal control-integrated framework. Internal control system sempat berkembang beberapa tahun di Indonesia yang selanjutnya digantikan oleh internal control structure yang digunaka...

  5. A review of a method for dynamic load distribution, dynamic modeling, and explicit internal force control when two serial link manipulators mutually lift and transport a rigid body object

    International Nuclear Information System (INIS)

    Unseren, M.A.

    1997-09-01

    The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system

  6. A review of a method for dynamic load distribution, dynamic modeling, and explicit internal force control when two serial link manipulators mutually lift and transport a rigid body object

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1997-09-01

    The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.

  7. Internal Control Organization Procedure

    OpenAIRE

    Radu Dorin Lenghel

    2013-01-01

    Internal control represents the totality of policies and procedures adopted by management, which contribute: to the fulfilment of managerial objectives, to the prevention and detection of frauds or errors, to the accuracy and exhaustiveness of accounting entries, as well as to the preparation in due course of financial accounting information. Internal control represents a managerial instrument which assures the fulfilment of objectives of the entity, being an ongoing process in which administ...

  8. Internal budget control

    Directory of Open Access Journals (Sweden)

    MSc. Mervete Shala

    2011-06-01

    Generally, duties of internal control officers within ministries and institutions must be clearly divided to reduce the risk of inco-rrect behaviour. Operations of an efficient control mechanism influence and ensure conditions for rule of law, good governance, and democracy.

  9. Internal budget control

    OpenAIRE

    MSc. Mervete Shala

    2011-01-01

    Internal control is established by the Government to ensure effective and proper operations of ministries, institutions and generally of all public agencies, in compliance with the law, the goals and objectives stated by them, to provide protection against abuse and mismanagement or poor governance. The instrument of internal audit entails a series of mechanisms which aim at enabling budgetary policies compliance, such as: financial reporting; effective system of communication between mana...

  10. Internal control system

    OpenAIRE

    Pavésková, Ivana

    2014-01-01

    Dissertation focuse on the internal control system in the enterprises, aims to map the control system by focusing on the purchasing department. I focused on the purchasing process, because with an increasing trends of outsourcing services and the increasing interconnectedness of enterprises increases the risk of fraud currently in the purchasing process. To the research was selected the sample of companies from the banking and non-banking environment, to which were sent a questionnaire focusi...

  11. Automated force controller for amplitude modulation atomic force microscopy

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-05-15

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

  12. Internal dosimetry and control

    International Nuclear Information System (INIS)

    Rich, B.L.

    1990-05-01

    This internal dosimetry and control report provides guidance for EG ampersand G Idaho, Inc., field programs in detecting, evaluating, and controlling personnel exposure resulting from uptake of radionuclides by the body. Procedures specific to each program or facility are required to define the details of guidance from this report. Fundamental principles related to philosophy, policies, monitoring guidelines, and dose evaluation are discussed. Specific numerical guides and action levels are developed to guide the programs in evaluating the significance of specific analytical results. The requirement to thoroughly document the results and provide a formal technical base for each policy and/or practice is outlined and explained. 8 refs., 3 figs., 7 tabs

  13. Participation in Armed Forces, National, and International Sports Activities

    Science.gov (United States)

    1987-03-09

    American Games , Olympic Games , and other authorized national and international sports competitions (to include qualifying and preparatory events) as long...concerning the participation of Armed Forces personnel in Armed Forces, national, and international sports competitions ; establishes a Senior Military Sports ...program is to ensure that the U.S. Armed Forces are appropriately represented in national and international sports competitions . 3. The purpose of this

  14. Control Techtronics International

    Energy Technology Data Exchange (ETDEWEB)

    West, J.

    1995-12-31

    Polish graded coal can be burned in existing stoker boilers and meet the 1998 Air Quality standard. This is accomplished with the Control Techtronics microprocessor-based combustion controller accurately and repeatedly: (a) matching the combustion air to the coal firing rate, with continuous stack sensor feedback; (b) continuously varying the boiler`s firing rate based on output water temperature or steam pressure; (c) continuously varying the exhaust fan`s speed to maintain minimum negative pressure in the boiler`s combustion chamber; and recirculating a portion of the flue gas, at varying amounts throughout the boiler`s firing rate. Systems for five boilers have been installed and are operating on MPEC`s Balicka plant in Krakow. Control Techtronics International has $10 million of U.S. Export-Import Bank funds available for similar projects throughout Poland.

  15. International Affairs Programs: The Air Force Versus the Army

    Science.gov (United States)

    2015-10-01

    individual tutoring programs . Additionally RAS personnel are offered regional enhancement studies opportunities at several facilities.48 RAS personnel...AU/ACSC/2015 AIR COMMAND AND STAFF COLLEGE AIR UNIVERSITY INTERNATIONAL AFFAIRS PROGRAMS : THE AIR FORCE VERSUS THE ARMY by Robin L...5 COMPARISON: INTERNATIONAL AFFAIRS PROGRAMS AIR FORCE VERSUS ARMY 8

  16. International control of nuclear materials

    International Nuclear Information System (INIS)

    Koponen, Hannu

    1989-01-01

    Nuclear materials are subject to both national and international safeguards control. The International Atomic Energy Agency (IAEA) takes care of the international safeguards control. The control activities, which are discussed in this article, are carried out according to the agreements between various countries and the IAEA

  17. Cutaneous mechanisms of isometric ankle force control

    DEFF Research Database (Denmark)

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

    2013-01-01

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

  18. Joining forces with donor partners | IDRC - International ...

    International Development Research Centre (IDRC) Digital Library (Canada)

    Equally important, they increase the resources available to research for development. ... (CIDA), for the Canadian International Food Security Research Fund (CIFSRF). ... New animal vaccines could keep more African farmers in business.

  19. The International Criminal Court: Considerations for the Joint Force Commander

    National Research Council Canada - National Science Library

    Sutton, Michael

    2003-01-01

    An analysis of the issues and remedies a Joint Force Commander should be concerned about because of the relationship between the United States and the newly-created International Criminal Court (ICC...

  20. Internal Displacement and Forced Migration within Zimbabwe: An ...

    African Journals Online (AJOL)

    This paper argues that, contrary to the picture portrayed by the government of Zimbabwe, internal displacement, as one form of (forced) migration within a country's borders, is more prevalent in the country than is at first discernable. The paper offers an overview of the current scholarship on the forced mobility of particular ...

  1. Joining Forces: The Case of Alliant International University

    Science.gov (United States)

    Leslie, Heather

    2013-01-01

    Mergers and acquisitions are a prevalent force in higher education as more colleges and universities are joining forces to expand resources, enhance missions, or prevent closures. This study examines the merger of Alliant University (formerly California School of Professional Psychology) with United States International University to create what…

  2. Telerobotic Control Architecture Including Force-Reflection

    National Research Council Canada - National Science Library

    Murphy, Mark

    1998-01-01

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

  3. Performance and Internal Control

    OpenAIRE

    Mifti, Sri; Lestariyo, Nugroho Budi; Kowanda, Anacostia

    2009-01-01

    The objective of this study is to measure the influence of internal auditing on performance. Research object is Inspectorate General Department of Home Affairs staffs. As research instrument, questionnaire was developed and distributed to respondents. Closed type questionnaire was developed with five (5) choices to measure the two (2) research variables. Internal auditing is measured using six (6) dimensions, and performance is measured using three (3) dimensions. As the two variables are lat...

  4. International Drug Control Policy

    Science.gov (United States)

    2009-08-24

    Common illegal drugs include cannabis, cocaine, opiates, and synthetic drugs. International trade in these drugs represents a lucrative and what...into effect, decriminalizing “personal use” amounts of marijuana , heroin, cocaine, methamphetamine, and other internationally sanctioned drugs.15 While...President Calls for Legalizing Marijuana ,”CNN.com, May 13, 2009. 15 “Mexico Legalizes Drug Possession,” Associated Press, August 21, 2009. 16 In support

  5. Evaluation of Internal Control

    OpenAIRE

    Gheorghe Suciu; Pipu-Nicolae Barsan

    2013-01-01

    Performance is indissolubly tied to control. Performance cannot be obtained without a strong, adequate control, regardless if it is in the public or private sector. Control is one of management’s attributes and it must be organized, implemented and evaluated in every company, regardless of its size. Each person from a company participates to a greater or lesser extent in the control activities.

  6. Force control for mechanoinduction of impedance variation in cellular organisms

    International Nuclear Information System (INIS)

    Nam, Joo Hoo; Chen, Peter C Y; Lu, Zhe; Luo, Hong; Lin, Wei; Ge, Ruowen

    2010-01-01

    Constantly exposed to various forms of mechanical forces inherent in their physical environment (such as gravity, stress induced by fluid flow or cell–cell interactions, etc), cellular organisms sense such forces and convert them into biochemical signals through the processes of mechanosensing and mechanotransduction that eventually lead to biological changes. The effect of external forces on the internal structures and activities in a cellular organism may manifest in changes its physical properties, such as impedance. Studying variation in the impedance of a cellular organism induced by the application of an external mechanical force represents a meaningful endeavor (from a biosystems perspective) in exploring the complex mechanosensing and mechanotransduction mechanisms that govern the behavior of a cellular organism under the influence of external mechanical stimuli. In this paper we describe the development of an explicit force-feedback control system for exerting an indentation force on a cellular organism while simultaneously measuring its impedance. To demonstrate the effectiveness of this force-control system, we have conducted experiments using zebrafish embryos as a test model of a cellular organism. We report experimental results demonstrating that the application of a properly controlled external force leads to a significant change in the impedance of a zebrafish embryo. These results offer support for a plausible explanation that activities of pore canals in the chorion are responsible for the observed change in impedance.

  7. INTERNAL CONTROL OF INVESTMENT PROJECTS

    Directory of Open Access Journals (Sweden)

    Yu. N. Yudenkov

    2010-01-01

    Full Text Available Estimation and technics of the account of expenses, efficiency, financial result should enter into the list of regular checks from service of internal control that demands corresponding vocational training of internal controlers which should own methods of an estimation of expediency of acquisition of long-term actives.

  8. Operational Control of Internal Transport

    NARCIS (Netherlands)

    J.R. van der Meer (Robert)

    2000-01-01

    textabstractOperational Control of Internal Transport considers the control of guided vehicles in vehicle-based internal transport systems found in facilities such as warehouses, production plants, distribution centers and transshipment terminals. The author's interest of research having direct use

  9. Controlling Casimir force via coherent driving field

    Science.gov (United States)

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

    2016-04-01

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

  10. Acoustic radiation force control: Pulsating spherical carriers.

    Science.gov (United States)

    Rajabi, Majid; Mojahed, Alireza

    2018-02-01

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

  11. The internal control of tax

    OpenAIRE

    E. B. Shuvalova; L. A. Butenko; Ju. A. Rudenko

    2016-01-01

    The aim of the research is to study the theoretical and practical issues of internal fiscal control. Internal tax control system requires the development of methodological tools, its scientific basis and practical recommendations for the application. This difficult task is now solved only in organizations, which are the largest taxpayers. For small and medium-sized businesses in the organization of internal fiscal control may improve the quality of the accounting organization of the company. ...

  12. Self-force as probe of internal structure

    International Nuclear Information System (INIS)

    Isoyama, Soichiro; Poisson, Eric

    2012-01-01

    The self-force acting on a (scalar or electric) charge held in place outside a massive body contains information about the body's composition, and can therefore be used as a probe of internal structure. We explore this theme by computing the (scalar or electromagnetic) self-force when the body is a spherical ball of perfect fluid in hydrostatic equilibrium, under the assumption that its rest-mass density and pressure are related by a polytropic equation of state. The body is strongly self-gravitating, and all computations are performed in exact general relativity. The dependence on internal structure is best revealed by expanding the self-force in powers of r -1 0 , with r 0 denoting the radial position of the charge outside the body. To the leading order, the self-force scales as r -3 0 and depends only on the square of the charge and the body's mass; the leading self-force is universal. The dependence on internal structure is seen at the next order, r -5 0 , through a structure factor that depends on the equation of state. We compute this structure factor for relativistic polytropes, and show that for a fixed mass, it increases linearly with the body's radius in the case of the scalar self-force, and quadratically with the body's radius in the case of the electromagnetic self-force. In both cases we find that for a fixed mass and radius, the self-force is smaller if the body is more centrally dense, and larger if the mass density is more uniformly distributed. (paper)

  13. Expanding Internal Control Functionality Scope

    Directory of Open Access Journals (Sweden)

    Mykola M. Vuitsiv

    2012-08-01

    Full Text Available The article reviews the influence of «western» concepts of the information needs of management process provisions on forming and developing the up-to-date model of Internal Control. An attempt has been made to develop the approach to solve urgent management tasks by applying the ideas of controlling and management accounting via the traditional national approach to the content of control. The place of control in the enterprise management information system has also been reviewed.

  14. Robust Force Control of Series Elastic Actuators

    Directory of Open Access Journals (Sweden)

    Andrea Calanca

    2014-07-01

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

  15. THE DEMOCRATIC CONTROL OF MILITARY FORCES

    Directory of Open Access Journals (Sweden)

    Smail Oštraković

    2011-04-01

    Full Text Available The transition requirement for post communism countries, especially the part that is about military forces is to establish those civil-military relation that will have prepared projects for awareness evolving of society and military about necessity of democratic control over military sector of country through development of many different communication forms and shapes. Before everything, it means the entire freedom and independence of media at access to military forces as the topic and subject of its interests and also the organization of public military communication system as integral part of information-communication system in society

  16. Forcing, feedback and internal variability in global temperature trends.

    Science.gov (United States)

    Marotzke, Jochem; Forster, Piers M

    2015-01-29

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

  17. Investigation of index finger triggering force using a cadaver experiment: Effects of trigger grip span, contact location, and internal tendon force.

    Science.gov (United States)

    Chang, Joonho; Freivalds, Andris; Sharkey, Neil A; Kong, Yong-Ku; Mike Kim, H; Sung, Kiseok; Kim, Dae-Min; Jung, Kihyo

    2017-11-01

    A cadaver study was conducted to investigate the effects of triggering conditions (trigger grip span, contact location, and internal tendon force) on index finger triggering force and the force efficiency of involved tendons. Eight right human cadaveric hands were employed, and a motion simulator was built to secure and control the specimens. Index finger triggering forces were investigated as a function of different internal tendon forces (flexor digitorum profundus + flexor digitorum superficialis = 40, 70, and 100 N), trigger grip spans (40, 50, and 60 mm), and contact locations between the index finger and a trigger. Triggering forces significantly increased when internal tendon forces increased from 40 to 100 N. Also, trigger grip spans and contact locations had significant effects on triggering forces; maximum triggering forces were found at a 50 mm span and the most proximal contact location. The results revealed that only 10-30% of internal tendon forces were converted to their external triggering forces. Copyright © 2017 Elsevier Ltd. All rights reserved.

  18. Reorganised force control in elbow pain patients during isometric wrist extension

    DEFF Research Database (Denmark)

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

    2018-01-01

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

  19. Hybrid Force and Position Control Strategy of Robonaut Performing Object Transfer Task

    Directory of Open Access Journals (Sweden)

    Chen Gang

    2018-01-01

    Full Text Available This paper proposes a coordinated hybrid force/position control strategy of robonaut performing object transfer operation. Firstly, the constraint relationships between robonaut and object are presented. Base on them, the unified dynamic model of the robonaut and object is established to design the hybrid force/position control method. The movement, the internal force and the external constraint force of the object are considered as the control targets of the control system. Finally, a MATLAB simulation of the robonaut performing object transfer task verifies the correctness and effectiveness of the proposed method. The results show that all the targets can be control accurately by using the method proposed in this paper. The presented control method can control both internal and external forces while maintaining control accuracy, which is a common control strategy.

  20. Thermonuclear controlled fusion: international cooperation

    International Nuclear Information System (INIS)

    Conscience, J.-F.

    2001-01-01

    This report summarizes the current worldwide status of research in the field of thermonuclear controlled fusion as well as the international research programme planed for the next decades. The two main projects will be the ITER facility (International Thermonuclear Experimental Reactor) that should produce 10 times more energy than the energy injected, and the IFMIF (International Fusion Materials Irradiation Facility) designed to study the reactions of materials under intense neutron fluxes. The future of the pioneering JET facility (Joint European Torus) is also discussed. The engagement of the various countries (USA, Japan, Germany, Russian Federation and Canada) and international organisations (EURATOM and IEA) in terms of investment and research is described. Switzerland is involved in this program through an agreement with EURATOM and is mainly dedicated to experimental studies with the TCV machine in Lausanne and numerical studies of plasma configurations. It will participate to the development of the microwave plasma heating system for the ITER machine

  1. Controller Synthesis for Periodically Forced Chaotic Systems

    Science.gov (United States)

    Basso, Michele; Genesio, Roberto; Giovanardi, Lorenzo

    Delayed feedback controllers are an appealing tool for stabilization of periodic orbits in chaotic systems. Despite their conceptual simplicity, specific and reliable design procedures are difficult to obtain, partly also because of their inherent infinite-dimensional structure. This chapter considers the use of finite dimensional linear time invariant controllers for stabilization of periodic solutions in a general class of sinusoidally forced nonlinear systems. For such controllers — which can be interpreted as rational approximations of the delayed ones — we provide a computationally attractive synthesis technique based on Linear Matrix Inequalities (LMIs), by mixing results concerning absolute stability of nonlinear systems and robustness of uncertain linear systems. The resulting controllers prove to be effective for chaos suppression in electronic circuits and systems, as shown by two different application examples.

  2. Grasping and manipulation of deformable objects based on internal force requirements

    Directory of Open Access Journals (Sweden)

    Sohil Garg

    2008-11-01

    Full Text Available In this paper an analysis of grasping and manipulation of deformable objects by a three finger robot hand has been carried out. It is proved that the required fingertip grasping forces and velocities vary with change in object size due to deformation. The variation of the internal force with the change in fingertip and object contact angle has been investigated in detail. From the results it is concluded that it is very difficult to manipulate an object if the finger contact angle is not between 30 o and 70 o, as the internal forces or velocities become very large outside this range. Hence even if the object is inside the work volume of the three fingers it would still not be possible to manipulate it. A simple control model is proposed which can control the grasping and manipulation of a deformable object. Experimental results are also presented to prove the proposed method.

  3. 14 CFR 23.155 - Elevator control force in maneuvers.

    Science.gov (United States)

    2010-01-01

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

  4. Development of isometric force and force control in children

    NARCIS (Netherlands)

    Smits-Engelsman, B.C.M.; Westenberg, Y.; Duysens, J.E.J.

    2004-01-01

    Fifty-six children between 5 and 12 years of age and 15 adults performed a task (pressing on a lever with the index finger of the preferred hand), in which a force had to be maintained constant at five levels with on-line visual feedback. Since this is a simple isometric task, the hypothesis is that

  5. Development of isometric force and force control in children.

    NARCIS (Netherlands)

    Smits-Engelsman, B.C.M.; Westenberg, Y.; Duysens, J.E.J.

    2003-01-01

    Fifty-six children between 5 and 12 years of age and 15 adults performed a task (pressing on a lever with the index finger of the preferred hand), in which a force had to be maintained constant at five levels with on-line visual feedback. Since this is a simple isometric task, the hypothesis is that

  6. 12 CFR 618.8430 - Internal controls.

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 6 2010-01-01 2010-01-01 false Internal controls. 618.8430 Section 618.8430 Banks and Banking FARM CREDIT ADMINISTRATION FARM CREDIT SYSTEM GENERAL PROVISIONS Internal Controls § 618.8430 Internal controls. Each Farm Credit institution's board of directors must adopt an internal...

  7. Special Forces Command and Control in Afghanistan

    National Research Council Canada - National Science Library

    Rhyne, Richard

    2004-01-01

    .... The author examines how Special Forces and conventional forces worked together in the past in Vietnam, Panama, Somalia, Haiti, Bosnia-Herzegovina, and Operations Desert Storm and Desert Shield...

  8. THE INTERNAL CONTROL MODELS IN ROMANIA

    Directory of Open Access Journals (Sweden)

    TEODORESCU CRISTIAN DRAGOȘ

    2015-06-01

    Full Text Available Internal control is indissolubly linked to business and accounting. Throughout history, domestic and international trade has grown exponentially, which has led to an increasing complexity of internal control, to new methods and techniques to control the business. The literature has presented the first models of internal control in the Sumerian period (3600 - 3200 BC, and the emergence and development of internal control in Egypt, Persia, Greek and Roman Empire, in the Middle Ages till modern times. The purpose of this article is to present the models of internal control in Romania, starting from the principles of the classical model of internal control (COSO model. For a better understanding of the implication of internal control in terms of public and private sector, I have structured the article in the following parts: (a the definition of internal control in the literature; (b the presentation of the COSO model; (c internal control and internal audit in public institutions; (d internal control issues in accounting regulations on the individual and consolidated annual financial statements; (e internal / managerial control; (f conclusions.

  9. Control of forced vibrations of mechanical structures by an electromagnetic controller with a permanent magnet

    DEFF Research Database (Denmark)

    Stein, George Juraj; Darula, Radoslav; Sorokin, Sergey

    2012-01-01

    A theoretical analysis of an electromagnetic vibration controller is presented. The analyzed device consists of a pot-type iron core with a coil and a permanent magnet as a source of constant magnetic flux. The magnetic circuit is closed by a yoke, excited by an external harmonic mechanical force....... The so generated magnetic flux variation induces alternating voltage in the electric circuit, which is dissipated in a shunt resistor. The induced current driven through the coil generates magnetic force, which damps the excitation force and changes the damped natural frequency of the oscillatory system....... Due to the hysteretic effects in the magnetic material the internal losses influence the overall system’s performance. A mathematical model of the force balance in the oscillatory system is derived in a simplified, linearised form. The electric as well as mechanical system is modelled using lumped...

  10. Employee quality, monitoring environment and internal control

    Directory of Open Access Journals (Sweden)

    Chunli Liu

    2017-03-01

    Full Text Available We investigate the effect of internal control employees (ICEs on internal control quality. Using special survey data from Chinese listed firms, we find that ICE quality has a significant positive influence on internal control quality. We examine the effect of monitoring on this result and find that the effect is more pronounced for firms with strict monitoring environments, especially when the firms implement the Chinese internal control regulation system (CSOX, have higher institutional ownership or attach greater importance to internal control. Our findings suggest that ICEs play an important role in the design and implementation of internal control systems. Our study should be of interest to both top managers who wish to improve corporate internal control quality and regulators who wish to understand the mechanisms of internal control monitoring.

  11. Gemstone Grinding Process Improvement by using Impedance Force Control

    Directory of Open Access Journals (Sweden)

    Hamprommarat Chumpol

    2015-01-01

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

  12. International Society for Bipolar Disorders Task Force on Suicide

    DEFF Research Database (Denmark)

    Schaffer, Ayal; Isometsä, Erkki T; Tondo, Leonardo

    2015-01-01

    significantly associated with suicide attempts were: female gender, younger age at illness onset, depressive polarity of first illness episode, depressive polarity of current or most recent episode, comorbid anxiety disorder, any comorbid substance use disorder, alcohol use disorder, any illicit substance use......OBJECTIVES: Bipolar disorder is associated with a high risk of suicide attempts and suicide death. The main objective of the present study was to identify and quantify the demographic and clinical correlates of attempted and completed suicide in people with bipolar disorder. METHODS: Within...... the framework of the International Society for Bipolar Disorders Task Force on Suicide, a systematic review of articles published since 1980, characterized by the key terms bipolar disorder and 'suicide attempts' or 'suicide', was conducted, and data extracted for analysis from all eligible articles...

  13. Employee quality, monitoring environment and internal control

    OpenAIRE

    Chunli Liu; Bin Lin; Wei Shu

    2017-01-01

    We investigate the effect of internal control employees (ICEs) on internal control quality. Using special survey data from Chinese listed firms, we find that ICE quality has a significant positive influence on internal control quality. We examine the effect of monitoring on this result and find that the effect is more pronounced for firms with strict monitoring environments, especially when the firms implement the Chinese internal control regulation system (CSOX), have higher institutional ow...

  14. Internal and forced eddy variability in the Labrador Sea

    Science.gov (United States)

    Bracco, A.; Luo, H.; Zhong, Y.; Lilly, J.

    2009-04-01

    Water mass transformation in the Labrador Sea, widely believed to be one of the key regions in the Atlantic Meridional Overturning Circulation (AMOC), now appears to be strongly impacted by vortex dynamics of the unstable boundary current. Large interannual variations in both eddy shedding and buoyancy transport from the boundary current have been observed but not explained, and are apparently sensitive to the state of the inflowing current. Heat and salinity fluxes associated with the eddies drive ventilation changes not accounted for by changes in local surface forcing, particularly during occasional years of extreme eddy activity, and constitute a predominant source of "internal" oceanic variability. The nature of this variable eddy-driven restratification is one of the outstanding questions along the northern transformation pathway. Here we investigate the eddy generation mechanism and the associated buoyancy fluxes by combining realistic and idealized numerical modeling, data analysis, and theory. Theory, supported by idealized experiments, provides criteria to test hypotheses as to the vortex formation process (by baroclinic instability linked to the bottom topography). Ensembles of numerical experiments with a high-resolution regional model (ROMS) allow for quantifying the sensitivity of eddy generation and property transport to variations in local and external forcing parameters. For the first time, we reproduce with a numerical simulation the observed interannual variability in the eddy kinetic energy in the convective region of the Labrador Basin and along the West Greenland Current.

  15. 48 CFR 519.7014 - Internal controls.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 4 2010-10-01 2010-10-01 false Internal controls. 519... SOCIOECONOMIC PROGRAMS SMALL BUSINESS PROGRAMS GSA Mentor-Protégé Program 519.7014 Internal controls. (a) The GSA Mentor-Protégé Program Manager will manage the Program. Internal controls will be established by...

  16. 48 CFR 819.7112 - Internal controls.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Internal controls. 819... SOCIOECONOMIC PROGRAMS SMALL BUSINESS PROGRAMS VA Mentor-Protégé Program 819.7112 Internal controls. (a) OSDBU... Program objectives. OSDBU will establish internal controls as checks and balances applicable to the...

  17. COSO internal control integrated framework 2013

    CERN Document Server

    American Institute of Certified Public Accountants

    2013-01-01

    Issued by the Committee of Sponsoring Organizations of the Treadway Commission (COSO), the 2013 Internal Control – Integrated Framework(Framework) is expected to help organizations design and implement internal control in light of many changes in business and operating environments since the issuance of the original Framework in 1992. The new Framework retains the core definition of internal control and the five components of internal control, and it continues to emphasize the importance of management judgment in designing, implementing, and conducting a system of internal control, and in assessing its effectiveness. It broadens the application of internal control in addressing operations and reporting objectives, and clarifies the requirements for determining what constitutes effective internal control.

  18. Internal controls subjects at insurance companies

    OpenAIRE

    Прокопенко, Жанна Володимирівна

    2015-01-01

    The problematic issues of determining the authorities of the internal controls subjects at insurance companies have been elucidated. The list of internal controls subjects of insurer depending on the form of control as well as the purposefulness of such kind of control have been determined.

  19. Force-sensed interface for control and training space robot

    Science.gov (United States)

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

    2018-05-01

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

  20. Force Reflection Algorithms for Exoskeleton Controllers

    National Research Council Canada - National Science Library

    Bryfogle, Mark

    1991-01-01

    This research effort investigated the kinematics and dynamics of open chain, serial linkage mechanisms with specific emphasis placed upon the application of this linkage as a force reflecting exoskeleton mechanism...

  1. Computer-Controlled Force Generator, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — TDA Research, Inc. is developing a compact, low power, Next-Generation Exercise Device (NGRED) that can generate any force between 5 and 600 lbf. We use a closed...

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

    Directory of Open Access Journals (Sweden)

    Mona Hichert

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

  3. Internal quality control: best practice.

    Science.gov (United States)

    Kinns, Helen; Pitkin, Sarah; Housley, David; Freedman, Danielle B

    2013-12-01

    There is a wide variation in laboratory practice with regard to implementation and review of internal quality control (IQC). A poor approach can lead to a spectrum of scenarios from validation of incorrect patient results to over investigation of falsely rejected analytical runs. This article will provide a practical approach for the routine clinical biochemistry laboratory to introduce an efficient quality control system that will optimise error detection and reduce the rate of false rejection. Each stage of the IQC system is considered, from selection of IQC material to selection of IQC rules, and finally the appropriate action to follow when a rejection signal has been obtained. The main objective of IQC is to ensure day-to-day consistency of an analytical process and thus help to determine whether patient results are reliable enough to be released. The required quality and assay performance varies between analytes as does the definition of a clinically significant error. Unfortunately many laboratories currently decide what is clinically significant at the troubleshooting stage. Assay-specific IQC systems will reduce the number of inappropriate sample-run rejections compared with the blanket use of one IQC rule. In practice, only three or four different IQC rules are required for the whole of the routine biochemistry repertoire as assays are assigned into groups based on performance. The tools to categorise performance and assign IQC rules based on that performance are presented. Although significant investment of time and education is required prior to implementation, laboratories have shown that such systems achieve considerable reductions in cost and labour.

  4. Internal combustion engine and method for control

    Science.gov (United States)

    Brennan, Daniel G

    2013-05-21

    In one exemplary embodiment of the invention an internal combustion engine includes a piston disposed in a cylinder, a valve configured to control flow of air into the cylinder and an actuator coupled to the valve to control a position of the valve. The internal combustion engine also includes a controller coupled to the actuator, wherein the controller is configured to close the valve when an uncontrolled condition for the internal engine is determined.

  5. International Acquisitons in Multinacionals: Under a Force Field

    Directory of Open Access Journals (Sweden)

    Américo da Costa Ramos Filho

    2010-12-01

    Full Text Available The purpose of this essay is to debate the performance of multinational companies concerning the management alternatives of their foreign unities, especially the ones derived from acquisitions, with consequences on the interaction between the headquarters and its subsidiaries or colligates and the managerial learning and knowledge associated to this process. First the problematic of internationalized companies by foreign direct investments – FDI’s, mainly by acquisitions and strategic alliances, is discussed. The intensity of the assimilation and interchange of values and practices within organizations in interacting process is stressed, including a set of typologies derived from the existing related literature. After this, a more specific approach about intra and interorganization aspects of the multinationals is performed, related to strategies, competences and roles of headquarters and subsidiaries, as well as their impact on the knowledge flux and its derived learning modes, evolving a established typologies set. The next step is to discuss two visions about the opposition between the universal and the particular in international management, with global and contextual aspects: a convergence-divergence opposition, like a force field, impacting on the knowledge transfer. Finally, some concluding comments are made, emphasizing, for the purpose of contribution, another type of multinationals typology relating the convergence-divergence duality to the organizational and national levels, as well the positioning of the companies in the resulted matrix.

  6. Force Control Strategies in Hydraulically Actuated Legged Robots

    Directory of Open Access Journals (Sweden)

    Hector Montes

    2016-03-01

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

  7. Operations Data Files, driving force behind International Space Station operations

    Science.gov (United States)

    Hoppenbrouwers, Tom; Ferra, Lionel; Markus, Michael; Wolff, Mikael

    2017-09-01

    Almost all tasks performed by the astronauts on-board the International Space Station (ISS) and by ground controllers in Mission Control Centre, from operation and maintenance of station systems to the execution of scientific experiments or high risk visiting vehicles docking manoeuvres, would not be possible without Operations Data Files (ODF). ODFs are the User Manuals of the Space Station and have multiple faces, going from traditional step-by-step procedures, scripts, cue cards, over displays, to software which guides the crew through the execution of certain tasks. Those key operational documents are standardized as they are used on-board the Space Station by an international crew constantly changing every 3 months. Furthermore this harmonization effort is paramount for consistency as the crew moves from one element to another in a matter of seconds, and from one activity to another. On ground, a significant large group of experts from all International Partners drafts, prepares reviews and approves on a daily basis all Operations Data Files, ensuring their timely availability on-board the ISS for all activities. Unavailability of these operational documents will halt the conduct of experiments or cancel milestone events. This paper will give an insight in the ground preparation work for the ODFs (with a focus on ESA ODF processes) and will present an overview on ODF formats and their usage within the ISS environment today and show how vital they are. Furthermore the focus will be on the recently implemented ODF features, which significantly ease the use of this documentation and improve the efficiency of the astronauts performing the tasks. Examples are short video demonstrations, interactive 3D animations, Execute Tailored Procedures (XTP-versions), tablet products, etc.

  8. Internal Barriers to Implementing Diversity Management in the Air Force: Four Conversations We Must Have

    National Research Council Canada - National Science Library

    Bean, Debra

    2000-01-01

    .... This project examined one part of internal environmental analysis, the likely barriers to implementing diversity, to provide Air Force planners a set of considerations for effective program development...

  9. Cross Cultural Awareness in International Military Operation: International Security Assistance Force in Afghanistan

    Directory of Open Access Journals (Sweden)

    Jowita Brudnicka

    2015-12-01

    Full Text Available Multiculturalism defined as a multitude of cultures can be typified as a major trend in international relations, what is a chellenge for every participant of global affairs. The phenomen of multiculturalism is absolutely nothing new, but under conditions of progresive globalisation mechanism its importance has been appreciated.In practise multinational forces have to operate in culturally heterogeneous environment in an array of tasks to combat threats of mostly a non-military transnational nature. All the time there are a highly complex relations within coalition personnel, in cuturally diverse society living in the theatre of operation and between all them mutually.

  10. Influence of Complete Coriolis Force on the Dispersion Relation of Ocean Internal-wave in a Background Currents Field

    Directory of Open Access Journals (Sweden)

    Liu Yongjun

    2015-01-01

    Full Text Available In this thesis, the influence of complete Coriolis force (the model includes both the vertical and horizontal components of Coriolis force on the dispersion relation of ocean internal-wave under background currents field are studied, it is important to the study of ocean internal waves in density-stratified ocean. We start from the control equation of sea water movement in the background of the non-traditional approximation, and the vertical velocity solution is derived where buoyancy frequency N(z gradually varies with the ocean depth z. The results show that the influence of complete Coriolis force on the dispersion relation of ocean internal-wave under background currents field is obvious, and these results provide strong evidence for the understanding of dynamic process of density stratified ocean internal waves.

  11. Internal Temperature Control For Vibration Testers

    Science.gov (United States)

    Dean, Richard J.

    1996-01-01

    Vibration test fixtures with internal thermal-transfer capabilities developed. Made of aluminum for rapid thermal transfer. Small size gives rapid response to changing temperatures, with better thermal control. Setup quicker and internal ducting facilitates access to parts being tested. In addition, internal flows smaller, so less energy consumed in maintaining desired temperature settings.

  12. Deficits of anticipatory grip force control after damage to peripheral and central sensorimotor systems.

    Science.gov (United States)

    Hermsdörfer, Joachim; Hagl, Elke; Nowak, Dennis A

    2004-11-01

    Healthy subjects adjust their grip force economically to the weight of a hand-held object. In addition, inertial loads, which arise from arm movements with the grasped object, are anticipated by parallel grip force modulations. Internal forward models have been proposed to predict the consequences of voluntary movements. Anesthesia of the fingers impairs grip force economy but the feedforward character of the grip force/load coupling is preserved. To further analyze the role of sensory input for internal forward models and to characterize the consequences of central nervous system damage for anticipatory grip force control, we measured grip force behavior in neurological patients. We tested a group of stroke patients with varying degrees of impaired fine motor control and sensory loss, a single patient with complete and permanent differentation from all tactile and proprioceptive input, and a group of patients with amyotrophic lateral sclerosis (ALS) that exclusively impairs the motor system without affecting sensory modalities. Increased grip forces were a common finding in all patients. Sensory deficits were a strong but not the only predictor of impaired grip force economy. The feedforward mode of grip force control was typically preserved in the stroke patients despite their central sensory deficits, but was severely disturbed in the patient with peripheral sensory deafferentation and in a minority of stroke patients. Moderate deficits of feedforward control were also obvious in ALS patients. Thus, the function of the internal forward model and the precision of grip force production may depend on a complex anatomical and functional network of sensory and motor structures and their interaction in time and space.

  13. Neural control of muscle force: indications from a simulation model

    Science.gov (United States)

    Luca, Carlo J. De

    2013-01-01

    We developed a model to investigate the influence of the muscle force twitch on the simulated firing behavior of motoneurons and muscle force production during voluntary isometric contractions. The input consists of an excitatory signal common to all the motor units in the pool of a muscle, consistent with the “common drive” property. Motor units respond with a hierarchically structured firing behavior wherein at any time and force, firing rates are inversely proportional to recruitment threshold, as described by the “onion skin” property. Time- and force-dependent changes in muscle force production are introduced by varying the motor unit force twitches as a function of time or by varying the number of active motor units. A force feedback adjusts the input excitation, maintaining the simulated force at a target level. The simulations replicate motor unit behavior characteristics similar to those reported in previous empirical studies of sustained contractions: 1) the initial decrease and subsequent increase of firing rates, 2) the derecruitment and recruitment of motor units throughout sustained contractions, and 3) the continual increase in the force fluctuation caused by the progressive recruitment of larger motor units. The model cautions the use of motor unit behavior at recruitment and derecruitment without consideration of changes in the muscle force generation capacity. It describes an alternative mechanism for the reserve capacity of motor units to generate extraordinary force. It supports the hypothesis that the control of motoneurons remains invariant during force-varying and sustained isometric contractions. PMID:23236008

  14. Predictability, Force and (Anti-)Resonance in Complex Object Control.

    Science.gov (United States)

    Maurice, Pauline; Hogan, Neville; Sternad, Dagmar

    2018-04-18

    Manipulation of complex objects as in tool use is ubiquitous and has given humans an evolutionary advantage. This study examined the strategies humans choose when manipulating an object with underactuated internal dynamics, such as a cup of coffee. The object's dynamics renders the temporal evolution complex, possibly even chaotic, and difficult to predict. A cart-and-pendulum model, loosely mimicking coffee sloshing in a cup, was implemented in a virtual environment with a haptic interface. Participants rhythmically manipulated the virtual cup containing a rolling ball; they could choose the oscillation frequency, while the amplitude was prescribed. Three hypotheses were tested: 1) humans decrease interaction forces between hand and object; 2) humans increase the predictability of the object dynamics; 3) humans exploit the resonances of the coupled object-hand system. Analysis revealed that humans chose either a high-frequency strategy with anti-phase cup-and-ball movements or a low-frequency strategy with in-phase cup-and-ball movements. Counter Hypothesis 1, they did not decrease interaction force; instead, they increased the predictability of the interaction dynamics, quantified by mutual information, supporting Hypothesis 2. To address Hypothesis 3, frequency analysis of the coupled hand-object system revealed two resonance frequencies separated by an anti-resonance frequency. The low-frequency strategy exploited one resonance, while the high-frequency strategy afforded more choice, consistent with the frequency response of the coupled system; both strategies avoided the anti-resonance. Hence, humans did not prioritize interaction force, but rather strategies that rendered interactions predictable. These findings highlight that physical interactions with complex objects pose control challenges not present in unconstrained movements.

  15. Precision Force Control for an Electro-Hydraulic Press Machine

    Directory of Open Access Journals (Sweden)

    Hong-Ming Chen

    2014-08-01

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

  16. A novel adaptive force control method for IPMC manipulation

    International Nuclear Information System (INIS)

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

    2012-01-01

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

  17. Efficacy of internal control and controlling business risks

    OpenAIRE

    IONESCU, Luminiţa

    2010-01-01

    Companies can gain additional efficiency in designing and implementing or assessing internal control by focusing on only those financial reporting objectives directly applicable to the company’s activities and circumstances, taking a risk based approach to internal control. It is important for any organization to have reliable financial data for internal decision-making purpose. Financial information is often useful in many internal decisions such as product or service pricing. This is why th...

  18. Anticipatory synergy adjustments reflect individual performance of feedforward force control.

    Science.gov (United States)

    Togo, Shunta; Imamizu, Hiroshi

    2016-10-06

    We grasp and dexterously manipulate an object through multi-digit synergy. In the framework of the uncontrolled manifold (UCM) hypothesis, multi-digit synergy is defined as the coordinated control mechanism of fingers to stabilize variable important for task success, e.g., total force. Previous studies reported anticipatory synergy adjustments (ASAs) that correspond to a drop of the synergy index before a quick change of the total force. The present study compared ASA's properties with individual performances of feedforward force control to investigate a relationship of those. Subjects performed a total finger force production task that consisted of a phase in which subjects tracked target line with visual information and a phase in which subjects produced total force pulse without visual information. We quantified their multi-digit synergy through UCM analysis and observed significant ASAs before producing total force pulse. The time of the ASA initiation and the magnitude of the drop of the synergy index were significantly correlated with the error of force pulse, but not with the tracking error. Almost all subjects showed a significant increase of the variance that affected the total force. Our study directly showed that ASA reflects the individual performance of feedforward force control independently of target-tracking performance and suggests that the multi-digit synergy was weakened to adjust the multi-digit movements based on a prediction error so as to reduce the future error. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

  19. Research on Grinding and Polishing Force Control of Compliant Flange

    Directory of Open Access Journals (Sweden)

    Li Chuang

    2015-01-01

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

  20. Force characteristics in continuous path controlled crankpin grinding

    Science.gov (United States)

    Zhang, Manchao; Yao, Zhenqiang

    2015-03-01

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

  1. Internal control reporting and accounting quality : Insight "comply-or-explain" internal control regime

    OpenAIRE

    Cao Thi Thanh, Huyen; Cheung, Tina

    2010-01-01

    Nowadays, there exist two reporting regimes, rules-based and principle-based (comply-or-explain). In the rules-based environment, researchers have studied the relationship between internal control quality and accounting quality. Prior studies have suggested that reports on internal control are an effective way for investors to evaluate the quality of the firm‟s internal control. By having a sound system of internal control, it creates reliance upon the firm‟s financial reporting. Therefore, t...

  2. On the calculation of internal forces in mechanically stressed polyatomic molecules

    International Nuclear Information System (INIS)

    Avdoshenko, Stanislav M.; Konda, Sai Sriharsha M.; Makarov, Dmitrii E.

    2014-01-01

    We discuss how to define and to compute internal forces in a molecule subjected to mechanical stress. Because of the inherently many-body character of intramolecular interactions, internal forces cannot be uniquely defined without specifying a set of internal coordinates used to describe the molecular structure. When such a set is comprised of 3N − 6 interactomic distances (N being the number of atoms) and includes the bond lengths of interest, we show that the associated forces, while satisfying the equation F = ∂V/∂R (where R is the bond length, F is the internal force in this bond, and V is the potential energy of the molecule), can be determined from the molecular geometry alone. We illustrate these ideas using several toy models ranging from small molecules to a graphene sheet and show that the magnitude of the internal force in a bond is not necessarily a good predictor of its strength in response to mechanical loading. At the same time, analysis of internal forces reveals interesting phenomena such as the force multiplication effect, where weak external forces may, e.g., be used to break strong bonds, and offers insight into the catch-bond phenomenon where chemical reactivity is suppressed through application of a force

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

    Science.gov (United States)

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

    2017-08-01

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

  4. Remodeling Air Force Cyber Command and Control

    Science.gov (United States)

    2017-10-10

    Internet, telecommunications networks, computer systems , and embedded processors and controllers .” That last phrase includes processors and controllers ...embedded” into weapons systems , including aircraft and spacecraft. Many weapon systems were built and connected before cyberspace became a...problems for systemic improvement of mission assurance. The benefit of a centralized environment could also extend to improving enterprise-level patch

  5. International security and arms control

    International Nuclear Information System (INIS)

    Ekeus, R.

    2000-01-01

    The end of the cold war also ended the focus on the bilateral approach to arms control and disarmament. Key concepts of security needed to be revisited, along with their implications for the disarmament and arms control agenda. Though there is currently a unipolar global security environment, there remain important tasks on the multilateral arms control agenda. The major task is that of reducing and eliminating weapons of mass destruction, especially nuclear weapons. The author contends that maintaining reliance on the nuclear-weapons option makes little sense in a time when the major Powers are strengthening their partnerships in economics, trade, peacemaking and building. (author)

  6. Controlling Force and Depth in Friction Stir Welding

    Science.gov (United States)

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

    2005-01-01

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

  7. Performance evaluation on force control for ITER blanket installation

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-10-15

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

  8. Performance evaluation on force control for ITER blanket installation

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  9. Force analysis of magnetic bearings with power-saving controls

    International Nuclear Information System (INIS)

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

    1992-01-01

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

  10. The Air Force Center for Optimal Design and Control

    National Research Council Canada - National Science Library

    Burns, John

    1997-01-01

    This report contains a summary and highlights of the research funded by the Air Force under AFOSR URI Grant F49620-93-1-0280, titled 'Center for Optimal Design and Control of Distributed Parameter Systems' (CODAC...

  11. INTERNAL CONTROL IN PUBLIC HEALTH SERVICES INSTITUTIONS

    Directory of Open Access Journals (Sweden)

    Ludmila FRUMUSACHI

    2017-06-01

    Full Text Available Internal control has a special role in the efficient organization of the entity’s management. The components of this control in the institutions of public health service are determined by the specific character of these institutions and National Standards of Internal Control in the Public Sector. The system of internal control in the institutions of public health service has the capacity to canalize the effort of the whole institution for the achievement of proposed objectives, to signalize permanently the dysfunctionalities about the quality of medical services and the deviations and to operate timely corrective measures for eliminating the noticed problems. In this regard the managers are obliged to analyse and to resize the system of internal control when in the organizational structure appear substantial changes.

  12. Policy lessons from comparing mortality from two global forces: international terrorism and tobacco

    Directory of Open Access Journals (Sweden)

    Wilson Nick

    2005-12-01

    Full Text Available Abstract Background The aim of this study was to compare the mortality burdens from two global impacts on mortality: international terrorism and the major cause of preventable death in developed countries – tobacco use. We also sought to examine the similarities and differences between these two causes of mortality so as to better inform the policy responses directed at prevention. Methods Data on deaths from international terrorism were obtained from a US State Department database for 1994–2003. Estimates for tobacco-attributable deaths were based on Peto et al 2003. The countries were 37 developed and East European countries. Results and discussion The collective annualized mortality burden from tobacco was approximately 5700 times that of international terrorism. The ratio of annual tobacco to international terrorism deaths was lowest for the United States at 1700 times, followed by Russia at 12,900 times. The tobacco death burden in all these countries was equivalent to the impact of an 11 September type terrorist attack every 14 hours. Different perceptions of risk may contribute to the relative lack of a policy response to tobacco mortality, despite its relatively greater scale. The lack is also despite tobacco control having a stronger evidence base for the prevention measures used. Conclusion This comparison highlights the way risk perception may determine different policy responses to global forces causing mortality. Nevertheless, the large mortality differential between international terrorism and tobacco use has policy implications for informing the rational use of resources to prevent premature death.

  13. Hybrid viscous damper with filtered integral force feedback control

    DEFF Research Database (Denmark)

    Høgsberg, Jan; Brodersen, Mark L.

    2016-01-01

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

  14. Budgeting-Based Organization of Internal Control

    Science.gov (United States)

    Rogulenko, Tatiana; Ponomareva, Svetlana; Bodiaco, Anna; Mironenko, Valentina; Zelenov, Vladimir

    2016-01-01

    The article suggests methodical approaches to the budgeting-based organization of internal control, determines the tasks and subtasks of control that consist in the construction of an efficient system for the making, implementation, control, and analysis of managerial decisions. The organization of responsibility centers by means of implementing…

  15. THEORETICAL ASPECTS OF INTERNAL FINANCIAL CONTROL

    Directory of Open Access Journals (Sweden)

    Dzhamilya F. Ismailova

    2013-01-01

    Full Text Available The article considers the theoretical aspects of internal financial control, summarizes the definition formulated by scientists and experts, analyzed for differences between incompany and intrafarm control. The article discusses the collapse of Enron, notes the general provisions of various types of financial control.

  16. Corruption, fraud and internal control

    Directory of Open Access Journals (Sweden)

    Luminiţa IONESCU

    2010-12-01

    Full Text Available The economic crunch created a specific context for activity and profitability failing. The corruption is more and more common in our days. In the same time, the amount of money lost by businesses and the public sector to larger frauds increased last year to unthinkable limits. The shareholders expect the directors to take care to protect their company’s assets. This is why the financial controller has a very important role in each organization. The techniques to detect corruption or a fraud are developing every year. Thus, the introduction of computerized accounting has created the opportunities to conduct very comprehensive tests at relatively little cost. However, the fraudsters became more and more clever, and the controllers are responsible for the prevention and detection of fraud. The procedures that controllers should adopt with regard to fraud depend on the risk that fraud could occur and remain undetected and also the risk of that fraud impairing the truth and fairness of the statement.

  17. Report by the International Space Station (ISS) Management and Cost Evaluation (IMCE) Task Force

    Science.gov (United States)

    Young, A. Thomas; Kellogg, Yvonne (Technical Monitor)

    2001-01-01

    The International Space Station (ISS) Management and Cost Evaluation Task Force (IMCE) was chartered to conduct an independent external review and assessment of the ISS cost, budget, and management. In addition, the Task Force was asked to provide recommendations that could provide maximum benefit to the U.S. taxpayers and the International Partners within the President's budget request. The Task Force has made the following principal findings: (1) The ISS Program's technical achievements to date, as represented by on-orbit capability, are extraordinary; (2) The Existing ISS Program Plan for executing the FY 02-06 budget is not credible; (3) The existing deficiencies in management structure, institutional culture, cost estimating, and program control must be acknowledged and corrected for the Program to move forward in a credible fashion; (4) Additional budget flexibility, from within the Office of Space Flight (OSF) must be provided for a credible core complete program; (5) The research support program is proceeding assuming the budget that was in place before the FY02 budget runout reduction of $1B; (6) There are opportunities to maximize research on the core station program with modest cost impact; (7) The U.S. Core Complete configuration (three person crew) as an end-state will not achieve the unique research potential of the ISS; (8) The cost estimates for the U.S.-funded enhancement options (e.g., permanent seven person crew) are not sufficiently developed to assess credibility. After these findings, the Task Force has formulated several primary recommendations which are published here and include: (1) Major changes must be made in how the ISS program is managed; (2) Additional cost reductions are required within the baseline program; (3) Additional funds must be identified and applied from the Human Space Flight budget; (4) A clearly defined program with a credible end-state, agreed to by all stakeholders, must be developed and implemented.

  18. Internal transport control in pot plant production

    NARCIS (Netherlands)

    Annevelink, E.

    1999-01-01

    Drawing up internal transport schedules in pot plant production is a very complex task. Scheduling internal transport at the operational level and providing control on a day-to-day or even hour-to-hour basis in particular requires a new approach. A hierarchical planning approach based on

  19. Theoretical analysis of steady state operating forces in control valves

    Directory of Open Access Journals (Sweden)

    Basavaraj Hubballi

    2018-01-01

    Full Text Available The controlling components, such as valves are used to regulate controlled fluid power. It is not always possible to calculate valve forces accurately, and with some types of valves even the existence of certain types of forces cannot be predicted with certainty. In many cases, however, the analysis can be made fairly completely and accurately. The assumption of steady state conditions is valid for the valve alone, but transient effects in the rest of the system may be large. These effects are particularly important with regard to the instability of valves, where the system may react on the valve in such a way as to make it squeal or oscillate, sometimes with large amplitude. The origin of the steady state flow force understood from a brief qualitative explanation. The following paper will summarize much of what is known about valve forces in the spool type controlling element.

  20. Labour Force Participation Rates of Older Persons: An International Comparison.

    Science.gov (United States)

    Clark, Robert L.; Anker, Richard

    1990-01-01

    Using data from 151 countries, labor force participation of older men and women was analyzed and related to economic, demographic, and policy variables. Reduced participation rates are related to increased income levels, structural changes, social security programs, and, for men, the ratio of older persons to persons of standard working age. (SK)

  1. Environmental forcing, invasion and control of ecological and epidemiological systems.

    Science.gov (United States)

    Greenman, J V; Norman, R A

    2007-08-07

    Destabilising a biological system through periodic or stochastic forcing can lead to significant changes in system behaviour. Forcing can bring about coexistence when previously there was exclusion; it can excite massive system response through resonance, it can offset the negative effect of apparent competition and it can change the conditions under which the system can be invaded. Our main focus is on the invasion properties of continuous time models under periodic forcing. We show that invasion is highly sensitive to the strength, period, phase, shape and configuration of the forcing components. This complexity can be of great advantage if some of the forcing components are anthropogenic in origin. They can be turned into instruments of control to achieve specific objectives in ecology and disease management, for example. Culling, vaccination and resource regulation are considered. A general analysis is presented, based on the leading Lyapunov exponent criterion for invasion. For unstructured invaders, a formula for this exponent can typically be written down from the model equations. Whether forcing hinders or encourages invasion depends on two factors: the covariances between invader parameters and resident populations and the shifts in average resident population levels brought about by the forcing. The invasion dynamics of a structured invader are much more complicated but an analytic solution can be obtained in quadratic approximation for moderate forcing strength. The general theory is illustrated by a range of models drawn from ecology and epidemiology. The relationship between periodic and stochastic forcing is also considered.

  2. Corruption, fraud and internal control

    OpenAIRE

    Luminiţa IONESCU

    2010-01-01

    The economic crunch created a specific context for activity and profitability failing. The corruption is more and more common in our days. In the same time, the amount of money lost by businesses and the public sector to larger frauds increased last year to unthinkable limits. The shareholders expect the directors to take care to protect their company’s assets. This is why the financial controller has a very important role in each organization. The techniques to detect corruption or a fraud a...

  3. Force Feedback Control Method of Active Tuned Mass Damper

    Directory of Open Access Journals (Sweden)

    Xiuli Wang

    2017-01-01

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

  4. Internal corrosion control of northern pipelines

    Energy Technology Data Exchange (ETDEWEB)

    Papavinasam, S.

    2005-02-01

    The general causes of internal corrosion in pipelines were discussed along with the methods to control them. Efficient methods are needed to determine chemical efficiency for mitigating internal corrosion in transmission pipelines, particularly those used in environmentally sensitive regions in the Arctic where harsh environmental conditions prevail. According to the Office of Pipeline Safety, 15 per cent of pipeline failures in the United States from 1994 to 2000 were caused by internal corrosion. Since pipelines in the United States are slightly older than Canadian pipelines, internal corrosion is a significant issue from a Canadian perspective. There are 306,618 km of energy-related pipelines in western Canada. Between April 2001 and March 2002 there were 808 failures, of which 425 failures resulted from internal corrosion. The approach to control internal corrosion comprises of dehydrating the gases at production facilities; controlling the quality of corrosive gases such as carbon dioxide and hydrogen sulphide; and, using internal coatings. The approaches to control internal corrosion are appropriate, when supplemented by adequate integrity management program to ensure that corrosive liquids do not collect, over the operational lifetime of the pipelines, at localized areas. It was suggested that modeling of pipeline operations may need improvement. This paper described the causes, prediction and control of internal pitting corrosion. It was concluded that carbon steel equipment can continue to be used reliably and safely as pipeline materials for northern pipelines if the causes that lead to internal corrosion are scientifically and accurately predicted, and if corrosion inhibitors are properly evaluated and applied. 5 figs.

  5. Enforcing international obligations through the use of force?

    Czech Academy of Sciences Publication Activity Database

    Šturma, Pavel

    2008-01-01

    Roč. 61, č. 2008 (2008), s. 595-631 ISSN 0035-3256 Institutional research plan: CEZ:AV0Z70680506 Keywords : public international law * weapons of mass destruction * fight against terrorism Subject RIV: AG - Legal Sciences

  6. Internal Border Controls in the European Union

    DEFF Research Database (Denmark)

    Jørgensen, Carsten Willemoes; Sørensen, Karsten Engsig

    2012-01-01

    Recent events, involving inter alia France and Denmark, have stimulated renewed interest in the introduction of different forms of border controls at the internal borders within the European Union. These border control measures are aimed at checking either persons or goods or both. Against...... the background of these events, this article analyses the existing rules regulating controls of persons and goods, and explores how these rules may or may not stand in the way of introducing border controls at the European Union’s internal borders. These events have resulted in a call for reforms of the current...

  7. Controlling the Casimir force via the electromagnetic properties of materials

    International Nuclear Information System (INIS)

    Yang Yaping; Chen Hong; Zeng Ran; Zhu Shiyao; Zubairy, M. Suhail

    2010-01-01

    The control of the Casimir force between two parallel plates can be achieved through adjusting the frequency-dependent electromagnetic properties of materials of the two plates. We show that, for different plate separations, the main contribution to the Casimir force comes from different frequency regions: For smaller (larger) separation, it comes from the higher (lower) frequency region. When the separation of the plates increases, the Casimir force can vary from attractive to repulsive and/or vice versa, by selecting the two plates with suitable electromagnetic properties. We discuss how a restoring Casimir force, which varies from repulsive to attractive by increasing the separation, can be realized and that the stable equilibrium is formed at zero Casimir force.

  8. Coherence and interlimb force control: Effects of visual gain.

    Science.gov (United States)

    Kang, Nyeonju; Cauraugh, James H

    2018-03-06

    Neural coupling across hemispheres and homologous muscles often appears during bimanual motor control. Force coupling in a specific frequency domain may indicate specific bimanual force coordination patterns. This study investigated coherence on pairs of bimanual isometric index finger force while manipulating visual gain and task asymmetry conditions. We used two visual gain conditions (low and high gain = 8 and 512 pixels/N), and created task asymmetry by manipulating coefficient ratios imposed on the left and right index finger forces (0.4:1.6; 1:1; 1.6:0.4, respectively). Unequal coefficient ratios required different contributions from each hand to the bimanual force task resulting in force asymmetry. Fourteen healthy young adults performed bimanual isometric force control at 20% of their maximal level of the summed force of both fingers. We quantified peak coherence and relative phase angle between hands at 0-4, 4-8, and 8-12 Hz, and estimated a signal-to-noise ratio of bimanual forces. The findings revealed higher peak coherence and relative phase angle at 0-4 Hz than at 4-8 and 8-12 Hz for both visual gain conditions. Further, peak coherence and relative phase angle values at 0-4 Hz were larger at the high gain than at the low gain. At the high gain, higher peak coherence at 0-4 Hz collapsed across task asymmetry conditions significantly predicted greater signal-to-noise ratio. These findings indicate that a greater level of visual information facilitates bimanual force coupling at a specific frequency range related to sensorimotor processing. Copyright © 2018 Elsevier B.V. All rights reserved.

  9. External force/velocity control for an autonomous rehabilitation robot

    Science.gov (United States)

    Saekow, Peerayuth; Neranon, Paramin; Smithmaitrie, Pruittikorn

    2018-01-01

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

  10. Control of weakly conductive fluids by near wall Lorentz forces

    Energy Technology Data Exchange (ETDEWEB)

    Hinze, M. [Technische Univ. Dresden (Germany). Inst. fuer Numerische Mathematik

    2007-07-01

    In this work optimal and model-predictive control approaches for control of weakly conductive fluids are developed. The flow around the circular cylinder at low Reynolds numbers serves as prototyping application. Control by near-wall Lorentz forces gains either to suppress the formation of the von Karman Vortex Street, or to reduce the drag. Besides a concise mathematical modelling numerical examples are presented which highlight the scope of the presented control approaches. (orig.)

  11. Report of the Material Control and Material Accounting Task Force

    International Nuclear Information System (INIS)

    1978-03-01

    In September 1977 a Task Force was formed to complete a study of the role of material control and material accounting in NRC's safeguards program. The Task Force's assignment was to: define the roles and objectives of material control and material accounting in the NRC safeguards program; recommend goals for the material control and material accounting systems based on their roles and objectives; assess the extent to which the existing safeguards regulatory base meets or provides the capability to meet the recommended goals; and provide direction for material control and material accounting development, including both near-term and long-term upgrades. The study was limited to domestic nuclear facilities possessing significant amounts of plutonium, uranium-233 or highly enriched uranium in unsealed form. The Task Force findings are reported

  12. Myoelectric hand prosthesis force control through servo motor current feedback.

    Science.gov (United States)

    Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

    2009-10-01

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

  13. Optimal integral force feedback for active vibration control

    Science.gov (United States)

    Teo, Yik R.; Fleming, Andrew J.

    2015-11-01

    This paper proposes an improvement to Integral Force Feedback (IFF), which is a popular method for active vibration control of structures and mechanical systems. Benefits of IFF include robustness, guaranteed stability and simplicity. However, the maximum damping performance is dependent on the stiffness of the system; hence, some systems cannot be adequately controlled. In this paper, an improvement to the classical force feedback control scheme is proposed. The improved method achieves arbitrary damping for any mechanical system by introducing a feed-through term. The proposed improvement is experimentally demonstrated by actively damping an objective lens assembly for a high-speed confocal microscope.

  14. Internal force corrections with machine learning for quantum mechanics/molecular mechanics simulations.

    Science.gov (United States)

    Wu, Jingheng; Shen, Lin; Yang, Weitao

    2017-10-28

    Ab initio quantum mechanics/molecular mechanics (QM/MM) molecular dynamics simulation is a useful tool to calculate thermodynamic properties such as potential of mean force for chemical reactions but intensely time consuming. In this paper, we developed a new method using the internal force correction for low-level semiempirical QM/MM molecular dynamics samplings with a predefined reaction coordinate. As a correction term, the internal force was predicted with a machine learning scheme, which provides a sophisticated force field, and added to the atomic forces on the reaction coordinate related atoms at each integration step. We applied this method to two reactions in aqueous solution and reproduced potentials of mean force at the ab initio QM/MM level. The saving in computational cost is about 2 orders of magnitude. The present work reveals great potentials for machine learning in QM/MM simulations to study complex chemical processes.

  15. Transitions to Peace: Effects on Internal Security Forces in Nicaragua, El Salvador and Guatemala

    National Research Council Canada - National Science Library

    Atha, Roberto J

    2008-01-01

    .... It reveals how the influence of the military affected the implementation of internal security reforms, influencing the professionalism and effectiveness of police forces in the fight against violence and gangs today...

  16. Robust Operation of Tendon-Driven Robot Fingers Using Force and Position-Based Control Laws

    Science.gov (United States)

    Abdallah, Muhammad E (Inventor); Platt, Jr., Robert J. (Inventor); Reiland, Matthew J (Inventor); Hargrave, Brian (Inventor); Diftler, Myron A (Inventor); Strawser, Philip A (Inventor); Ihrke, Chris A. (Inventor)

    2013-01-01

    A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.

  17. The Environmental Action Internal Control Index.

    Science.gov (United States)

    Smith-Sebasto, N. J.; Fortner, Rosanne W.

    1994-01-01

    Reports research designed to develop a reliable and valid instrument to assess the relationship between locus of control of reinforcement and environmentally responsible behavior in (n=853) undergraduate students. Results suggest that the Environmental Action Internal Control Index can accurately predict environmentally responsible behavior.…

  18. Electrotactile EMG feedback improves the control of prosthesis grasping force

    Science.gov (United States)

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

    2016-10-01

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

  19. Accurate fluid force measurement based on control surface integration

    Science.gov (United States)

    Lentink, David

    2018-01-01

    Nonintrusive 3D fluid force measurements are still challenging to conduct accurately for freely moving animals, vehicles, and deforming objects. Two techniques, 3D particle image velocimetry (PIV) and a new technique, the aerodynamic force platform (AFP), address this. Both rely on the control volume integral for momentum; whereas PIV requires numerical integration of flow fields, the AFP performs the integration mechanically based on rigid walls that form the control surface. The accuracy of both PIV and AFP measurements based on the control surface integration is thought to hinge on determining the unsteady body force associated with the acceleration of the volume of displaced fluid. Here, I introduce a set of non-dimensional error ratios to show which fluid and body parameters make the error negligible. The unsteady body force is insignificant in all conditions where the average density of the body is much greater than the density of the fluid, e.g., in gas. Whenever a strongly deforming body experiences significant buoyancy and acceleration, the error is significant. Remarkably, this error can be entirely corrected for with an exact factor provided that the body has a sufficiently homogenous density or acceleration distribution, which is common in liquids. The correction factor for omitting the unsteady body force, {{{ {ρ f}} {1 - {ρ f} ( {{ρ b}+{ρ f}} )}.{( {{{{ρ }}b}+{ρ f}} )}}} , depends only on the fluid, {ρ f}, and body, {{ρ }}b, density. Whereas these straightforward solutions work even at the liquid-gas interface in a significant number of cases, they do not work for generalized bodies undergoing buoyancy in combination with appreciable body density inhomogeneity, volume change (PIV), or volume rate-of-change (PIV and AFP). In these less common cases, the 3D body shape needs to be measured and resolved in time and space to estimate the unsteady body force. The analysis shows that accounting for the unsteady body force is straightforward to non

  20. Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using Time Delay Control

    International Nuclear Information System (INIS)

    Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung

    2009-01-01

    This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.

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

    NARCIS (Netherlands)

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

    2017-01-01

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

  2. Formation Control of Robotic Swarm Using Bounded Artificial Forces

    Science.gov (United States)

    Zha, Yabing; Peng, Yong

    2013-01-01

    Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions. PMID:24453809

  3. Formation Control of Robotic Swarm Using Bounded Artificial Forces

    Directory of Open Access Journals (Sweden)

    Long Qin

    2013-01-01

    Full Text Available Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions.

  4. Formation control of robotic swarm using bounded artificial forces.

    Science.gov (United States)

    Qin, Long; Zha, Yabing; Yin, Quanjun; Peng, Yong

    2013-01-01

    Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions.

  5. PERFORMANCE IN INTERNAL CONTROL AND RISK MANAGEMENT

    OpenAIRE

    JELER (POPA) IOANA; FOCŞAN ELEONORA IONELA; CORICI MARIAN CĂTĂLIN

    2017-01-01

    The purpose of this article is to highlight the importance of internal control and risk management. In practice, economic entities meet a variety of risks that have the origins from the internal environment or the external one. Although there are different of views on addressing the concept of risk - threats or opportunities, event or action, accordingly uncertain, proposed by specialists in risk management in this article we try to present these issues and identify techniques to ...

  6. ASSESSMENT OF GRIP FORCE CONTROL IN PATIENTS WITH MUSCULAR DYSTROPHY

    Directory of Open Access Journals (Sweden)

    Gregorij Kurillo

    2004-12-01

    Full Text Available Background. The majority of hand functionality tests are based on qualitative assessment which largely depends on the experience of the therapist. Computer-assisted methods can provide more objective and accurate measurements of the grip force and other parameters related to grasping.Methods. We analysed the grip force control in 12 patients with muscular dystrophy using the tracking system developed. The system consists of a grip-measuring device with endobjects assessing the force applied in different grips. The device was used as input to a tracking task where the patient applied the grip force according to the visual feedback from the computer screen. Each patient performed two tasks which consisted of tracking a ramp and sinus target.Results. We analysed the maximal grip force as assessed in the ramp task and the tracking accuracy of the sinus task. The results are compared among five different grips (cylindrical, lateral, palmar, pinch and spherical grip, applied with dominant and non-dominant hand. The results show no significant difference in tracking accuracy between the dominant and non-dominant hand.Conclusions. The results obtained in tracking the ramp target showed that the method could be used for the assessment of the muscle fatigue, providing quantitative information on muscle capacity. The results of the sinus-tracking task showed that the method can evaluate the grip force control in different types of grips, providing information on hand dexterity, muscle activation patterns or tremor.

  7. iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts

    Directory of Open Access Journals (Sweden)

    Francesco eNori

    2015-03-01

    Full Text Available This paper details the implementation on the humanoid robot iCub of state-of-the-art algorithms for whole-body control. We regulate the forces between the robot and its surrounding environment to stabilize a desired robot posture. We assume that the forces and torques are exerted on rigid contacts. The validity of this assumption is guaranteed by constraining the contact forces and torques, e.g. the contact forces must belong to the associated friction cones. The implementation of this control strategy requires to estimate the external forces acting on the robot, and the internal joint torques. We then detail algorithms to obtain these estimations when using a robot with an iCub-like sensor set, i.e. distributed six-axis force-torque sensors and whole-body tactile sensors. A general theory for identifying the robot inertial parameters is also presented. From an actuation standpoint, we show how to implement a joint torque control in the case of DC brushless motors. In addition, the coupling mechanism of the iCub torso is investigated. The soundness of the entire control architecture is validated in a real scenario involving the robot iCub balancing and making contacts at both arms.

  8. Internal Control Good Cooperative Governance And Performance

    Directory of Open Access Journals (Sweden)

    Andry Arifian Rachman

    2017-11-01

    Full Text Available This study aims to examine the influence of internal control and good cooperative governance partially and simultaneously to the performance of cooperatives in West Java Province. The research method used in this research is descriptive and verification. The sample in this research is 22 boards as manager of cooperative in West Java Province. The data used in the research is the primary data through questionnaire collection. Validity and reliability testing is performed before hypothesis testing. This research uses multiple regression analysis technique. Based on hypothesis testing obtained 1 internal control has no significant effect on performance 2 good cooperative governance has a significant effect on performance and 3 internal control and good cooperative governance have a significant effect on performance.

  9. Efficacy of internal control and controlling business risks

    Directory of Open Access Journals (Sweden)

    Luminiţa IONESCU

    2010-06-01

    Full Text Available Companies can gain additional efficiency in designing and implementing or assessing internal control by focusing on only those financial reporting objectives directly applicable to the company’s activities and circumstances, taking a risk based approach to internal control. It is important for any organization to have reliable financial data for internal decision-making purpose. Financial information is often useful in many internal decisions such as product or service pricing. This is why the most important function of the controller is to create and maintain the corporate financial control system. Today’s corporation operates in an increasingly complex environment and the controller’s role is to advice the management of current or future problems of the business environment or to prevent the fraud.

  10. The Interplay of Internal and Forced Modes of Hadley Cell Expansion: Lessons from the Global Warming Hiatus

    Science.gov (United States)

    Amaya, D. J.; Siler, N.; Xie, S. P.; Miller, A. J.

    2017-12-01

    The poleward branches of the Hadley Cells show a robust shift poleward shift during the satellite era, leading to concerns over the possible encroachment of the globe's subtropical dry zones into currently temperate climates. The extent to which this trend is caused by anthropogenic forcing versus internal variability remains the subject of considerable debate. In this study, we us a joint EOF method to identify two distinct modes of Hadley Cell variability: (i) an anthropogenically-forced mode, which we identify using a 20-member simulation of the historical climate, and (ii) an internal mode, which identify using a 1000-year pre-industrial control simulation with a global climate model. The forced mode is found to be closely related to the TOA radiative imbalance and exhibits a long-term trend since 1860, while the internal mode is found to be essentially indistinguishable from the El Niño Southern Oscillation (ENSO). Together these two modes explain an average of 70% of the interannual variability seen in model "edge indices" over the historical period. Since 1980, the superposition of forced and internal modes has resulted in a period of accelerated Hadley Cell expansion and decelerated global warming (i.e., the "hiatus"). A comparison of the change in these modes since 1980 indicates that by 2013 the signal has emerged above the noise of internal variability in the Southern Hemisphere (SH), but not in the Northern Hemisphere (NH), with the latter also exhibiting strong zonal asymmetry, particularly in the North Atlantic. Our results highlight the important interplay of internal and forced modes of Hadley Cell width change and improve our understanding of the interannual variability and long-term trend seen in observations.

  11. Internal development of vegetative buds of Norway spruce trees in relation to accumulated chilling and forcing temperatures.

    Science.gov (United States)

    Viherä-Aarnio, Anneli; Sutinen, Sirkka; Partanen, Jouni; Häkkinen, Risto

    2014-05-01

    The timing of budburst of temperate trees is known to be controlled by complicated interactions of temperature and photoperiod. To improve the phenological models of budburst, better knowledge of the internal bud development preceding budburst in relation to environmental cues is needed. We studied the effect of accumulated chilling and forcing temperatures on the internal development of vegetative buds preceding budburst in Norway spruce [Picea abies (L.) Karst.]. Branches from 17-year-old trees of southern Finnish origin were transferred eight times at 1- to 2-week intervals from October to December 2007 from the field at Punkaharju (61°48'N, 29°20'E) to the greenhouse with forcing conditions (day length 12 h, +20 °C). After seven different durations of forcing, the developmental phase and primordial shoot growth of the buds were analysed at the stereomicroscopic level. Air temperature was recorded hourly throughout the study period. The accumulated chilling unit sum had a significant effect on the temperature sum that was required to attain a certain developmental phase; a higher amount of chilling required a lower amount of forcing. The variation in the rate of development of different buds within each sample branch in relation to the chilling unit and forcing temperature sum was low. Regarding primordial shoot growth, there was also an inverse relation between accumulated chilling and forcing, i.e., a higher accumulated chilling unit sum before forcing required a lower temperature sum to initiate primordial shoot growth and resulted in a stronger effect of accumulated forcing. A second-order regression model with an interaction of chilling and forcing explained the variation of primordial shoot growth with high precision (R(2) = 0.88). However, further studies are required to determine the final parameter values to be used in phenological modelling. © The Author 2014. Published by Oxford University Press. All rights reserved.

  12. Obesity-related differences in neural correlates of force control.

    Science.gov (United States)

    Mehta, Ranjana K; Shortz, Ashley E

    2014-01-01

    Greater body segment mass due to obesity has shown to impair gross and fine motor functions and reduce balance control. While recent studies suggest that obesity may be linked with altered brain functions involved in fine motor tasks, this association is not well investigated. The purpose of this study was to examine the neural correlates of motor performance in non-obese and obese adults during force control of two upper extremity muscles. Nine non-obese and eight obese young adults performed intermittent handgrip and elbow flexion exertions at 30% of their respective muscle strengths for 4 min. Functional near infrared spectroscopy was employed to measure neural activity in the prefrontal cortex bilaterally, joint steadiness was computed using force fluctuations, and ratings of perceived exertions (RPEs) were obtained to assess perceived effort. Obesity was associated with higher force fluctuations and lower prefrontal cortex activation during handgrip exertions, while RPE scores remained similar across both groups. No obesity-related differences in neural activity, force fluctuation, or RPE scores were observed during elbow flexion exertions. The study is one of the first to examine obesity-related differences on prefrontal cortex activation during force control of the upper extremity musculature. The study findings indicate that the neural correlates of motor activity in the obese may be muscle-specific. Future work is warranted to extend the investigation to monitoring multiple motor-function related cortical regions and examining obesity differences with different task parameters (e.g., longer duration, increased precision demands, larger muscles, etc.).

  13. Startle stimuli reduce the internal model control in discrete movements.

    Science.gov (United States)

    Wright, Zachary A; Rogers, Mark W; MacKinnon, Colum D; Patton, James L

    2009-01-01

    A well known and major component of movement control is the feedforward component, also known as the internal model. This model predicts and compensates for expected forces seen during a movement, based on recent experience, so that a well-learned task such as reaching to a target can be executed in a smooth straight manner. It has recently been shown that the state of preparation of planned movements can be tested using a startling acoustic stimulus (SAS). SAS, presented 500, 250 or 0 ms before the expected "go" cue resulted in the early release of the movement trajectory associated with the after-effects of the force field training (i.e. the internal model). In a typical motor adaptation experiment with a robot-applied force field, we tested if a SAS stimulus influences the size of after-effects that are typically seen. We found that in all subjects the after-effect magnitudes were significantly reduced when movements were released by SAS, although this effect was not further modulated by the timing of SAS. Reduced after-effects reveal at least partial existence of learned preparatory control, and identify startle effects that could influence performance in tasks such as piloting, teleoperation, and sports.

  14. Argue internal audit on how to promote the nuclear power enterprise internal control

    International Nuclear Information System (INIS)

    Li Xiaoming

    2012-01-01

    In order to strengthen and standardize enterprise internal control, improve the management level and risk prevention ability, five departments jointly established the basic rules of internal control in enterprises, large and medium-sized enterprises as the national power enterprise, the enterprise internal audit executive power in strengthening and perfecting internal control, and in the enterprise internal control of play an active role. (author)

  15. Employment of the El Salvador Armed Forces for Internal Security

    Science.gov (United States)

    2011-02-02

    the drug trades.6 The migration back and forth of the members of the Maras to countries in the northern of hemisphere and to drug dealers in the...and “ Sinaloa ” cartels from Mexico trying to 7 get control of the drug traffic in El Salvador. Those groups use Gangs MS 13 and 18th Street gangs

  16. Geometric Aspects of Force Controllability for a Swimming Model

    International Nuclear Information System (INIS)

    Khapalov, A. Y.

    2008-01-01

    We study controllability properties (swimming capabilities) of a mathematical model of an abstract object which 'swims' in the 2-D Stokes fluid. Our goal is to investigate how the geometric shape of this object affects the forces acting upon it. Such problems are of interest in biology and engineering applications dealing with propulsion systems in fluids

  17. Vibration control of an elastic strip by a singular force

    Indian Academy of Sciences (India)

    strip are changed by applying a lateral concentrated force to the plate. ... Predicting resonance frequency of plates is an important technological and scientific ... Ritz methods in a number of studies pertaining to control of flutter in aerospace ..... Bingham B, Atalla M J, Hagood N W 2001 Comparison of structural-acoustic ...

  18. Controlling propulsive forces in gait initiation in transfemoral amputees

    NARCIS (Netherlands)

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

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

  19. Control of master-slave manipulator using virtual force

    International Nuclear Information System (INIS)

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

    1994-01-01

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

  20. Nuclear reactor internals with control elements guides

    International Nuclear Information System (INIS)

    Baujat, J.; Chevereau, G.

    1991-01-01

    The internals have a lower plate, a superior plate, support columns and guide tubes for the control rods displacements. The lower section of the control rod guide tube have a base that fits into a bevelled seat in the lower plate. The guide tube is held into the seat by a spring, compressed between the base of the upper section of the tube and the lower plate

  1. Force-controlled patch clamp of beating cardiac cells.

    Science.gov (United States)

    Ossola, Dario; Amarouch, Mohamed-Yassine; Behr, Pascal; Vörös, János; Abriel, Hugues; Zambelli, Tomaso

    2015-03-11

    From its invention in the 1970s, the patch clamp technique is the gold standard in electrophysiology research and drug screening because it is the only tool enabling accurate investigation of voltage-gated ion channels, which are responsible for action potentials. Because of its key role in drug screening, innovation efforts are being made to reduce its complexity toward more automated systems. While some of these new approaches are being adopted in pharmaceutical companies, conventional patch-clamp remains unmatched in fundamental research due to its versatility. Here, we merged the patch clamp and atomic force microscope (AFM) techniques, thus equipping the patch-clamp with the sensitive AFM force control. This was possible using the FluidFM, a force-controlled nanopipette based on microchanneled AFM cantilevers. First, the compatibility of the system with patch-clamp electronics and its ability to record the activity of voltage-gated ion channels in whole-cell configuration was demonstrated with sodium (NaV1.5) channels. Second, we showed the feasibility of simultaneous recording of membrane current and force development during contraction of isolated cardiomyocytes. Force feedback allowed for a gentle and stable contact between AFM tip and cell membrane enabling serial patch clamping and injection without apparent cell damage.

  2. Models and control for force/torque sensors in robotics

    International Nuclear Information System (INIS)

    Johansson, Gert.

    1992-01-01

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

  3. Internal Interdecadal Variability in CMIP5 Control Simulations

    Science.gov (United States)

    Cheung, A. H.; Mann, M. E.; Frankcombe, L. M.; England, M. H.; Steinman, B. A.; Miller, S. K.

    2015-12-01

    Here we make use of control simulations from the CMIP5 models to quantify the amplitude of the interdecadal internal variability component in Atlantic, Pacific, and Northern Hemisphere mean surface temperature. We compare against estimates derived from observations using a semi-empirical approach wherein the forced component as estimated using CMIP5 historical simulations is removed to yield an estimate of the residual, internal variability. While the observational estimates are largely consistent with those derived from the control simulations for both basins and the Northern Hemisphere, they lie in the upper range of the model distributions, suggesting the possibility of differences between the amplitudes of observed and modeled variability. We comment on some possible reasons for the disparity.

  4. Climatic changes, the international control stakes

    International Nuclear Information System (INIS)

    Maljean-Dubois, S.

    2007-01-01

    The author presents a juridical and economic analysis of the control mechanism called ''observance'' of the Kyoto protocol. This political and juridical innovation in the domain of the international agreements on the environment deals with the national sovereignty and the economical development mode. (A.L.B.)

  5. Neuromechanical Control for Dynamic Bipedal Walking with Reduced Impact Forces

    DEFF Research Database (Denmark)

    Widenka, Johannes; Xiong, Xiaofeng; Matthias Braun, Jan

    2016-01-01

    Human walking emerges from an intricate interaction of nervous and musculoskeletal systems. Inspired by this principle, we integrate neural control and muscle-like mechanisms to achieve neuromechanical control of the biped robot RunBot. As a result, the neuromechanical controller enables RunBot t......Bot to perform more human-like walking and reduce impact force during walking, compared to original neural control. Moreover, it also generates adaptive joint motions of RunBot; thereby allowing it to deal with different terrains...

  6. Activation of biceps femoris long head reduces tibiofemoral anterior shear force and tibial internal rotation torque in healthy subjects.

    Science.gov (United States)

    Azmi, Nur Liyana; Ding, Ziyun; Xu, Rui; Bull, Anthony M J

    2018-01-01

    The anterior cruciate ligament (ACL) provides resistance to tibial internal rotation torque and anterior shear at the knee. ACL deficiency results in knee instability. Optimisation of muscle contraction through functional electrical stimulation (FES) offers the prospect of mitigating the destabilising effects of ACL deficiency. The hypothesis of this study is that activation of the biceps femoris long head (BFLH) reduces the tibial internal rotation torque and the anterior shear force at the knee. Gait data of twelve healthy subjects were measured with and without the application of FES and taken as inputs to a computational musculoskeletal model. The model was used to investigate the optimum levels of BFLH activation during FES gait in reducing the anterior shear force to zero. This study found that FES significantly reduced the tibial internal rotation torque at the knee during the stance phase of gait (p = 0.0322) and the computational musculoskeletal modelling revealed that a mean BFLH activation of 20.8% (±8.4%) could reduce the anterior shear force to zero. At the time frame when the anterior shear force was zero, the internal rotation torque was reduced by 0.023 ± 0.0167 Nm/BW, with a mean 188% reduction across subjects (p = 0.0002). In conclusion, activation of the BFLH is able to reduce the tibial internal rotation torque and the anterior shear force at the knee in healthy control subjects. This should be tested on ACL deficient subject to consider its effect in mitigating instability due to ligament deficiency. In future clinical practice, activating the BFLH may be used to protect ACL reconstructions during post-operative rehabilitation, assist with residual instabilities post reconstruction, and reduce the need for ACL reconstruction surgery in some cases.

  7. Quantifying feedforward control: a linear scaling model for fingertip forces and object weight.

    Science.gov (United States)

    Lu, Ying; Bilaloglu, Seda; Aluru, Viswanath; Raghavan, Preeti

    2015-07-01

    The ability to predict the optimal fingertip forces according to object properties before the object is lifted is known as feedforward control, and it is thought to occur due to the formation of internal representations of the object's properties. The control of fingertip forces to objects of different weights has been studied extensively by using a custom-made grip device instrumented with force sensors. Feedforward control is measured by the rate of change of the vertical (load) force before the object is lifted. However, the precise relationship between the rate of change of load force and object weight and how it varies across healthy individuals in a population is not clearly understood. Using sets of 10 different weights, we have shown that there is a log-linear relationship between the fingertip load force rates and weight among neurologically intact individuals. We found that after one practice lift, as the weight increased, the peak load force rate (PLFR) increased by a fixed percentage, and this proportionality was common among the healthy subjects. However, at any given weight, the level of PLFR varied across individuals and was related to the efficiency of the muscles involved in lifting the object, in this case the wrist and finger extensor muscles. These results quantify feedforward control during grasp and lift among healthy individuals and provide new benchmarks to interpret data from neurologically impaired populations as well as a means to assess the effect of interventions on restoration of feedforward control and its relationship to muscular control. Copyright © 2015 the American Physiological Society.

  8. International Telecommunication Control: International Law and the Ordering of Satellite and Other Forms of International Broadcasting.

    Science.gov (United States)

    Smith, Delbert D.

    The need for and the available alternatives for international telecommunication controls are examined, and a functional approach to this area of law is offered. Information from a number of areas is collected and examined as it relates to the basic problem. These areas include general principles of international law, the activities of the…

  9. SOME CONSIDERATIONS OVER THE INTERNAL CONTROL IN THE CONTEXT OF CURRENT ACCOUNTANCY REGULATIONS

    Directory of Open Access Journals (Sweden)

    Lenghel Dorin Radu

    2012-12-01

    Full Text Available Through the hereby study we set ourselves on an analysis over the internal control and the ways of implementation of it. The final purpose of our research is represented by the characteristics of the internal control system in the context of current accountancy regulations. The accomplishment of such goal has forced us to research the current literature in the area and also the legal regulations over internal control. Of course, the accomplishment of such a research was possible only after a pertinent analysis over the opinions expressed in specialty literature regarding this area. Our research wants to be with a theoretical and applicative character. It is based on analysing the internal control system, the methodology of internal control and the steps of internal control. We express our belief that the implementation of the internal control in a very exact manner comes as an aid to the company management and lead to the accomplishment of managerial objectives and policies. In what it regards the result of our research there can be drawn the following conclusions: from the legal regulations (OMFP nr. 3055/2009, there is no clear conclusion over the procedures and policies of implementation of internal control applicable to an economical entity; also there are not presented in a detailed way the types (forms of internal control, being presented in the legal regulations only a classification of them after the time in which they are exercised (before, during or after the finishing of the operations; also in the legal regulations there is developed a certain way of internal control, represented by the financial and accounting internal control, as if the other forms of internal control do not exist; in what regards the components of internal control, these are presented in another way, but similar to already known models of internal control (Coso and Coco; also in the legal regulations there are presented the general objectives of internal control

  10. Forced excitation and active control for the measurement of fluid-elastic forces

    International Nuclear Information System (INIS)

    Caillaud, Sebastien

    1999-01-01

    The action of a fluid flow on a tubes bundle is commonly decomposed into a random turbulent excitation and a fluid-elastic excitation. The fluid-elastic forces which are coupled to the tubes movement can be experimentally determined from an analysis of the vibratory response of the structure excited by turbulent forces. For low flow velocities, the turbulent excitation can be insufficient to make the tube significantly vibrate and to permit a correct vibratory analysis. On the opposite side, the structure can become unstable for high flow velocities: the fluid-elastic forces make the fluid-structure damping system fall towards zero. Two experimental methods are proposed in order to extend the considered flow rate. An additional excitation force allows to increase the tube vibration level for improving the signal-noise ratio at low velocities. When the tube is submitted to fluid-elastic instability, an artificial damping contribution by active control allows to stabilize it. Methods are implemented on a flexible tube inserted into rigid tubes bundle water and water-air transverse flows. Two actuator technologies are used: an electromagnetic exciter and piezoelectric actuators. The additional excitation method shows that the fluid-elastic forces remain insignificant at low velocity single phase flow. With the active control method, it is possible to carry out tests beyond the fluid-elastic instability. In two-phase flow, the stabilization of the structure is observed for low vacuum rates. The obtained new results are analyzed with the literature expected results in terms of fluid-elastic coupling and turbulent excitation. (author) [fr

  11. Force control of a robot for surface contamination detection

    International Nuclear Information System (INIS)

    Petterson, B.J.; Jones, J.F.

    1987-01-01

    A system is under development at Sandia National Laboratories for use in understanding the issues relating to automated robotic handling of spent nuclear fuel shipping casks. The goal of robotic handling is reduction of personnel radiation exposure at the proposed geologic repositories. One of the major technology development areas has been the integration of sensors into the control of the robot system to allow operation in semi-structured environments. In particular, a multiaxis force sensor is used to make robot trajectory corrections based on the contact force between the robot and workpiece. This force feedback system allows contact swipes (smears) to be made on the cask surface in a repeatable manner. 8 refs., 3 figs

  12. The Glioma International Case-Control Study

    DEFF Research Database (Denmark)

    Amirian, E. Susan; Armstrong, Georgina N; Zhou, Renke

    2016-01-01

    Decades of research have established only a few etiological factors for glioma, which is a rare and highly fatal brain cancer. Common methodological challenges among glioma studies include small sample sizes, heterogeneity of tumor subtypes, and retrospective exposure assessment. Here, we briefly...... describe the Glioma International Case-Control (GICC) Study (recruitment, 2010-2013), a study being conducted by the Genetic Epidemiology of Glioma International Consortium that integrates data from multiple data collection sites, uses a common protocol and questionnaire, and includes biospecimen...

  13. Comparative analysis of internal friction and natural frequency measured by free decay and forced vibration

    International Nuclear Information System (INIS)

    Wang, Y. Z.; Ding, X. D.; Xiong, X. M.; Zhang, J. X.

    2007-01-01

    Relations between various values of the internal friction (tgδ, Q -1 , Q -1* , and Λ/π) measured by free decay and forced vibration are analyzed systemically based on a fundamental mechanical model in this paper. Additionally, relations between various natural frequencies, such as vibration frequency of free decay ω FD , displacement-resonant frequency of forced vibration ω d , and velocity-resonant frequency of forced vibration ω 0 are calculated. Moreover, measurement of natural frequencies of a copper specimen of 99.9% purity has been made to demonstrate the relation between the measured natural frequencies of the system by forced vibration and free decay. These results are of importance for not only more accurate measurement of the elastic modulus of materials but also the data conversion between different internal friction measurements

  14. Rate control and quality assurance during rhythmic force tracking.

    Science.gov (United States)

    Huang, Cheng-Ya; Su, Jyong-Huei; Hwang, Ing-Shiou

    2014-02-01

    Movement characteristics can be coded in the single neurons or in the summed activity of neural populations. However, whether neural oscillations are conditional to the frequency demand and task quality of rhythmic force regulation is still unclear. This study was undertaken to investigate EEG dynamics and behavior correlates during force-tracking at different target rates. Fourteen healthy volunteers conducted load-varying isometric abduction of the index finger by coupling the force output to sinusoidal targets at 0.5 Hz, 1.0 Hz, and 2.0 Hz. Our results showed that frequency demand significantly affected EEG delta oscillation (1-4 Hz) in the C3, CP3, CPz, and CP4 electrodes, with the greatest delta power and lowest delta peak around 1.5 Hz for slower tracking at 0.5 Hz. Those who had superior tracking congruency also manifested enhanced alpha oscillation (8-12 Hz). Alpha rhythms of the skilled performers during slow tracking spread through the whole target cycle, except for the phase of direction changes. However, the alpha rhythms centered at the mid phase of a target cycle with increasing target rate. In conclusion, our findings clearly suggest two advanced roles of cortical oscillation in rhythmic force regulation. Rate-dependent delta oscillation involves a paradigm shift in force control under different time scales. Phasic organization of alpha rhythms during rhythmic force tracking is related to behavioral success underlying the selective use of bimodal controls (feedback and feedforward processes) and the timing of attentional focus on the target's peak velocity. Copyright © 2013 Elsevier B.V. All rights reserved.

  15. Optimal feedback control of the forced van der Pol system

    International Nuclear Information System (INIS)

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

    2012-01-01

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

  16. Influences of load characteristics on impaired control of grip forces in patients with cerebellar damage.

    Science.gov (United States)

    Brandauer, B; Timmann, D; Häusler, A; Hermsdörfer, J

    2010-02-01

    Various studies showed a clear impairment of cerebellar patients to modulate grip force in anticipation of the loads resulting from movements with a grasped object. This failure corroborated the theory of internal feedforward models in the cerebellum. Cerebellar damage also impairs the coordination of multiple-joint movements and this has been related to deficient prediction and compensation of movement-induced torques. To study the effects of disturbed torque control on feedforward grip-force control, two self-generated load conditions with different demands on torque control-one with movement-induced and the other with isometrically generated load changes-were directly compared in patients with cerebellar degeneration. Furthermore the cerebellum is thought to be more involved in grip-force adjustment to self-generated loads than to externally generated loads. Consequently, an additional condition with externally generated loads was introduced to further test this hypothesis. Analysis of 23 patients with degenerative cerebellar damage revealed clear impairments in predictive feedforward mechanisms in the control of both self-generated load types. Besides feedforward control, the cerebellar damage also affected more reactive responses when the externally generated load destabilized the grip, although this impairment may vary with the type of load as suggested by control experiments. The present findings provide further support that the cerebellum plays a major role in predictive control mechanisms. However, this impact of the cerebellum does not strongly depend on the nature of the load and the specific internal forward model. Contributions to reactive (grip force) control are not negligible, but seem to be dependent on the physical characteristics of an externally generated load.

  17. Internal control in an EDI environment.

    OpenAIRE

    Bae, Dal Hyeoung

    1991-01-01

    Approved for public release; distribution in unlimited. Electronic Data Interchange(EDI) is the electronic transmission of standard business documents in machine-readable format between parent companies and respective trading partners. As the use of EDI has grown, there have been the associated risks due to an uncontrolled environment. Accordingly, the necessity for effective internal controls in an EDI environment is on the rise. This thesis evaluates and analyzes the feasi...

  18. Internal control activities in small Turkish companies

    Directory of Open Access Journals (Sweden)

    Ismail Bilgi

    2017-01-01

    Full Text Available The purpose of this paper is to present major outcomes from an empirical study concerning internal control activities in small Turkish companies, as to propose the improvement guidelines. Methods of analysis and synthesis, descriptive statistics, and statistical comparison were used. The collected data was processed with the help of the SPSS software. Тhe study is limited to organizations based in the European part of Turkey. Most of them operate in areas around large cities, such as Istanbul, Edirne, Kırklareli, and Tekirdağ. They employ on average 19-20 people and have a turnover of about TRY 3 million (≈€715,000, https://sdw.ecb.europa.eu on average. The survey concentrates mainly on small family businesses, which have been present on the market for more than ten years, with managers of good education and other characteristics that presuppose availability of internal control systems. The research results were used to compile main points of a SWOT analysis, as a part of the broader effort to help modernizing the internal control system in Turkish small businesses.

  19. Satellite Dynamic Damping via Active Force Control Augmentation

    Science.gov (United States)

    Varatharajoo, Renuganth

    2012-07-01

    An approach that incorporates the Active Force Control (AFC) technique into a conventional Proportional-Derivative (PD) controller is proposed for a satellite active dynamic damping towards a full attitude control. The AFC method has been established to facilitate a robust motion control of dynamical systems in the presence of disturbances, parametric uncertainties and changes that are commonly prevalent in the real-world environment. The usefulness of the method can be extended by introducing intelligent mechanisms to approximate the mass or inertia matrix of the dynamic system to trigger the compensation effect of the controller. AFC is a technique that relies on the appropriate estimation of the inertial or mass parameters of the dynamic system and the measurements of the acceleration and force signals induced by the system if practical implementation is ever considered. In AFC, it is shown that the system subjected to a number of disturbances remains stable and robust via the compensating action of the control strategy. We demonstrate that it is possible to design a spacecraft attitude feedback controller that will ensure the system dynamics set point remains unchanged even in the presence of the disturbances provided that the actual disturbances can be modeled effectively. In order to further facilitate this analysis, a combined energy and attitude control system (CEACS) is proposed as a model satellite attitude control actuator. All the governing equations are established and the proposed satellite attitude control architecture is made amenable to numerical treatments. The results show that the PD-AFC attitude damping performances are superiorly better than that of the solely PD type. It is also shown that the tunings of the AFC system gains are crucial to ensure a better attitude damping performance and this process is mandatory for AFC systems. Finally, the results demonstrate an important satellite dynamic damping enhancement capability using the AFC

  20. United Nations International Drug Control Programme responds

    Directory of Open Access Journals (Sweden)

    Michael Platzer

    2002-01-01

    Full Text Available [First paragraph] We would like to reply to the article written by Axel Klein entitled, "Between the Death Penalty and Decriminalization: New Directions for Drug Control in the Commonwealth Caribbean" published in NWIG 75 (3&4 2001. We have noted a number of factual inaccuracies as well as hostile comments which portray the United Nations International Drug Control Programme in a negative light. This reply is not intended to be a critique of the article, which we find unbalanced and polemical, but rather an alert to the tendentious statements about UNDCP, which we feel should be corrected.

  1. A Multiposture Locomotor Training Device with Force-Field Control

    Directory of Open Access Journals (Sweden)

    Jianfeng Sui

    2014-11-01

    Full Text Available This paper introduces a multiposture locomotor training device (MPLTD with a closed-loop control scheme based on joint angle feedback, which is able to overcome various difficulties resulting from mechanical vibration and the weight of trainer to achieve higher accuracy trajectory. By introducing the force-field control scheme used in the closed-loop control, the device can obtain the active-constrained mode including the passive one. The MPLTD is mainly composed of three systems: posture adjusting and weight support system, lower limb exoskeleton system, and control system, of which the lower limb exoskeleton system mainly includes the indifferent equilibrium mechanism with two degrees of freedom (DOF and the driving torque is calculated by the Lagrangian function. In addition, a series of experiments, the weight support and the trajectory accuracy experiment, demonstrate a good performance of mechanical structure and the closed-loop control.

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

    Directory of Open Access Journals (Sweden)

    Giovanni Gerardo Muscolo

    2013-01-01

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

  3. Force Reflection Control for Master/Slave Tele-manipulators

    International Nuclear Information System (INIS)

    Kang, Min Sig; Kim, Doo Ho; Choi, Sun Il; Kim, Nam Hyung; Lee, Jong Bee

    2009-04-01

    This report concerns on a master/slave tele-manipulator which is used in highly hazardous hot cell. To design a force reflection and fine tracking control for the master-slave telemanipulator, the following has been carried out. (1) Variation of the moment of inertia of each link in the operating angle range, (2) Variation of the gratitational torque of each link in the operating angle range, (3) Dynamic characteristic analysis of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Optimal static output feedback PD-control design by using modal analysis, (5) Controller design for each joint, (6) Adams-MatLab Simulink simulation model development. The results this project are as follows: (1) Program for analysis of the moment of inertia of each link in the operating angle range and simulation results, (2) Program for analysis of the gratitational torque of each link in the operating angle range and simulation results, (3) Dynamic characteristic of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Program for designing optimal output PD-control by using modal analysis, (5) Controller designed for each joint, (6) Adams-MatLab Simulink simulation model, (7) Simulation results form output PD-control, etc

  4. INTERMARS: User-controlled international management system

    Science.gov (United States)

    Schmitt, Harrison H.

    1986-01-01

    Existing international space law as well as the best interest of all nations are consistent with the establishment of a user-based international organization, herein called INTERMARS. INTERMARS would provide access to facilities and services at a Martian base which would be of high functional potential, quality, safety, and reliability. These opportunities would be available on an open and nondiscriminatory basis to all peaceful users and investors. INTERMARS is a model organization concept tailored to provide cooperative international management of a Martian base for the benefit of its members, users, and investors. Most importantly, INTERMARS would provide such management through a sharing of both sovereignty and opportunity rather then unilateral control by any one nation or set of competing nations. Through an Assembly of Parties, a Board of Governors, a Board of Users and Investors, and a Director General, INTERMARS would meet its primary goal as it would be in the self-interest of all members, users, and investors to do so. The internal structure and philosophy of INTERMARS would provide not only for all participants to have representation in decisions affecting its activities, but also would insure effective and responsive management. Surely this is the precedent wished for, to establish for mankind at the now not-so-distant shores of the new ocean of space.

  5. External and internal influences as driving forces and/or stumbling ...

    African Journals Online (AJOL)

    The development of national and institutional quality assurance and management systems is often forced (rightfully or wrongly) into a specific direction by external and internal environmental influences. In South Africa such influences play a major role in both the national higher education policy developments and the ...

  6. Interference of Locally Forced Internal Waves in Non-Uniform Stratifications

    Science.gov (United States)

    Supekar, Rohit; Peacock, Thomas

    2017-11-01

    Several studies have investigated the effect of constructive or destructive interference on the transmission of internal waves propagating through non-uniform stratifications. Such studies have been performed for internal waves that are spatiotemporally harmonic. To understand the effect of localization, we perform a theoretical and experimental study of the transmission of two-dimensional internal waves that are generated by a spatiotemporally localized boundary forcing. This is done by considering an idealized problem and applying a weakly viscous semi-analytic linear model. Parametric studies using this model show that localization leads to the disappearance of transmission peaks and troughs that would otherwise be present for a harmonic forcing. Laboratory experiments that we perform provide a clear indication of this physical effect. Based on the group velocity and angle of propagation of the internal waves, a practical criteria that assesses when the transmission peaks or troughs are evident, is obtained. It is found that there is a significant difference in the predicted energy transfer due to a harmonic and non-harmonic forcing which has direct implications to various physical forcings such as a storm over the ocean.

  7. International veterinary epilepsy task force consensus proposal : diagnostic approach to epilepsy in dogs

    NARCIS (Netherlands)

    De Risio, Luisa; Bhatti, Sofie; Muñana, Karen; Penderis, Jacques; Stein, Veronika; Tipold, Andrea; Berendt, Mette; Farqhuar, Robyn; Fischer, Andrea; Long, Sam; Mandigers, Paul J J; Matiasek, Kaspar; Packer, Rowena M A; Pakozdy, Akos; Patterson, Ned; Platt, Simon; Podell, Michael; Potschka, Heidrun; Batlle, Martí Pumarola; Rusbridge, Clare; Volk, Holger A

    2015-01-01

    This article outlines the consensus proposal on diagnosis of epilepsy in dogs by the International Veterinary Epilepsy Task Force. The aim of this consensus proposal is to improve consistency in the diagnosis of epilepsy in the clinical and research settings. The diagnostic approach to the patient

  8. On Optimizing Steering Performance of Multi-axle Vehicle Based on Driving Force Control

    Directory of Open Access Journals (Sweden)

    Wu Zhicheng

    2017-01-01

    Full Text Available The steering performance of multi-axle vehicle with independent driving system is affected by the distribution of the wheel driving force. A nonlinear vehicle dynamics model including magic formula tire model for describing 11 DoF four-axle vehicle with dual-front-axle-steering (DFAS system was presented. The influence of different driving force distribution scheme on the steering performance of the vehicle was analyzed. A control strategy for improving the steady response and transient response of the vehicle steering is proposed. The results show: For the steady response, setting different drive force for internal and external wheels according to the actual steering characteristics of the vehicle can effectively improve its steering characteristics; For the transient response, adopting the zero sideslip angle control strategy and using the PID control algorithm to control the driving force of the outside wheel of tear-two-axle, under angle step input, the vehicle sideslip angle can quickly stabilize to 0 and yaw rate also significantly decreases.

  9. Development of the first force-controlled robot for otoneurosurgery.

    Science.gov (United States)

    Federspil, Philipp A; Geisthoff, Urban W; Henrich, Dominik; Plinkert, Peter K

    2003-03-01

    In some surgical specialties (eg, orthopedics), robots are already used in the operating room for bony milling work. Otological surgery and otoneurosurgery may also greatly benefit from the enhanced precision of robotics. Experimental study on robotic milling of oak wood and human temporal bone specimen. A standard industrial robot with a six-degrees-of-freedom serial kinematics was used, with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on computer-aided design (CAD) geometry data of a cochlear implant and an implantable hearing system. The best-suited strategy proved to be the spiral horizontal milling mode with the burr held perpendicular to the temporal bone surface. To reduce groove height, the distance between paths should equal half the radius of the cutting burr head. Because of the vibration of the robot's own motors, a high oscillation of the SD of forces was encountered. This oscillation dropped drastically to nearly 0 Newton (N) when the burr head made contact with the dura mater, because of its damping characteristics. The cutting burr could be kept in contact with the dura mater for an extended period without damaging it, because of the burr's blunt head form. The robot moved the burr smoothly according to the encountered resistances. The study reports the first development of a functional robotic milling procedure for otoneurosurgery with force-based speed control. Future plans include implementation of ultrasound-based local navigation and performance of robotic mastoidectomy.

  10. Implementation guide of internal contamination control

    International Nuclear Information System (INIS)

    Balter, Henia; Savio, Eduardo; Souto, Beatriz

    1994-01-01

    A review of current methods of contamination control for radioisotopes 131I, 125I and 99mTc, periodic control of personnel exposed to radiation.Maximum permissible body burden (Mpbb) for each radionuclide,radiotoxicity as danger of internal contamination directly related with Let, type of radiation,Ali values for various radionuclides and external irradiation as an opposed factor.Effective half life,examples, 99mTc in urine,iodine in thyroid caption, 99m Tc absorption by skin and mouth. Procedure of control and calculation by measurement of urine samples in a gamma spectrometer. Iodine thyroid caption by monitoring of thyroid with a solid NaI(TI)scintillator taking as background radiation the activity of upper leg muscle. Standard solutions are prepared to fill a thyroid phantoms.Results must not be higher than Mpbb of corresponding radionuclide.Bibliography

  11. 49 CFR 192.477 - Internal corrosion control: Monitoring.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 3 2010-10-01 2010-10-01 false Internal corrosion control: Monitoring. 192.477... Control § 192.477 Internal corrosion control: Monitoring. If corrosive gas is being transported, coupons... internal corrosion. Each coupon or other means of monitoring internal corrosion must be checked two times...

  12. PERFORMANCE IN INTERNAL CONTROL AND RISK MANAGEMENT

    Directory of Open Access Journals (Sweden)

    JELER (POPA IOANA

    2017-06-01

    Full Text Available The purpose of this article is to highlight the importance of internal control and risk management. In practice, economic entities meet a variety of risks that have the origins from the internal environment or the external one. Although there are different of views on addressing the concept of risk - threats or opportunities, event or action, accordingly uncertain, proposed by specialists in risk management in this article we try to present these issues and identify techniques to counter risks occurrence. In this article we present also means managing risk and why needs to be implemented at institutional level a risk management. The paper concludes by highlight the role of efficient risk management in the company’s management and company's activities.

  13. Importance of Internal Audit and Internal Control in an organization - Case Study

    OpenAIRE

    Bubilek, Olga

    2017-01-01

    This research is a descriptive case study of a company. It presents concepts of the internal audit and internal control based on an example of a Finnish company. The research examines the role and importance that internal audit and internal controls have in an organization. The main research question is “What is the role and importance of internal audit and internal control in an organization” Additional sub-questions relating to the case company that will allow for better understanding of...

  14. International confederation for cleft lip and palate and related craniofacial anomalies task force report: holistic outcomes.

    Science.gov (United States)

    Broder, Hillary L

    2014-11-01

    Objective : This paper describes the process and outcomes of the 2013 American Cleft Palate-Craniofacial Association task force on Holistic Outcomes. The goals and membership of the task force are presented. Methods : Using internet communication, the group introduced themselves, shared ideas and information related to holistic assessment and implementation of using a validated holistic measure, the Child Oral Health Impact Profile (COHIP) at participating international sites. Results : Data from the sites were analyzed using descriptive statistics. Administration of the COHIP was successful. It varied from self-completion as well as verbal presentation due to language differences and a function of the short time period to complete collection. Additionally qualitative comments were reported by the task force site directors. Conclusions : Future directions for holistic assessment and communication among task force members and sites were discussed at the Congress and are presented in this report.

  15. The Principles of Organization of Internal Control of Companies

    Directory of Open Access Journals (Sweden)

    Panteleiev

    2017-02-01

    Full Text Available The question to give a convincing assessment of the Rules of the internal controls and present them in the form of principles of organization of internal control. Since the final decision in the form of an exhaustive list and universal principles of internal control is no scientific research continues these principles. It is necessary to examine the logic of the main provisions of the organization's internal control due consideration of the requirements of international practice controls and propose principles of internal control. For this purpose, conducted a critical analysis of the main provisions of internal controls contained in the publications and in the regulations on internal control proceedings. Synthesis of articles of authors of lead scientific and practical journal Ukraine "Accounting and Auditing" for the 1994-2015 biennium pointed out that despite the coverage of current journal articles provisions, principles, requirements, rules and other modern techniques. On internal control and comprehensive set of reasonable response to the organization and classification of internal control is absent. This leads to continue the search key components of the organization's internal control. The above basic concepts in publications on the organization of internal control were used in the formation of a set of principles of control. According to the requirements of the OECD field of internal control includes risk management, cost control, change in control, complete information to guarantee the effectiveness of internal control systems, providing the ability to make decisions and so on. COSO model contains an exhaustive list of five components. The results of the questionnaire trainees have provided compelling arguments for classifying and establishing relevant principles of organization and internal controls were rejected. A list of the basic principles of the organization of internal control, which consists of 25 elements that are shaped

  16. International consensus principles for ethical wildlife control.

    Science.gov (United States)

    Dubois, Sara; Fenwick, Nicole; Ryan, Erin A; Baker, Liv; Baker, Sandra E; Beausoleil, Ngaio J; Carter, Scott; Cartwright, Barbara; Costa, Federico; Draper, Chris; Griffin, John; Grogan, Adam; Howald, Gregg; Jones, Bidda; Littin, Kate E; Lombard, Amanda T; Mellor, David J; Ramp, Daniel; Schuppli, Catherine A; Fraser, David

    2017-08-01

    Human-wildlife conflicts are commonly addressed by excluding, relocating, or lethally controlling animals with the goal of preserving public health and safety, protecting property, or conserving other valued wildlife. However, declining wildlife populations, a lack of efficacy of control methods in achieving desired outcomes, and changes in how people value animals have triggered widespread acknowledgment of the need for ethical and evidence-based approaches to managing such conflicts. We explored international perspectives on and experiences with human-wildlife conflicts to develop principles for ethical wildlife control. A diverse panel of 20 experts convened at a 2-day workshop and developed the principles through a facilitated engagement process and discussion. They determined that efforts to control wildlife should begin wherever possible by altering the human practices that cause human-wildlife conflict and by developing a culture of coexistence; be justified by evidence that significant harms are being caused to people, property, livelihoods, ecosystems, and/or other animals; have measurable outcome-based objectives that are clear, achievable, monitored, and adaptive; predictably minimize animal welfare harms to the fewest number of animals; be informed by community values as well as scientific, technical, and practical information; be integrated into plans for systematic long-term management; and be based on the specifics of the situation rather than negative labels (pest, overabundant) applied to the target species. We recommend that these principles guide development of international, national, and local standards and control decisions and implementation. © 2017 The Authors. Conservation Biology published by Wiley Periodicals, Inc. on behalf of Society for Conservation Biology.

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

    Science.gov (United States)

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

    2008-03-01

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

  18. Force control of a tri-layer conducting polymer actuator using optimized fuzzy logic control

    International Nuclear Information System (INIS)

    Itik, Mehmet; Sabetghadam, Mohammadreza; Alici, Gursel

    2014-01-01

    Conducting polymers actuators (CPAs) are potential candidates for replacing conventional actuators in various fields, such as robotics and biomedical engineering, due to their advantageous properties, which includes their low cost, light weight, low actuation voltage and biocompatibility. As these actuators are very suitable for use in micro-nano manipulation and in injection devices in which the magnitude of the force applied to the target is of crucial importance, the force generated by CPAs needs to be accurately controlled. In this paper, a fuzzy logic (FL) controller with a Mamdani inference system is designed to control the blocking force of a trilayer CPA with polypyrrole electrodes, which operates in air. The particle swarm optimization (PSO) method is employed to optimize the controller’s membership function parameters and therefore enhance the performance of the FL controller. An adaptive neuro-fuzzy inference system model, which can capture the nonlinear dynamics of the actuator, is utilized in the optimization process. The optimized Mamdani FL controller is then implemented on the CPA experimentally, and its performance is compared with a non-optimized fuzzy controller as well as with those obtained from a conventional PID controller. The results presented indicate that the blocking force at the tip of the CPA can be effectively controlled by the optimized FL controller, which shows excellent transient and steady state characteristics but increases the control voltage compared to the non-optimized fuzzy controllers. (paper)

  19. Turbine Energy Evaluation by internal dimensional control

    International Nuclear Information System (INIS)

    Mediavilla, F.

    2000-01-01

    To maintain the optimum thermal performance in a high level throughout the life of the turbines requires a good testing program, proper analysis of the test data, and a steam path audit during turbine overhauls. If from operating data analysis collected during the performance test before the outage shows that the efficiency of the turbine is coming down, the steam path audit, that is an internal inspection and a dimensional control of the internals, identity and quantity causes of performance degradation like, seal leakages, excessive clearances, solid particle erosion damages, blades deposits and other losses. The steam path audit assigns the heat rate penalties associated with each of these individual losses to the total degradation. This are used to make cost-effective maintenance decisions during the course of the overhaul. After repairs, a closing steam path audit is conducted during the re assembly of the turbine in order to predict return to service condition of the machine and to provide a quality control check on outage repairs. (Author)

  20. 47 CFR 90.473 - Operation of internal transmitter control systems through licensed fixed control points.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 5 2010-10-01 2010-10-01 false Operation of internal transmitter control... Transmitter Control Internal Transmitter Control Systems § 90.473 Operation of internal transmitter control systems through licensed fixed control points. An internal transmitter control system may be operated...

  1. Constant Cutting Force Control for CNC Machining Using Dynamic Characteristic-Based Fuzzy Controller

    Directory of Open Access Journals (Sweden)

    Hengli Liu

    2015-01-01

    Full Text Available This paper presents a dynamic characteristic-based fuzzy adaptive control algorithm (DCbFACA to avoid the influence of cutting force changing rapidly on the machining stability and precision. The cutting force is indirectly obtained in real time by monitoring and extraction of the motorized spindle current, the feed speed is fuzzy adjusted online, and the current was used as a feedback to control cutting force and maintain the machining process stable. Different from the traditional fuzzy control methods using the experience-based control rules, and according to the complex nonlinear characteristics of CNC machining, the power bond graph method is implemented to describe the dynamic characteristics of process, and then the appropriate variation relations are achieved between current and feed speed, and the control rules are optimized and established based on it. The numerical results indicated that DCbFACA can make the CNC machining process more stable and improve the machining precision.

  2. Interactions between internal forces, body stiffness, and fluid environment in a neuromechanical model of lamprey swimming.

    Science.gov (United States)

    Tytell, Eric D; Hsu, Chia-Yu; Williams, Thelma L; Cohen, Avis H; Fauci, Lisa J

    2010-11-16

    Animal movements result from a complex balance of many different forces. Muscles produce force to move the body; the body has inertial, elastic, and damping properties that may aid or oppose the muscle force; and the environment produces reaction forces back on the body. The actual motion is an emergent property of these interactions. To examine the roles of body stiffness, muscle activation, and fluid environment for swimming animals, a computational model of a lamprey was developed. The model uses an immersed boundary framework that fully couples the Navier-Stokes equations of fluid dynamics with an actuated, elastic body model. This is the first model at a Reynolds number appropriate for a swimming fish that captures the complete fluid-structure interaction, in which the body deforms according to both internal muscular forces and external fluid forces. Results indicate that identical muscle activation patterns can produce different kinematics depending on body stiffness, and the optimal value of stiffness for maximum acceleration is different from that for maximum steady swimming speed. Additionally, negative muscle work, observed in many fishes, emerges at higher tail beat frequencies without sensory input and may contribute to energy efficiency. Swimming fishes that can tune their body stiffness by appropriately timed muscle contractions may therefore be able to optimize the passive dynamics of their bodies to maximize peak acceleration or swimming speed.

  3. 49 CFR 193.2631 - Internal corrosion control.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 3 2010-10-01 2010-10-01 false Internal corrosion control. 193.2631 Section 193... GAS FACILITIES: FEDERAL SAFETY STANDARDS Maintenance § 193.2631 Internal corrosion control. Each component that is subject to internal corrosive attack must be protected from internal corrosion by— (a...

  4. Control of flow geometry using electromagnetic body forcing

    International Nuclear Information System (INIS)

    Rossi, L.; Bocquet, S.; Ferrari, S.; Garcia de la Cruz, J.M.; Lardeau, S.

    2009-01-01

    This paper presents conceptual experiments and simulations aiming at controlling flow geometries. Such flow design is performed by driving electromagnetically a shallow layer of brine, the forcing being generated by a transverse electrical current and different combinations of permanent magnets placed underneath the brine supporting wall. It is shown how different basic flow characteristics can be obtained with a single pair of magnets, by varying the angle with the electrical current. These basic flows are proposed as potential building blocks for advanced and complex flows studies. Three typical flow structures are presented to illustrate these building blocks. The discussion is then extended to multi-scale geometry by using blocks of various sizes. The flow is analysed using complementary experiments and numerical simulations. A good agreement is found between the 3D simulations and the experiments for both velocity and acceleration fields, which allows a higher degree of confidence in designing and modelling such flows. As the control of the flow geometry is important for mixing, in particular at low Reynolds number, we also illustrate the different stirring properties of the electromagnetically forced flows by comparing visualisations of passive scalars. They reveal complementary mixing properties for each of the building blocks.

  5. National Transportation Safety Board : weak internal control impaired financial accountability

    Science.gov (United States)

    2001-09-28

    The U. S. General Accounting Office (GAO) was asked to review the National Transportation Safety Board's (NTSB) internal controls over selected types of fiscal year expenditures. They were asked to determine whether internal control weaknesses were a...

  6. Lumbar extensor muscle force control is associated with disability in people with chronic low back pain.

    Science.gov (United States)

    Pranata, Adrian; Perraton, Luke; El-Ansary, Doa; Clark, Ross; Fortin, Karine; Dettmann, Tim; Brandham, Robert; Bryant, Adam

    2017-07-01

    The ability to control lumbar extensor force output is necessary for daily activities. However, it is unknown whether this ability is impaired in chronic low back pain patients. Similarly, it is unknown whether lumbar extensor force control is related to the disability levels of chronic low back pain patients. Thirty-three chronic low back pain and 20 healthy people performed lumbar extension force-matching task where they increased and decreased their force output to match a variable target force within 20%-50% maximal voluntary isometric contraction. Force control was quantified as the root-mean-square-error between participants' force output and target force across the entire, during the increasing and decreasing portions of the force curve. Within- and between-group differences in force-matching error and the relationship between back pain group's force-matching results and their Oswestry Disability Index scores were assessed using ANCOVA and linear regression respectively. Back pain group demonstrated more overall force-matching error (mean difference=1.60 [0.78, 2.43], Pback pain group demonstrated more force-matching error while increasing than decreasing force output (mean difference=1.74, Pback pain group (R 2 =0.19, P=0.006). Lumbar extensor muscle force control is compromised in chronic low back pain patients. Force-matching error predicts disability, confirming the validity of our force control protocol for chronic low back pain patients. Copyright © 2017 Elsevier Ltd. All rights reserved.

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

    Science.gov (United States)

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

    2014-01-01

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

  8. Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

    Directory of Open Access Journals (Sweden)

    Nikola Jorgovanovic

    2014-01-01

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

  9. Measurement of internal forces in superconducting accelerator magnets with strain gauge transducers

    International Nuclear Information System (INIS)

    Goodzeit, C.L.; Anerella, M.D.; Ganetis, G.L.

    1988-01-01

    An improved method has been developed for the measurement of internal forces in superconducting accelerator magnets, in particular the compressive stresses in coils and the end restraint forces on the coils. The transducers have been designed to provide improved sensitivity to purely mechanical strain by using bending mode deflections for sensing the applied loads. Strain gauge resistance measurements are made with a new system that eliminates sources of errors due to spurious resistance changes in interconnecting wiring and solder joints. The design of the transducers and their measurement system is presented along with a discussion of the method of compensation for thermal and magnetic effects, methods of calibration with typical calibration data, and measured effect in actual magnets of the thermal stress changes from cooldown and the Lorentz forces during magnet excitation. 13 figs., 1 tab

  10. Internal quality control: planning and implementation strategies.

    Science.gov (United States)

    Westgard, James O

    2003-11-01

    The first essential in setting up internal quality control (IQC) of a test procedure in the clinical laboratory is to select the proper IQC procedure to implement, i.e. choosing the statistical criteria or control rules, and the number of control measurements, according to the quality required for the test and the observed performance of the method. Then the right IQC procedure must be properly implemented. This review focuses on strategies for planning and implementing IQC procedures in order to improve the quality of the IQC. A quantitative planning process is described that can be implemented with graphical tools such as power function or critical-error graphs and charts of operating specifications. Finally, a total QC strategy is formulated to minimize cost and maximize quality. A general strategy for IQC implementation is recommended that employs a three-stage design in which the first stage provides high error detection, the second stage low false rejection and the third stage prescribes the length of the analytical run, making use of an algorithm involving the average of normal patients' data.

  11. The effect of internal ribbing on forced convective heat transfer in circular-sectioned tubes

    International Nuclear Information System (INIS)

    Farhadi Rahmat-Abadi, K.; Morris, W. D.

    2003-01-01

    This paper presents the results of an experimental examination of the effect of internal circumferential ribs on forced convection in circular-sectioned tubes. The work is relevant to the internal cooling of gas turbine rotor blades. The influence of rib geometry is investigated for three different rib configurations and simple design-type, empirical equations are developed for estimating heat transfer at rib and mid-rib locations. It is demonstrated that heat transfer may be improved by up to three fold in relation to fully developed forced convection in smooth-walled tubes. The geometric parameters which have been used for the experiments are typical of those currently applied to gas turbine blade cooling designs

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

    Directory of Open Access Journals (Sweden)

    Jan Vittek

    2004-01-01

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

  13. Nuclear power proliferation. Problems of international control

    Energy Technology Data Exchange (ETDEWEB)

    Johnson, B [International Inst. for Environment and Development, London (UK)

    1977-09-01

    The nuclear industry is experiencing a multiple crisis in which economic, technical and ethical aspects are blended inextricably. Nuclear hardware costs have everywhere soared far beyond inflation in the last five years, largely as a result of delays in programme completion arising from problems of reactor and fuel cycle. Meanwhile, partly as a result of this cost escalation, there is widespread and growing doubt as to whether capital will be available to finance the electricity generating levels projected by the industry and by governments for the 1990s. The nuclear industry is now in trouble at every stage of the fuel cycle. The industry's difficulties have also revealed a lack of overall - but particularly nuclear - energy strategy at either national or international levels, and a lack of will to create regulations and institutional machinery at either of these levels which might reassure both concerned publics and the energy industries themselves. This paper appraises some of the present limitations of international institutions in achieving control and management of nuclear power.

  14. Nuclear power proliferation: problems of international control

    Energy Technology Data Exchange (ETDEWEB)

    Johnson, B

    1977-09-01

    Some of the present limitations of international institutions in achieving control and management of nuclear power are reviewed and appraised. The nuclear industry is experiencing a multiple crisis in which economic, technical, and ethical aspects are blended. Nuclear hardware costs have increased faster than inflation in the last five years, largely as a result of delays in program completion arising from reactor and fuel-cycle safety problems. Meanwhile, there is a widespread and growing doubt, partly as a result of this cost escalation, as to whether capital will be available to finance the electricity-generating levels projected by the industry and by governments for the 1990s. The nuclear industry is now in trouble at every stage of the fuel cycle. The industry's difficulties have also revealed a lack of overall--but particularly nuclear--energy strategy at either national or international levels, and a lack of will to create regulations and institutional machinery at either of these levels that could reassure the concerned public and the energy industries.

  15. Evaluating Information Assurance Control Effectiveness on an Air Force Supervisory Control and Data Acquisition (SCADA) System

    Science.gov (United States)

    2011-03-01

    Byres, E. J., Lowe, J. (2004). The Myths and facts behind cyber security risks for industrial control systems . Berlin, Germany: VDE 2004 Congress...ACQUISITION (SCADA) SYSTEM THESIS Jason R. Nielsen, Major, USAF AFIT/GCO/ENG/11-10 DEPARTMENT OF THE AIR FORCE AIR UNIVERSITY AIR FORCE...DATA ACQUISITION (SCADA) SYSTEM THESIS Presented to the Faculty Department of Electrical and Computer Engineering Graduate School of

  16. 48 CFR 719.273-10 - Internal controls.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Internal controls. 719.273...égé Program 719.273-10 Internal controls. (a) OSDBU will oversee the Program and will work in... objectives. OSDBU will establish internal controls as checks and balances applicable to the Program. These...

  17. 12 CFR 1731.5 - Internal controls, procedures, and training.

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 7 2010-01-01 2010-01-01 false Internal controls, procedures, and training... HOUSING AND URBAN DEVELOPMENT SAFETY AND SOUNDNESS MORTGAGE FRAUD REPORTING § 1731.5 Internal controls, procedures, and training. An Enterprise shall establish adequate and efficient internal controls and...

  18. 49 CFR 192.475 - Internal corrosion control: General.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 3 2010-10-01 2010-10-01 false Internal corrosion control: General. 192.475... Control § 192.475 Internal corrosion control: General. (a) Corrosive gas may not be transported by... taken to minimize internal corrosion. (b) Whenever any pipe is removed from a pipeline for any reason...

  19. 15 CFR 752.11 - Internal Control Programs.

    Science.gov (United States)

    2010-01-01

    ... 15 Commerce and Foreign Trade 2 2010-01-01 2010-01-01 false Internal Control Programs. 752.11... COMPREHENSIVE LICENSE § 752.11 Internal Control Programs. (a) Scope—(1) Introduction. It is through Internal Control Programs (ICPs) that the SCL holder and the consignee assure that exports and reexports are not...

  20. Computer Network Attack and the Use of Force in International Law: Thoughts on a Normative Framework

    Science.gov (United States)

    1999-06-01

    interpretive consideration. See Vienna Convention, supra note 51, art. 31(3). 69 On economic sanctions, see Paul Szasz , The Law of Economic Sanctions...COMPUTER NETWORK ATTACK AND THE USE OF FORCE IN INTERNATIONAL LAW : THOUGHTS ON A NORMATIVE FRAMEWORK MICHAEL N...Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law , no person shall be subject to a

  1. The impact of international shipping on European air quality and climate forcing

    Energy Technology Data Exchange (ETDEWEB)

    van Aardenne, J. [European Environment Agency (EEA), Copenhagen (Denmark); Colette, A. [INERIS (France); Degraeuwe, B.; de Vlieger, I. [VITO (Belgium); Hammingh, P. [PBL Netherlands Environmental Assessment Agency (Netherlands); Viana, M. [CSIC (Spain)

    2013-03-15

    This EEA Technical report provides an overview on the state of knowledge on the impact of international shipping in European waters to air quality and climate change. Based on literature review and model assessment studies information is provided on past and future emissions of air pollutants and greenhouse gases, monitoring of ship emissions, emission mitigation policies and impact on European air quality and radiative forcing. (Author)

  2. Legitimate Use of Military Force Against State-Sponsored International Terrorism

    Science.gov (United States)

    1989-07-01

    principal. American international law professor and theorist Hans Kelsen writes, There are a number of ways in which force may be used indirectly by a...excluding anticipatory self-defense. Brownlie, Boyle, Jessup, Kelsen , Kunz, Sorensen, and Q. Wright, among others, assert that �there is no right of...law on self-defense. The most articulate writer in this regard is Hans Kelsen , who argues: All sides in this controversy over the scope of the

  3. International pollution control: Cooperative versus noncooperative strategies

    International Nuclear Information System (INIS)

    Dockner, E.J.; Van Long, N.

    1993-01-01

    International pollution control involving two neighboring countries is modeled as a simple two-player dynamic game. Each country produces a good that is consumed by domestic households. Production of each consumption good results in emissions of pollutants. Households in each country derive utility from the consumption of the domestically produced good but incur costs through the total stock of pollution (stock externality). In this setting we characterize cooperative as well as noncooperative pollution control strategies of the governments of the two countries that maximize the discounted stream of net benefits of a representative consumer. It turns out that when the governments are restricted to use linear strategies noncooperative behavior results in overall losses for both countries. If, on the contrary, governments use nonlinear Markov-perfect strategies and the discount rate is small enough a Pareto-efficient steady-state pollution stock can be supported as a differentiable subgame-perfect equilibrium. Thus, the emergence of first-best solutions (cooperative outcomes) does not require any institutional arrangements (threats, retaliation, etc.) but can be brought about through the use of nonlinear Markov-perfect equilibrium strategies. 20 refs., 1 tab

  4. Improvement of internal book-keeping control at company "Balttranslaine"

    OpenAIRE

    Kolodinska, Aļona

    2012-01-01

    Master's thesis "Internal Accounting Control Improvement in Ltd."Balttranslaine"" is designed to determine the potential and directions for improving accounting controls Ltd. "Balttranslaine". The paper assesses Ltd. "Balttranslaine" internal accounting control system and develops proposals for its improvement, based on research on accounting control nature and its place in the overall company's internal control system, as well as the Latvian laws and regulations for construction and maint...

  5. Preventing nuclear terrorism: the report and papers of the International Task Force on Prevention of Nuclear Terrorism

    International Nuclear Information System (INIS)

    Leventhal, P.; Alexander, Y.

    1987-01-01

    The International Task Force on Prevention of Nuclear Terrorism, formed in 1985 under the Nuclear Control Institute, commissioned 26 studies and produced an extensive report on the problem and prevention of nuclear terrorism, Part I of this book is the full report, and part II contains the individual studies under two section: (A) Defining the Threat (8 studies); and (B) Strategies for Dealing with the Threat (18 studies). Detailed recommendations are made, in many of the studies, for better protection of nuclear weapons, materials, and facilities; greater cooperation among national intelligence agencies; tighter controls on nuclear transfers; more effective arms control initiatives; and emergency management programs. A separate abstract was prepared for the report and each of the 26 studies

  6. Forced migration and mental health: prolonged internal displacement, return migration and resilience.

    Science.gov (United States)

    Siriwardhana, Chesmal; Stewart, Robert

    2013-03-01

    Forced internal displacement has been rising steadily, mainly due to conflict. Many internally displaced people (IDP) experience prolonged displacement. Global research evidence suggests that many of these IDP are at high risk for developing mental disorders, adding weight to the global burden of disease. However, individual and community resilience may act as protective factors. Return migration may be an option for some IDP populations, especially when conflicts end, although return migration may itself be associated with worse mental health. Limited evidence is available on effects of resettlement or return migration following prolonged forced internal displacement on mental health. Also, the role of resilience factors remains to be clarified following situations of prolonged displacement. The public health impact of internal displacement is not clearly understood. Epidemiological and interventional research in IDP mental health needs to look beyond medicalised models and encompass broader social and cultural aspects. The resilience factor should be integrated and explored more in mental health research among IDP and a clearly focused multidisciplinary approach is advocated.

  7. [Stigma and Mental Health in Victims of Colombia's Internal Armed Conflict in Situation of Forced Displacement].

    Science.gov (United States)

    Campo-Arias, Adalberto; Herazo, Edwin

    2014-01-01

    The prolonged sociopolitical phenomenon of Colombian violence generated a high number of victims, many of whom suffered a continual process of internal displacement and stigma-discrimination complex. To postulate possible mechanisms by which victims of Colombia's internal armed conflict in a situation of forced displacement were stigmatized and discriminated. Stigma affects mental health, not only because it represents a major stressor for discriminated individuals and groups, but also because it accounts for inequalities and inequities in health. Initially, as the victims of the internal armed conflict in situation of forced displacement were not considered as such, but as responsible for the situation. Thus, they had to cope with the social and economic inequalities, explained partially by low categorization or status that they received, possibly due to poor construction of social capital in the country. Also, victims of the internal armed conflict suffer from intersectional stigma and discrimination due to other characteristics such as gender, sexual orientation, ethnic-racial origin, or meeting criteria for a mental disorder. An active process of inclusive social development is required for the displaced victims of the armed conflict,in order to reduce multiple stigma and ensure their mental health. Copyright © 2014 Asociación Colombiana de Psiquiatría. Publicado por Elsevier España. All rights reserved.

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

    Science.gov (United States)

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

    2017-03-01

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

  9. Binaries traveling through a gaseous medium: dynamical drag forces and internal torques

    Energy Technology Data Exchange (ETDEWEB)

    Sánchez-Salcedo, F. J. [Instituto de Astronomía, Universidad Nacional Autónoma de México, Ciudad Universitaria, Apt. Postal 70 264, C.P. 04510, Mexico City (Mexico); Chametla, Raul O., E-mail: jsanchez@astro.unam.mx [Escuela Superior de Física y Matemáticas, Instituto Politécnico Nacional, UP Adolfo López Mateos, Mexico City (Mexico)

    2014-10-20

    Using time-dependent linear theory, we investigate the morphology of the gravitational wake induced by a binary, whose center of mass moves at velocity V{sub cm} against a uniform background of gas. For simplicity, we assume that the components of the binary are on circular orbits about their common center of mass. The consequences of dynamical friction is twofold. First, gas dynamical friction may drag the center of mass of the binary and cause the binary to migrate. Second, drag forces also induce a braking torque, which causes the orbits of the components of the binary to shrink. We compute the drag forces acting on one component of the binary due to the gravitational interaction with its own wake. We show that the dynamical friction force responsible for decelerating the center of mass of the binary is smaller than it is in the point-mass case because of the loss of gravitational focusing. We show that the braking internal torque depends on the Mach numbers of each binary component about their center of mass, and also on the Mach number of the center of mass of the binary. In general, the internal torque decreases with increasing the velocity of the binary relative to the ambient gas cloud. However, this is not always the case. We also mention the relevance of our results to the period distribution of binaries.

  10. Streamwise-body-force-model for rapid simulation combining internal and external flow fields

    Directory of Open Access Journals (Sweden)

    Cui Rong

    2016-10-01

    Full Text Available A streamwise-body-force-model (SBFM is developed and applied in the overall flow simulation for the distributed propulsion system, combining internal and external flow fields. In view of axial stage effects, fan or compressor effects could be simplified as body forces along the streamline. These body forces which are functions of local parameters could be added as source terms in Navier-Stokes equations to replace solid boundary conditions of blades and hubs. The validation of SBFM with uniform inlet and distortion inlet of compressors shows that pressure performance characteristics agree well with experimental data. A three-dimensional simulation of the integration configuration, via a blended wing body aircraft with a distributed propulsion system using the SBFM, has been completed. Lift coefficient and drag coefficient agree well with wind tunnel test results. Results show that to reach the goal of rapid integrated simulation combining internal and external flow fields, the computational fluid dynamics method based on SBFM is reasonable.

  11. Determinants of Effective Internal Control System in Nigerian Banks ...

    African Journals Online (AJOL)

    Determinants of Effective Internal Control System in Nigerian Banks. ... (21) chief internal auditors of selected recapitalized banks currently operating in Port Harcourt. ... can be carried out, high level ethical standards should be enshrined in Nigerian banks to make internal control more effective. ... HOW TO USE AJOL.

  12. Internal control in non - agricultural cooperatives

    Directory of Open Access Journals (Sweden)

    Yolanda García Castro

    2014-12-01

    Full Text Available The process of formation of non-agricultural cooperatives in Cuba, has been a step forward for the Cuban economy, provide primary care represents economic sustainability for the country. A necessary tool for achieving quality in the provision of services and products, it represents the audit process. In this sense the present work was aimed in the Council of the Provincial Administration, in order to strengthen the functioning of non-agricultural cooperatives. Theoretical and empirical methods, techniques, surveys and interviews with leaders and workers, aimed to assess the knowledge, applications for the creation of cooperatives, processing, approval, establishment and operation, based on guidelines established in internal control were applied; and descriptive statistics for processing information, which identified the important work that developed the organization, which was able to promote the operation of non-agricultural cooperatives, as well as the tools necessary for the production of income and consequently improve the quality of services. The diagnosis made it possible to identify the point in the process, so disruption to the operation. Undoubtedly, every experiment needs time to mature and gain experience, besides confirming Waste Disposal workers cooperatives and agencies to jump-start this process. Improvement measures were implemented in order to increase the economic efficiency of each process, in response to various guidelines of Economic and Social Policy of the Party and the Revolution, adopted at the Sixth Party Congress and Conference Objectives.

  13. Topography and Mechanical Property Mapping of International Simple Glass Surfaces with Atomic Force Microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Pierce, Eric M [ORNL

    2014-01-01

    Quantitative Nanomechanical Peak Force (PF-QNM) TappingModeTM atomic force microscopy measurements are presented for the first time on polished glass surfaces. The PF-QNM technique allows for topography and mechanical property information to be measured simultaneously at each pixel. Results for the international simple glass which represents a simplified version of SON68 glass suggests an average Young s modulus of 78.8 15.1 GPa is within the experimental error of the modulus measured for SON68 glass (83.6 2 GPa) with conventional approaches. Application of the PF-QNM technique will be extended to in situ glass corrosion experiments with the goal of gaining atomic-scale insights into altered layer development by exploiting the mechanical property differences that exist between silica gel (e.g., altered layer) and pristine glass surface.

  14. Internally displaced "victims of armed conflict" in Colombia: the trajectory and trauma signature of forced migration.

    Science.gov (United States)

    Shultz, James M; Garfin, Dana Rose; Espinel, Zelde; Araya, Ricardo; Oquendo, Maria A; Wainberg, Milton L; Chaskel, Roberto; Gaviria, Silvia L; Ordóñez, Anna E; Espinola, Maria; Wilson, Fiona E; Muñoz García, Natalia; Gómez Ceballos, Angela Milena; Garcia-Barcena, Yanira; Verdeli, Helen; Neria, Yuval

    2014-10-01

    While conflict-induced forced migration is a global phenomenon, the situation in Colombia, South America, is distinctive. Colombia has ranked either first or second in the number of internally displaced persons for 10 years, a consequence of decades of armed conflict compounded by high prevalence of drug trafficking. The displacement trajectory for displaced persons in Colombia proceeds through a sequence of stages: (1) pre-expulsion threats and vulnerability, (2) expulsion, (3) migration, (4) initial adaptation to relocation, (5) protracted resettlement (the end point for most forced migrants), and, rarely, (6) return to the community of origin. Trauma signature analysis, an evidence-based method that elucidates the physical and psychological consequences associated with exposures to harm and loss during disasters and complex emergencies, was used to identify the psychological risk factors and potentially traumatic events experienced by conflict-displaced persons in Colombia, stratified across the phases of displacement. Trauma and loss are experienced differentially throughout the pathway of displacement.

  15. Operational Command and Control: Lessons for Today's Joint Force from Grenada, Somalia, and Kosovo

    National Research Council Canada - National Science Library

    Foraker III, Joseph C

    2007-01-01

    This paper examines operational command and control issues encountered during Operation Urgent Fury in Grenada, the deployment of Task Force Ranger in Mogadishu, Somalia, and Operation Allied Force in Kosovo...

  16. Force Control for a Pneumatic Cylinder Using Generalized Predictive Controller Approach

    Directory of Open Access Journals (Sweden)

    Ahmad ’Athif Mohd Faudzi

    2014-01-01

    Full Text Available Pneumatic cylinder is a well-known device because of its high power to weight ratio, easy use, and environmental safety. Pneumatic cylinder uses air as its power source and converts it to a possible movement such as linear and rotary movement. In order to control the pneumatic cylinder, controller algorithm is needed to control the on-off solenoid valve with encoder and pressure sensor as the feedback inputs. In this paper, generalized predictive controller (GPC is proposed as the control strategy for the pneumatic cylinder force control. To validate and compare the performance, proportional-integral (PI controller is also presented. Both controllers algorithms GPC and PI are developed using existing linear model of the cylinder from previous research. Results are presented in simulation and experimental approach using MATLAB-Simulink as the platform. The results show that the GPC is capable of fast response with low steady state error and percentage overshoot compared to PI.

  17. The International Society for Bipolar Disorders (ISBD) Task Force Report on Antidepressant Use in Bipolar Disorders

    Science.gov (United States)

    Pacchiarotti, Isabella; Bond, David J.; Baldessarini, Ross J.; Nolen, Willem A.; Grunze, Heinz; Licht, Rasmus W.; Post, Robert M.; Berk, Michael; Goodwin, Guy M.; Sachs, Gary S.; Tondo, Leonardo; Findling, Robert L.; Youngstrom, Eric A.; Tohen, Mauricio; Undurraga, Juan; González-Pinto, Ana; Goldberg, Joseph F.; Yildiz, Ayşegül; Altshuler, Lori L.; Calabrese, Joseph R.; Mitchell, Philip B.; Thase, Michael E.; Koukopoulos, Athanasios; Colom, Francesc; Frye, Mark A.; Malhi, Gin S.; Fountoulakis, Konstantinos N.; Vázquez, Gustavo; Perlis, Roy H.; Ketter, Terence A.; Cassidy, Frederick; Akiskal, Hagop; Azorin, Jean-Michel; Valentí, Marc; Mazzei, Diego Hidalgo; Lafer, Beny; Kato, Tadafumi; Mazzarini, Lorenzo; Martínez-Aran, Anabel; Parker, Gordon; Souery, Daniel; Özerdem, Ayşegül; McElroy, Susan L.; Girardi, Paolo; Bauer, Michael; Yatham, Lakshmi N.; Zarate, Carlos A.; Nierenberg, Andrew A.; Birmaher, Boris; Kanba, Shigenobu; El-Mallakh, Rif S.; Serretti, Alessandro; Rihmer, Zoltan; Young, Allan H.; Kotzalidis, Georgios D.; MacQueen, Glenda M.; Bowden, Charles L.; Ghaemi, S. Nassir; Lopez-Jaramillo, Carlos; Rybakowski, Janusz; Ha, Kyooseob; Perugi, Giulio; Kasper, Siegfried; Amsterdam, Jay D.; Hirschfeld, Robert M.; Kapczinski, Flávio; Vieta, Eduard

    2014-01-01

    Objective The risk-benefit profile of antidepressant medications in bipolar disorder is controversial. When conclusive evidence is lacking, expert consensus can guide treatment decisions. The International Society for Bipolar Disorders (ISBD) convened a task force to seek consensus recommendations on the use of antidepressants in bipolar disorders. Method An expert task force iteratively developed consensus through serial consensus-based revisions using the Delphi method. Initial survey items were based on systematic review of the literature. Subsequent surveys included new or reworded items and items that needed to be rerated. This process resulted in the final ISBD Task Force clinical recommendations on antidepressant use in bipolar disorder. Results There is striking incongruity between the wide use of and the weak evidence base for the efficacy and safety of antidepressant drugs in bipolar disorder. Few well-designed, long-term trials of prophylactic benefits have been conducted, and there is insufficient evidence for treatment benefits with antidepressants combined with mood stabilizers. A major concern is the risk for mood switch to hypomania, mania, and mixed states. Integrating the evidence and the experience of the task force members, a consensus was reached on 12 statements on the use of antidepressants in bipolar disorder. Conclusions Because of limited data, the task force could not make broad statements endorsing antidepressant use but acknowledged that individual bipolar patients may benefit from antidepressants. Regarding safety, serotonin reuptake inhibitors and bupropion may have lower rates of manic switch than tricyclic and tetracyclic antidepressants and norepinephrine-serotonin reuptake inhibitors. The frequency and severity of antidepressant-associated mood elevations appear to be greater in bipolar I than bipolar II disorder. Hence, in bipolar I patients antidepressants should be prescribed only as an adjunct to mood-stabilizing medications

  18. Shared internal models for feedforward and feedback control.

    Science.gov (United States)

    Wagner, Mark J; Smith, Maurice A

    2008-10-15

    A child often learns to ride a bicycle in the driveway, free of unforeseen obstacles. Yet when she first rides in the street, we hope that if a car suddenly pulls out in front of her, she will combine her innate goal of avoiding an accident with her learned knowledge of the bicycle, and steer away or brake. In general, when we train to perform a new motor task, our learning is most robust if it updates the rules of online error correction to reflect the rules and goals of the new task. Here we provide direct evidence that, after a new feedforward motor adaptation, motor feedback responses to unanticipated errors become precisely task appropriate, even when such errors were never experienced during training. To study this ability, we asked how, if at all, do online responses to occasional, unanticipated force pulses during reaching arm movements change after adapting to altered arm dynamics? Specifically, do they change in a task-appropriate manner? In our task, subjects learned novel velocity-dependent dynamics. However, occasional force-pulse perturbations produced unanticipated changes in velocity. Therefore, after adaptation, task-appropriate responses to unanticipated pulses should compensate corresponding changes in velocity-dependent dynamics. We found that after adaptation, pulse responses precisely compensated these changes, although they were never trained to do so. These results provide evidence for a smart feedback controller which automatically produces responses specific to the learned dynamics of the current task. To accomplish this, the neural processes underlying feedback control must (1) be capable of accurate real-time state prediction for velocity via a forward model and (2) have access to recently learned changes in internal models of limb dynamics.

  19. 77 FR 43196 - Minimum Internal Control Standards and Technical Standards

    Science.gov (United States)

    2012-07-24

    ... NATIONAL INDIAN GAMING COMMISSION 25 CFR Parts 543 and 547 Minimum Internal Control Standards [email protected] . SUPPLEMENTARY INFORMATION: Part 543 addresses minimum internal control standards (MICS) for Class II gaming operations. The regulations require tribes to establish controls and implement...

  20. The Role of the United Nations in the 21st Century: A Case for an International Police Force

    National Research Council Canada - National Science Library

    Kersten, Jeffrey

    2002-01-01

    ... its traditional logic and employment of military forces for international peacekeeping operations, The benefits of global economic investment and individual liberties should be apparent to all as a positive outcome...

  1. Internalization of Air Force Core Values Among Company Grade Officers: Where are We and Where are We Going?

    National Research Council Canada - National Science Library

    Anderson, Brian

    1997-01-01

    Our senior leadership is placing renewed emphasis on Air Force core values and recognizes the internalization of these values are critical to the long-term success of our professional officer corps...

  2. Evolution of strategies and competition in the international airline industry: a practical analysis using porter's competitive forces model

    OpenAIRE

    Zannoni, Niccolò

    2013-01-01

    This master thesis describes the evolution of the competition and strategies in the international airline industry. It studies the industry before and after deregulation, using the competitive forces model.

  3. International Veterinary Epilepsy Task Force consensus report on epilepsy definition, classification and terminology in companion animals

    DEFF Research Database (Denmark)

    Berendt, Mette; Farquhar, Robyn G; Mandigers, Paul J J

    2015-01-01

    the years reflecting always in parts the current proposals coming from the human epilepsy organisation the International League Against Epilepsy (ILAE). It has however not been possible to gain agreed consensus, "a common language", for the classification and terminology used between veterinary and human...... neurologists and neuroscientists, practitioners, neuropharmacologists and neuropathologists. This has led to an unfortunate situation where different veterinary publications and textbook chapters on epilepsy merely reflect individual author preferences with respect to terminology, which can be confusing...... to the readers and influence the definition and diagnosis of epilepsy in first line practice and research studies.In this document the International Veterinary Epilepsy Task Force (IVETF) discusses current understanding of canine epilepsy and presents our 2015 proposal for terminology and classification...

  4. Stop Blaming Disasters on Forces Beyond Our Control

    Energy Technology Data Exchange (ETDEWEB)

    Matalucci, R.V.

    1999-04-09

    As we enter the new millennium, let us recognize that the losses resulting from natural or malevolent events that cause major property damage, severe injuries, and unnecessary death are not always due to forces beyond our control. We can prevent these losses by changing the way we think and act about design and construction projects. New tools, technologies, and techniques can improve structural safety, security, and reliability and protect owners, occupants, and users against loss and casualties. Hurricane Mitch, the African embassy bombings, the ice storms in Canada and the northeastern US last winter, the Oklahoma City bombing, flooding and earthquakes in California, tornadoes and flooding in Florida, and wildfires in the Southwest are threats to the safety and security of the public and the reliability of our constructed environment. Today's engineering design community must recognize these threats and address them in our standards, building codes, and designs. We know that disasters will continue to strike and we must reduce their impact on the public. We must demand and create innovative solutions that assure a higher level of structural performance when disasters strike.

  5. Legitimacy and Force in International Security : A Regionalist Approach on Multilateralism and the Role of Legitimacy in the Modern World

    OpenAIRE

    Arnesen, Ketil Vike

    2008-01-01

    This thesis will address the issue of legitimacy within international security, with a focus on the use of force by states. Using military force against other actors in the international system will initiate a debate on its perceived legitimacy by several different audiences. This investigation uses the Regional Security Complex Theory of Buzan and Wæver and the assumptions of Idealism to instigate the analytical framework on legitimacy. This thesis will analyse the role and importance of le...

  6. Internal control in the management system of meat processing enterprises

    Directory of Open Access Journals (Sweden)

    Volodymyr Kushnir

    2018-03-01

    Full Text Available The article is described the theoretical basis of internal control and its practical aspects in the work of meat processing enterprises (a case in the meat processing industry in Ukraine. The purpose of the research is to establish the theoretical foundations of the internal control and its improvement in the activity of meat processing plants of various forms of management. It is proposed to use precisely internal control among other names of domestic control. Definition of internal control, its subject and purpose are improved. The subjects and objects of internal control are determined; the principles of its implementation are supplemented. Specific control tasks in meat processing plants according to the needs of this industry are outlined. Specific examples of control subjects are presented and the role of the revision commission is emphasized. The state of internal control in meat processing plants in Ukraine is investigated and it is established that it has a bad condition and unfounded approach to its implementation by managers of meat processing enterprises. To improve the situation we recommend that each meat processing enterprise have in its staff a revision commission or an apposer (auditor. It is established that internal control is more effective in joint-stock companies than in limited liability companies. The necessity of internal control as an important element in the enterprise management system is accented.

  7. International Narcotics Control Strategy Report, 1997

    National Research Council Canada - National Science Library

    1998-01-01

    .... Continued warfare, destmction of the economic infrastmcture and absence of a recognized central government with administrative control over the entire country remain obstacles to effective dmg control...

  8. Control of thumb force using surface functional electrical stimulation and muscle load sharing

    Science.gov (United States)

    2013-01-01

    Background Stroke survivors often have difficulties in manipulating objects with their affected hand. Thumb control plays an important role in object manipulation. Surface functional electrical stimulation (FES) can assist movement. We aim to control the 2D thumb force by predicting the sum of individual muscle forces, described by a sigmoidal muscle recruitment curve and a single force direction. Methods Five able bodied subjects and five stroke subjects were strapped in a custom built setup. The forces perpendicular to the thumb in response to FES applied to three thumb muscles were measured. We evaluated the feasibility of using recruitment curve based force vector maps in predicting output forces. In addition, we developed a closed loop force controller. Load sharing between the three muscles was used to solve the redundancy problem having three actuators to control forces in two dimensions. The thumb force was controlled towards target forces of 0.5 N and 1.0 N in multiple directions within the individual’s thumb work space. Hereby, the possibilities to use these force vector maps and the load sharing approach in feed forward and feedback force control were explored. Results The force vector prediction of the obtained model had small RMS errors with respect to the actual measured force vectors (0.22±0.17 N for the healthy subjects; 0.17±0.13 N for the stroke subjects). The stroke subjects showed a limited work range due to limited force production of the individual muscles. Performance of feed forward control without feedback, was better in healthy subjects than in stroke subjects. However, when feedback control was added performances were similar between the two groups. Feedback force control lead, especially for the stroke subjects, to a reduction in stationary errors, which improved performance. Conclusions Thumb muscle responses to FES can be described by a single force direction and a sigmoidal recruitment curve. Force in desired direction can be

  9. Internal phase transition induced by external forces in Finsler geometric model for membranes

    Science.gov (United States)

    Koibuchi, Hiroshi; Shobukhov, Andrey

    2016-10-01

    In this paper, we numerically study an anisotropic shape transformation of membranes under external forces for two-dimensional triangulated surfaces on the basis of Finsler geometry. The Finsler metric is defined by using a vector field, which is the tangential component of a three-dimensional unit vector σ corresponding to the tilt or some external macromolecules on the surface of disk topology. The sigma model Hamiltonian is assumed for the tangential component of σ with the interaction coefficient λ. For large (small) λ, the surface becomes oblong (collapsed) at relatively small bending rigidity. For the intermediate λ, the surface becomes planar. Conversely, fixing the surface with the boundary of area A or with the two-point boundaries of distance L, we find that the variable σ changes from random to aligned state with increasing of A or L for the intermediate region of λ. This implies that an internal phase transition for σ is triggered not only by the thermal fluctuations, but also by external mechanical forces. We also find that the frame (string) tension shows the expected scaling behavior with respect to A/N (L/N) at the intermediate region of A (L) where the σ configuration changes between the disordered and ordered phases. Moreover, we find that the string tension γ at sufficiently large λ is considerably smaller than that at small λ. This phenomenon resembles the so-called soft-elasticity in the liquid crystal elastomer, which is deformed by small external tensile forces.

  10. The Use of Force in Modern Counter-Terrorism: International Legal and Political Aspects

    Directory of Open Access Journals (Sweden)

    Elizaveta Sergeevna Gromoglasova

    2016-12-01

    Full Text Available The paper reviews the recent practice of the use of military force in extraterritorial counter-terrorist operations. It argues that nowadays we're witnessing a new stage in the 'war on terror' that's still going on. Although the most of the modern counter-terrorist operations like, for example, the US-led coalition against ISIL in Iraq are being conducted at the request of the affected government, the major risks of expanding and misuse of the right on individual or collective self-defense enshrined in the UN Charter are still present. This can be illustrated by reference to the US air strikes on ISIL in Syria that have been undertaken without consent of Syrian government. But the challenges emerging from 'failed states' and rise of new more radical and militant terrorist movements (ISIL, Ash-Shabaab, Boko Haram and others change the perceptions of legality of extraterritorial counter-terrorist force. The approach which reaffirms responsibility of the state for suppressing terrorist groups operating from within its territory seems to become more and more acceptable. Accordingly, if the state can't suppress terrorist activity it should accept the counter-terrorist intervention on its territory. Nevertheless, jus in bello norms (first of all international humanitarian law remain stringent legal framework for actual use of counter-terrorist military force. The paper concludes that overall political legitimacy of the modern military counter-terrorist operations should be accessed in terms of their humanitarian impact and consequences.

  11. EFFECTS OF COLUMN FAILURES ON THE INTERNAL FORCES OF ORTHOGONAL REINFORCED CONCRETE BUILDING FRAMES

    Directory of Open Access Journals (Sweden)

    Nilay KAYA

    2006-02-01

    Full Text Available In this study, the effects of column failures which may take place due to the special causes such as blast, vehicle impact, insufficient or deficient design, on the internal forces of orthogonal reinforced concrete building frames have been investigated. Calculations have been performed with SAP2000 structural analysis program, under static conditions. For a typical frame system, firstly, various column failure scenarios have been considered for uninfilled case and internal forces have been calculated and compared with those in the intact case. Then, similar calculations have been implemented for the case of presence of infill walls. The results of analyses have shown that the effects of column failures had condensed on the neighbor columns and beams of orthogonal frames on which the columns had been failed. Moreover, it has been determined that, while the bending moment capacities of the connected beams to the failed columns had exceeded in the bare frames, in the masonry infilled frames, walls give substantial support to the structural elements of the building, and capacities of the beams had not exceeded.

  12. An intelligent control scheme for precise tip-motion control in atomic force microscopy.

    Science.gov (United States)

    Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

    2016-01-01

    The paper proposes a new intelligent control method to precisely control the tip motion of the atomic force microscopy (AFM). The tip moves up and down at a high rate along the z direction during scanning, requiring the utilization of a rapid feedback controller. The standard proportional-integral (PI) feedback controller is commonly used in commercial AFMs to enable topography measurements. The controller's response performance is determined by the set of the proportional (P) parameter and the integral (I) parameter. However, the two parameters cannot be automatically altered simultaneously according to the scanning speed and the surface topography during continuors scanning, leading to an inaccurate measurement. Thus a new intelligent controller combining the fuzzy controller and the PI controller is put forward in the paper. The new controller automatically selects the most appropriate PI parameters to achieve a fast response rate on basis of the tracking errors. In the experimental setup, the new controller is realized with a digital signal process (DSP) system, implemented in a conventional AFM system. Experiments are carried out by comparing the new method with the standard PI controller. The results demonstrate that the new method is more robust and effective for the precise tip motion control, corresponding to the achievement of a highly qualified image by shortening the response time of the controller. © Wiley Periodicals, Inc.

  13. Comparison of critical circumferential through-wall-crack-lengths in welds between pieces of straight pipes to welds between straigth pipes and bends with and without internal pressure at force- and displacement-controlled bending load; Vergleich kritischer Umfangsdurchrisslaengen in Schweissnaehten zwischen Geradrohrstuecken mit Schweissnaehten an Rohrbogen-Geradrohrverbindungen mit und ohne Innendruck bei kraft- und wegkontrollierter Biegebelastung

    Energy Technology Data Exchange (ETDEWEB)

    Steinbuch, R [Fachhochschule fuer Technik und Wirtschaft Reutlingen (Germany). Fachbereich Maschinenbau

    1998-11-01

    Methods for calculation of critical, circumferential through-wall crack lengths in pipes have been developed and verified by several research projects. In applications during the last few years it has been found that the force or displacement-controlled loads have to be considered separately, and this approach was integrated into the recent methods. Methods so far assumed cracks to be located in welds joining straight pipes. But this approach starts from an incomplete picture of reality, as with today`s technology, circumferential welds are less frequent in straight pipes and much more frequent in pipework of other geometry, as for instance in welds joining straight pipes and bends, or bends with longer legs, nozzles, or T-pieces. The non-linear FEM parameter study presented in the paper, covering cases with internal pressure of pipes and one-dimensional bending loads, is based on current geometries of pipework in the primary and secondary loops of industrial plants and compares the conditions induced by circumferential through-wall cracks in welds joining only straight pipes and in those joining bended and straight pipes. At the relevant, displacement-controlled bending loads due to hampered thermal expansion of the pipe system, the critical through-wall cracks lengths occurring in pipe-to-bend welds are of about the same size and importance as those in pipe-to-pipe welds. As for the case of force-controlled loads, the technical codes calculate more serious effects and require lower bending load limits. Within the range of admissible loads given in the codes, the critical through-wall crack lengths occurring in pipe-to-bend welds are similar in size to those in straight pipe welds. It is therefore a conservative or realistic approach to apply the values determined for critical through-wall crack lengths in pipe-to-pipe joints also to pipe-to-bend welds. (orig./CB) [Deutsch] Verfahren zur Berechnung kritischer Umfangdurchrisslaengen in Rohrleitungen wurden in

  14. Investigating the effective factors on management internal controls applying

    Directory of Open Access Journals (Sweden)

    Ahmad Ahmadkhani

    2012-08-01

    Full Text Available Information technology plays an important role on increasing internal control in many organizations. In this paper, we present an empirical study to measure the impact of information technology, hiring high quality skilled management team, using high quality standards and increasing employees' awareness on managing internal control. The survey uses a questionnaire based on Likert scale and distributes among the people who work in either administration or financial sectors of governmental agencies in province of Zanjan, Iran. The results of the study indicate that the implementation of information technology positively influences management team to control their system, more effectively, using more skilled and specialized managers positively influences management internal control, an organization with suitable standard positively influences management internal control and increasing employees' awareness positively influences management internal control.

  15. Controlled evaluation of silver nanoparticle dissolution using atomic force microscopy.

    Science.gov (United States)

    Kent, Ronald D; Vikesland, Peter J

    2012-07-03

    Incorporation of silver nanoparticles (AgNPs) into an increasing number of consumer products has led to concern over the potential ecological impacts of their unintended release to the environment. Dissolution is an important environmental transformation that affects the form and concentration of AgNPs in natural waters; however, studies on AgNP dissolution kinetics are complicated by nanoparticle aggregation. Herein, nanosphere lithography (NSL) was used to fabricate uniform arrays of AgNPs immobilized on glass substrates. Nanoparticle immobilization enabled controlled evaluation of AgNP dissolution in an air-saturated phosphate buffer (pH 7.0, 25 °C) under variable NaCl concentrations in the absence of aggregation. Atomic force microscopy (AFM) was used to monitor changes in particle morphology and dissolution. Over the first day of exposure to ≥10 mM NaCl, the in-plane AgNP shape changed from triangular to circular, the sidewalls steepened, the in-plane radius decreased by 5-11 nm, and the height increased by 6-12 nm. Subsequently, particle height and in-plane radius decreased at a constant rate over a 2-week period. Dissolution rates varied linearly from 0.4 to 2.2 nm/d over the 10-550 mM NaCl concentration range tested. NaCl-catalyzed dissolution of AgNPs may play an important role in AgNP fate in saline waters and biological media. This study demonstrates the utility of NSL and AFM for the direct investigation of unaggregated AgNP dissolution.

  16. Visually aided force control with fuzzy parameter tuning

    OpenAIRE

    Çallı, Berk; Calli, Berk

    2008-01-01

    Vision and force sensors provide rich information which can enable robots to execute complex tasks. The integration of these two types of sensors may prove very useful in many industrial robotic applications, as well as for the robots that operate in environments where humans live. Vision sensors give robots the ability to operate in complex and dynamic environments. With force sensors contacts can be detected, and manipulation tasks can be done without the risk of damaging the workpiece. The...

  17. Force-controlled adjustment of car body fixtures

    OpenAIRE

    Keller, Carsten

    2014-01-01

    Production technology in modern car body assembling is affected by highly automated and complex facilities. However, in mounting car body assemblies adjustments are always necessary to react on quality instabilities of the input parts. Today these adjustments are made according to experience and with a high content of manual operation. This paper describes an innovative method that detects part deformations in a force sensitive way following the works of Dr. Muck, who developed a force sensit...

  18. Relative influences of the metocean forcings on the drifting ice pack and estimation of internal ice stress gradients in the Labrador Sea

    Science.gov (United States)

    Turnbull, I. D.; Torbati, R. Z.; Taylor, R. S.

    2017-07-01

    Understanding the relative influences of the metocean forcings on the drift of sea ice floes is a crucial component to the overall characterization of an ice environment and to developing an understanding of the factors controlling the ice dynamics. In addition, estimating the magnitude of the internal stress gradients on drifting sea ice floes generated by surrounding ice cover is important for modeling operations, informing the design of offshore structures and vessels in ice environments, and for the proper calibration of Discrete Element Models (DEM) of fields of drifting ice floes. In the spring of 2015 and 2016, four sea ice floes offshore Makkovik, Labrador were tagged with satellite-linked ice tracking buoys along with one satellite-linked weather station on each floe to transmit wind speed and direction. Twenty satellite-linked Lagrangian surface ocean current tracking buoys were also deployed in the open water adjacent to the targeted ice floes. In this paper, the dynamics of the four ice floes are explored in terms of the relative proportions which were forced by the wind, current, sea surface topography, Coriolis, and internal stress gradients. The internal ice stress gradients are calculated as residuals between the observed accelerations of the floes as measured by the tracking buoys and the sums of the other metocean forcings. Results show that internal ice stress gradients accounted for up to 50% of the observed forcing on the floes, and may have reached up to around 0.19 kPa.

  19. In-depth Study on Cylinder Wake Controlled by Lorentz Force

    International Nuclear Information System (INIS)

    Zhang Hui; Fan Bao-Chun; Chen Zhi-Hua

    2011-01-01

    The underlying mechanisms of the electromagnetic control of cylinder wake are investigated and discussed. The effects of Lorentz force are found to be composed of two parts, one is its direct action on the cylinder (the wall Lorentz force) and the other is applied to the fluid (called the field Lorentz force) near the cylinder surface. Our results show that the wall Lorentz force can generate thrust and reduce the drag; the field Lorentz force increases the drag. However, the cylinder drag is dominated by the wall Lorentz force. In addition, the field Lorentz force above the upper surface decreases the lift, while the upper wall Lorentz force increases it. The total lift is dominated by the upper wall Lorentz force. (fundamental areas of phenomenology(including applications))

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

    Science.gov (United States)

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

    2013-01-01

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

  1. The Nuclotron internal target control and data acquisition system

    Energy Technology Data Exchange (ETDEWEB)

    Isupov, A.Yu., E-mail: isupov@moonhe.jinr.ru [Joint Institute for Nuclear Research, Dubna 141980 (Russian Federation); Krasnov, V.A.; Ladygin, V.P.; Piyadin, S.M.; Reznikov, S.G. [Joint Institute for Nuclear Research, Dubna 141980 (Russian Federation)

    2013-01-11

    The new control system of the Nuclotron (JINR, Dubna) internal target is described in both hardware and software aspects. The CAMAC hardware is based on the use of the standard CAMAC modules developed and manufactured at JINR. The internal target control and data acquisition (IntTarg CDAQ) system software is implemented using the ngdp framework under the Unix-like operating system (OS) FreeBSD to allow easy network distribution of the online data collected from internal target and accompanying detectors, as well as the internal target remote control.

  2. Modelling and controlling infectious diseases | IDRC - International ...

    International Development Research Centre (IDRC) Digital Library (Canada)

    The research team is exploring the potential of mathematical modelling to ... to China's health system and improvements to its medical research capacity. ... and on the scientific board of the Gates Foundation's Global Health program. ... He has published more than 400 research papers in national and international journals.

  3. METHODOLOGICAL ASPECTS OF THE INTERNAL CONTROL SYSTEM FORMATION

    Directory of Open Access Journals (Sweden)

    Larisa I. Egorova

    2014-01-01

    Full Text Available The methodological aspects of the internal control system formation are stated in the article. The great attention is focused on the problems of financial statements misrepresentation. The basic principles and structure of the internal control system are discussed in this article.

  4. Internal control in the company in order to financial monitoring

    Directory of Open Access Journals (Sweden)

    Osipov A.V.

    2017-04-01

    Full Text Available the article explores the definition of financial monitoring, financial analysis and internal control in aspect to their correlation to fight money laundering and terrorism financing. Internal control is analyzed from the point of view of law, economics and management. The author pays much attention in the article to the work of systems of financial monitoring in organizations.

  5. Internal quality control in serological tests for syphilis.

    OpenAIRE

    Wasley, G D

    1985-01-01

    The importance of syphilis serological tests demands that laboratory reports are reliable. Internal quality control applied to the organisation of a syphilis serology service improves laboratory bench performance and reporting. Described here are internal quality control procedures of a department that serves a genitourinary medicine clinic and conducts 70 000 tests a year to investigate for syphilis.

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

    Science.gov (United States)

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

    2009-04-01

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

  7. INTERNAL CONTROLS IN ENSURING GOOD CORPORATE GOVERNANCE IN FINANCIAL INSTITUTIONS

    Directory of Open Access Journals (Sweden)

    KOSMAS NJANIKE

    2011-01-01

    Full Text Available This paper assessed factors that influence the internal controls in ensuring good corporate governance in financial institutions in developing economies with special reference to Zimbabwe. The research paper assessed how lack of internal controls affected good corporate governance and aimed to bring out elements of good corporate governance. It emerged that failure to effectively implement internal controls contributed significantly to poor corporate governance. The study discovered that internal control system overrides and the issue of “fact cat” directors also contributed to poor corporate governance. The study recommended that there is need for the board of directors to guarantee an organizational structure that clearly defines management responsibilities, authority and reporting relationships. There is also need to ensure that delegated responsibilities are effectively carried out to ensure compliance with internal controls of the financial institution concerned.

  8. Learning to push and learning to move: The adaptive control of contact forces

    Directory of Open Access Journals (Sweden)

    Maura eCasadio

    2015-11-01

    Full Text Available To be successful at manipulating objects one needs to apply simultaneously well controlled movements and contact forces. We present a computational theory of how the brain may successfully generate a vast spectrum of interactive behaviors by combining two independent processes. One process is competent to control movements in free space and the other is competent to control contact forces against rigid constraints. Free space and rigid constraints are singularities at the boundaries of a continuum of mechanical impedance. Within this continuum, forces and motions occur in compatible pairs connected by the equations of Newtonian dynamics. The force applied to an object determines its motion. Conversely, inverse dynamics determine a unique force trajectory from a movement trajectory. In this perspective, we describe motor learning as a process leading to the discovery of compatible force/motion pairs. The learned compatible pairs constitute a local representation of the environment's mechanics. Experiments on force field adaptation have already provided us with evidence that the brain is able to predict and compensate the forces encountered when one is attempting to generate a motion. Here, we tested the theory in the dual case, i.e. when one attempts at applying a desired contact force against a simulated rigid surface. If the surface becomes unexpectedly compliant, the contact point moves as a function of the applied force and this causes the applied force to deviate from its desired value. We found that, through repeated attempts at generating the desired contact force, subjects discovered the unique compatible hand motion. When, after learning, the rigid contact was unexpectedly restored, subjects displayed after effects of learning, consistent with the concurrent operation of a motion control system and a force control system. Together, theory and experiment support a new and broader view of modularity in the coordinated control of forces and

  9. Minnowbrook VI: 2009 Workshop on Flow Physics and Control for Internal and External Aerodynamics

    Science.gov (United States)

    LaGraff, John E.; Povinelli, Louis A.; Gostelow, J. Paul; Glauser, Mark

    2010-01-01

    Topics covered include: Flow Physics and control for Internal and External Aerodynamics (not in TOC...starts on pg13); Breaking CFD Bottlenecks in Gas-Turbine Flow-Path Design; Streamwise Vortices on the Convex Surfaces of Circular Cylinders and Turbomachinery Blading; DNS and Embedded DNS as Tools for Investigating Unsteady Heat Transfer Phenomena in Turbines; Cavitation, Flow Structure and Turbulence in the Tip Region of a Rotor Blade; Development and Application of Plasma Actuators for Active Control of High-Speed and High Reynolds Number Flows; Active Flow Control of Lifting Surface With Flap-Current Activities and Future Directions; Closed-Loop Control of Vortex Formation in Separated Flows; Global Instability on Laminar Separation Bubbles-Revisited; Very Large-Scale Motions in Smooth and Rough Wall Boundary Layers; Instability of a Supersonic Boundary-Layer With Localized Roughness; Active Control of Open Cavities; Amplitude Scaling of Active Separation Control; U.S. Air Force Research Laboratory's Need for Flow Physics and Control With Applications Involving Aero-Optics and Weapon Bay Cavities; Some Issues Related to Integrating Active Flow Control With Flight Control; Active Flow Control Strategies Using Surface Pressure Measurements; Reduction of Unsteady Forcing in a Vaned, Contra-Rotating Transonic Turbine Configuration; Active Flow Control Stator With Coanda Surface; Controlling Separation in Turbomachines; Flow Control on Low-Pressure Turbine Airfoils Using Vortex Generator Jets; Reduced Order Modeling Incompressible Flows; Study and Control of Flow Past Disk, and Circular and Rectangular Cylinders Aligned in the Flow; Periodic Forcing of a Turbulent Axisymmetric Wake; Control of Vortex Breakdown in Critical Swirl Regime Using Azimuthal Forcing; External and Turbomachinery Flow Control Working Group; Boundary Layers, Transitions and Separation; Efficiency Considerations in Low Pressure Turbines; Summary of Conference; and Final Plenary Session

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

    Science.gov (United States)

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

    2014-09-01

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

  11. Internal Control Systems in the Library Environment.

    Science.gov (United States)

    Begg, Robert T.

    1985-01-01

    Examines system for safeguarding assets and guaranteeing reliability of library's financial records within context of management functions that comprise accounting controls: planning by budget or other standard of comparison; operation of effective accounting and record-keeping system; personnel management practices. Cash controls as example of…

  12. Zambia Tobacco Control Campaign | IDRC - International ...

    International Development Research Centre (IDRC) Digital Library (Canada)

    The looming tobacco epidemic and its potential for thwarting development has prompted most governments in sub-Saharan Africa to ratify the World Health Organization's Framework Convention on Tobacco Control (WHO-FCTC). Ratifying countries must design and implement a national tobacco control action plan and ...

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

    Science.gov (United States)

    Eslami, Sohrab

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

  14. Analytical model of cracking due to rebar corrosion expansion in concrete considering the structure internal force

    Science.gov (United States)

    Lin, Xiangyue; Peng, Minli; Lei, Fengming; Tan, Jiangxian; Shi, Huacheng

    2017-12-01

    Based on the assumptions of uniform corrosion and linear elastic expansion, an analytical model of cracking due to rebar corrosion expansion in concrete was established, which is able to consider the structure internal force. And then, by means of the complex variable function theory and series expansion technology established by Muskhelishvili, the corresponding stress component functions of concrete around the reinforcement were obtained. Also, a comparative analysis was conducted between the numerical simulation model and present model in this paper. The results show that the calculation results of both methods were consistent with each other, and the numerical deviation was less than 10%, proving that the analytical model established in this paper is reliable.

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

    Science.gov (United States)

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

    2016-02-01

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

  16. PC-based digital feedback control for scanning force microscope

    International Nuclear Information System (INIS)

    Mohd Ashhar Khalid

    2002-01-01

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

  17. Treating juvenile idiopathic arthritis to target: recommendations of an international task force.

    Science.gov (United States)

    Ravelli, Angelo; Consolaro, Alessandro; Horneff, Gerd; Laxer, Ronald M; Lovell, Daniel J; Wulffraat, Nico M; Akikusa, Jonathan D; Al-Mayouf, Sulaiman M; Antón, Jordi; Avcin, Tadej; Berard, Roberta A; Beresford, Michael W; Burgos-Vargas, Ruben; Cimaz, Rolando; De Benedetti, Fabrizio; Demirkaya, Erkan; Foell, Dirk; Itoh, Yasuhiko; Lahdenne, Pekka; Morgan, Esi M; Quartier, Pierre; Ruperto, Nicolino; Russo, Ricardo; Saad-Magalhães, Claudia; Sawhney, Sujata; Scott, Christiaan; Shenoi, Susan; Swart, Joost F; Uziel, Yosef; Vastert, Sebastiaan J; Smolen, Josef S

    2018-06-01

    Recent therapeutic advances in juvenile idiopathic arthritis (JIA) have made remission an achievable goal for most patients. Reaching this target leads to improved outcomes. The objective was to develop recommendations for treating JIA to target. A Steering Committee formulated a set of recommendations based on evidence derived from a systematic literature review. These were subsequently discussed, amended and voted on by an international Task Force of 30 paediatric rheumatologists in a consensus-based, Delphi-like procedure. Although the literature review did not reveal trials that compared a treat-to-target approach with another or no strategy, it provided indirect evidence regarding an optimised approach to therapy that facilitated development of recommendations. The group agreed on six overarching principles and eight recommendations. The main treatment target, which should be based on a shared decision with parents/patients, was defined as remission, with the alternative target of low disease activity. The frequency and timeline of follow-up evaluations to ensure achievement and maintenance of the target depend on JIA category and level of disease activity. Additional recommendations emphasise the importance of ensuring adequate growth and development and avoiding long-term systemic glucocorticoid administration to maintain the target. All items were agreed on by more than 80% of the members of the Task Force. A research agenda was formulated. The Task Force developed recommendations for treating JIA to target, being aware that the evidence is not strong and needs to be expanded by future research. These recommendations can inform various stakeholders about strategies to reach optimal outcomes for JIA. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2018. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

  18. AUTOMATION OF THE SYSTEM OF INTERNAL LABORATORY QUALITY CONTROL

    Directory of Open Access Journals (Sweden)

    V. Z. Stetsyuk

    2015-05-01

    Full Text Available Quality control system base d on the principles of standardi zation of all phases of laboratory testing and analysis of internal laboratory quality control and external quality assessment. For the detection accuracy of the results of laboratory tests, carried out internally between the laboratory and laboratory quality control. Under internal laboratory quality control we understand measurement results of each analysis in each anal ytical series rendered directly in the lab every day. The purpose of internal laboratory control - identifying and eliminating unacceptable deviations from standard perfor mance test in the laboratory, i.e. identifying and eliminating harmful analytical errors. The solutions to these problems by implementing automated systems - software that allows you to optimize analytical laboratory research stage of the procedure by automatically creating process control charts was shown.

  19. Optimization of Easy Atomic Force Microscope (ezAFM) Controls for Semiconductor Nanostructure Profiling

    Science.gov (United States)

    2017-09-01

    ARL-MR-0965 ● SEP 2017 US Army Research Laboratory Optimization of Easy Atomic Force Microscope (ezAFM) Controls for... Optimization of Easy Atomic Force Microscope (ezAFM) Controls for Semiconductor Nanostructure Profiling by Satwik Bisoi Science and...REPORT TYPE Memorandum Report 3. DATES COVERED (From - To) 2017 July 05–2017 August 18 4. TITLE AND SUBTITLE Optimization of Easy Atomic Force

  20. Hybrid Force Control Based on ICMAC for an Astronaut Rehabilitative Training Robot

    OpenAIRE

    Lixun Zhang; Yupeng Zou; Lan Wang; Xinping Pei

    2012-01-01

    A novel Astronaut Rehabilitative Training Robot (ART) based on a cable‐driven mechanism is represented in this paper. ART, a typical passive force servo system, can help astronauts to bench press in a microgravity environment. The purpose of this paper is to design controllers to eliminate the surplus force caused by an astronaut’s active movements. Based on the dynamics modelling of the cable‐driven unit, a hybrid force controller based on improved credit assignment CMAC (ICMAC) is presented...

  1. Hypersonic force measurements using internal balance based on optical micromachined Fabry-Perot interferometry

    Science.gov (United States)

    Qiu, Huacheng; Min, Fu; Zhong, Shaolong; Song, Xin; Yang, Yanguang

    2018-03-01

    Force measurements using wind tunnel balance are necessary for determining a variety of aerodynamic performance parameters, while the harsh environment in hypersonic flows requires that the measurement instrument should be reliable and robust, in against strong electromagnetic interference, high vacuum, or metal (oxide) dusts. In this paper, we demonstrated a three-component internal balance for hypersonic aerodynamic force measurements, using novel optical micromachined Fabry-Perot interferometric (FPI) strain gauges as sensing elements. The FPI gauges were fabricated using Micro-Opto-Electro-Mechanical Systems (MOEMS) surface and bulk fabrication techniques. High-reflectivity coatings are used to form a high-finesse Fabry-Perot cavity, which benefits a high resolution. Antireflective and passivation coatings are used to reduce unwanted interferences. The FPI strain gauge based balance has been calibrated and evaluated in a Mach 5 hypersonic flow. The results are compared with the traditional technique using the foil resistive strain gauge balance, indicating that the proposed balance based on the MOEMS FPI strain gauge is reliable and robust and is potentially suitable for the hypersonic wind tunnel harsh environment.

  2. Internal Decoupling in Nonlinear Process Control

    Directory of Open Access Journals (Sweden)

    Jens G. Balchen

    1988-07-01

    Full Text Available A simple method has been investigated for the total or partial removal of the effect of non-linear process phenomena in multi-variable feedback control systems. The method is based upon computing the control variables which will drive the process at desired rates. It is shown that the effect of model errors in the linearization of the process can be partly removed through the use of large feedback gains. In practice there will be limits on how large gains can he used. The sensitivity to parameter errors is less pronounced and the transient behaviour is superior to that of ordinary PI controllers.

  3. Internal Controlling of a Radiology Department.

    Science.gov (United States)

    Frewer, W; Busch, H P

    2015-11-01

    Caused by legal reform initiatives there is a continuous need to increase effectiveness and efficiency in hospitals and surgeries, and thus to improve processes.Consequently the successful management of radiological departments and surgeries requires suitable structures and optimization processes to make optimization in the fields of medical quality, service quality and efficiency possible.In future in the DRG System it is necessary that the organisation of processes must focus on the whole clinical treatment of the patients (Clinical Pathways). Therefore the functions of controlling must be more established and adjusted. On the basis of select Controlling instruments like budgeting, performance indicators, process optimization, staff controlling and benchmarking the target-based and efficient control of radiological surgeries and departments is shown. © Georg Thieme Verlag KG Stuttgart · New York.

  4. Dynamics modeling for parallel haptic interfaces with force sensing and control.

    Science.gov (United States)

    Bernstein, Nicholas; Lawrence, Dale; Pao, Lucy

    2013-01-01

    Closed-loop force control can be used on haptic interfaces (HIs) to mitigate the effects of mechanism dynamics. A single multidimensional force-torque sensor is often employed to measure the interaction force between the haptic device and the user's hand. The parallel haptic interface at the University of Colorado (CU) instead employs smaller 1D force sensors oriented along each of the five actuating rods to build up a 5D force vector. This paper shows that a particular manipulandum/hand partition in the system dynamics is induced by the placement and type of force sensing, and discusses the implications on force and impedance control for parallel haptic interfaces. The details of a "squaring down" process are also discussed, showing how to obtain reduced degree-of-freedom models from the general six degree-of-freedom dynamics formulation.

  5. Differences in grip force control between young and late middle-aged adults.

    Science.gov (United States)

    Zheng, Lianrong; Li, Kunyang; Wang, Qian; Chen, Wenhui; Song, Rong; Liu, Guanzheng

    2017-09-01

    Grip force control is a crucial function for human to guarantee the quality of life. To examine the effects of age on grip force control, 10 young adults and 11 late middle-aged adults participated in visually guided tracking tasks using different target force levels (25, 50, and 75% of the subject's maximal grip force). Multiple measures were used to evaluate the tracking performance during force rising phase and force maintenance phase. The measurements include the rise time, fuzzy entropy, mean force percentage, coefficient of variation, and target deviation ratio. The results show that the maximal grip force was significantly lower in the late middle-aged adults than in the young adults. The time of rising phase was systematically longer among late middle-aged adults. The fuzzy entropy is a useful indicator for quantitating the force variability of the grip force signal at higher force levels. These results suggest that the late middle-aged adults applied a compensatory strategy that allow allows for sufficient time to reach the required grip force and reduce the impact of the early and subtle degenerative changes in hand motor function.

  6. The everyday violence of forced displacement : community, memory and identity politics among Kurdish internal forced migrants in Turkey

    NARCIS (Netherlands)

    Geerse, M.T.

    2011-01-01

    Kurds in Turkey: the everyday violence of their forced displacement. Roughly fifteen years ago, more than one million Kurds were forcibly displaced from their villages in Southeast Turkey, mostly by Turkish security troops, who were engaged in a violent struggle with the PKK, an armed organization

  7. Control over multiscale mixing in broadband-forced turbulence

    NARCIS (Netherlands)

    Kuczaj, Arkadiusz K.; Geurts, Bernardus J.

    2008-01-01

    The effects of explicit flow modulation on the dispersion of a passive scalar field are studied. Broadband forcing is applied to homogeneous isotropic turbulence to modulate the energy cascading and alter the kinetic energy spectrum. Consequently, a manipulation of turbulent flow can be achieved

  8. Grasping an augmented object to analyse manipulative force control.

    Science.gov (United States)

    Kawai, Satoru; Summers, Valerie A; Mackenzie, Christine L; Ivens, Chris J; Yamamoto, Takashi

    2002-12-15

    Augmented reality allows changes to be made to the visual perception of object size even while the tangible components remain completely unaltered. It was, therefore, utilized in a study whose results are being reported here to provide the proper environment required to thoroughly observe the exact effect that visual change to object size had on programming fingertip forces when objects were lifted with a precision grip. Twenty-one participants performed repeated lifts of an identical grip apparatus to a height of 20 mm, maintained each lift for 8 seconds, and then replaced the grip apparatus on the table. While all other factors of the grip apparatus remained unchanged, visual appearance was altered graphically in a 3-D augmented environment. The grip apparatus measured grip and load forces independently. Grip and load forces demonstrated significant rates of increase as well as peak forces as the size of graphical images increased; an aspect that occurred in spite of the fact that extraneous haptic information remained constant throughout the trials. By indicating a human tendency to rely - even unconsciously - on visual input to program the forces in the initial lifting phase, this finding provides further confirmation of previous research findings obtained in the physical environment; including the possibility of extraneous haptic effects (Gordon et al. 1991a, Mon-Williams and Murray 2000, Kawai et al. 2000). The present results also suggest that existing knowledge concerning human manipulation tasks in the physical world may be applied to an augmented environment where the physical objects are enhanced by computer generated visual components.

  9. FORCE STRUCTURE: Better Management Controls Are Needed to Oversee the Army's Modular Force and Expansion Initiatives and Improve Accountability for Results

    National Research Council Canada - National Science Library

    2007-01-01

    .... For this report, GAO assessed to what extent the Army has accomplished the following: (1) implemented and established management controls for its modular force and force expansion initiatives, and (2...

  10. A Design Method of Robust Servo Internal Model Control with Control Input Saturation

    OpenAIRE

    山田, 功; 舩見, 洋祐

    2001-01-01

    In the present paper, we examine a design method of robust servo Internal Model Control with control input saturation. First of all, we clarify the condition that Internal Model Control has robust servo characteristics for the system with control input saturation. From this consideration, we propose new design method of Internal Model Control with robust servo characteristics. A numerical example to illustrate the effectiveness of the proposed method is shown.

  11. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    International Nuclear Information System (INIS)

    Kim, Hyo-gon; Han, Changsoo; Lee, Jong-won; Park, Sangdeok

    2015-01-01

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program

  12. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hyo-gon; Han, Changsoo [Hanyang University, Seoul (Korea, Republic of); Lee, Jong-won [Korea University of Science and Technology, Seoul (Korea, Republic of); Park, Sangdeok [Korea Institute of Industrial Technology, Seoul (Korea, Republic of)

    2015-02-15

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program.

  13. Control Design of Active Magnetic Bearings for Rotors Subjected to Destabilising Seal Forces - Theory & Experiment

    DEFF Research Database (Denmark)

    Lauridsen, Jonas Skjødt

    . At present, there is no generally accepted method for determination of dynamic seal forces. Therefore, large uncertainties must be expected when modelling dynamic seal forces and consequently also in rotor-dynamic stability analysis. This thesis focuses on i) closed loop identification of uncertain AMB...... parameters, ii) closed loop identification of unknown stiffness and damping coefficients of a dynamicseal model and iii) the design of AMB controllers to handle dynamic seal forces. Controllers that can guarantee stability and performance in the presence of uncertainseal forces are of special interest...... the uncertaintiesin seal forces and for LPV control synthesis, to compensate for known changes in seal forces due to changes in operating conditions. A rotor dynamic test facility with a rigid rotor, two radial AMBs and one annular test seal is used for i) closed loop identification of parameters in the AMB...

  14. Helicopter internal noise control: Three case histories

    Science.gov (United States)

    Edwards, B. D.; Cox, C. R.

    1978-01-01

    Case histories are described in which measurable improvements in the cabin noise environments of the Bell 214B, 206B, and 222 were realized. These case histories trace the noise control efforts followed in each vehicle. Among the design approaches considered, the addition of a fluid pulsation damper in a hydraulic system and the installation of elastomeric engine mounts are highlighted. It is concluded that substantial weight savings result when the major interior noise sources are controlled by design, both in altering the noise producing mechanism and interrupting the sound transmission paths.

  15. Determinants of human resource investment in internal controls

    Directory of Open Access Journals (Sweden)

    Jong-Hag Choi

    2013-09-01

    Full Text Available Using the unique reporting environment in Korea, this study investigates the determinants of human resource investment in internal controls for 1352 listed firms disclosing the number of personnel who are in charge of internal control-related tasks (IC personnel from 2005 to 2008. We find that the number of IC personnel within a firm and several key departments increase with firm size, number of employees, complexity and for Chaebols, and decrease in rapidly growing firms. Additional analysis reveals that the factors influencing internal control systems have an accentuated effect on firms with relatively larger firm size.

  16. Influence Implementation Internal Control To Quality Audit Internal Education Consultant In Indonesian

    Directory of Open Access Journals (Sweden)

    Nur Zeina Maya Sari

    2015-08-01

    Full Text Available Abstract This research focus to quality audit internal with accountancy Inspection. Hameed 1995 found that the most important factors that affect auditing quality are auditors experience honesty and the knowledge in accounting and auditing standards. Research into this express an inspection of Intern Accountancy amp attributed to Monetary inspection an consultant education with quality. Audit quality is obtained by a process of identifying and administering the activities needed to achieve the quality objectives . Since an entityamp8223s internal control is under the purview of its audit committee Krishnan 2005 the relation between audit committee quality and internal control weaknesses is a subject to be investigated. The methodology used is a quantitative analysis by examining the relationship between variables conceptually. While some study its accounting activity. In self-supporting internal control. Internal control is defined as a process affected by an entitys board of directors management and other personnel designed to provide reasonable assurance regarding the achievement of objectives International Organization of Supreme Audit Institutions 1998 its bearing by reporting level an environment and reduction conduct in reporting result of mistake. What finally involvement by Audit Intern can be of benefit. In addition to researching into proposing Audit Intern can improve the target of consultant education going concern.

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

    Directory of Open Access Journals (Sweden)

    Xin Gao

    2014-01-01

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

  18. Investigating the Role of International Law in Controlling Communicable Diseases

    Directory of Open Access Journals (Sweden)

    Aliasghar Kheirkhah

    2017-02-01

    Full Text Available International law globally plays a key role in the surveillance and control of communicable diseases. Throughout the nineteenth century, international law played a dominant role in harmonizing the inconsistent national quarantine regulations of European nation states; facilitating the exchange of epidemiological information on infectious diseases; establishing international health organizations; and standardization of surveillance. Today, due to changed forms of infectious diseases and individuals' lifestyles as well as individuals' proximity caused by increased air travels, communicable diseases are in an international and cross-border form. In this regard, binding regulations and inconsistent rules adopted in international multilateral institutions like the World Health Organization, World Trade Organization, Food and Agriculture Organization can be of great use in surveillance and control of communicable diseases. With the globalization of public health, international law can be used as an essential tool in monitoring global health and reducing human vulnerability and mortality.

  19. International lighting in controlled environments workshop: Proceedings

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-12-31

    Lighting is a central and critical aspect of control in environmental research for plant research and is gaining recognition as a significant factor to control carefully for animal and human research. Thus this workshop was convened to reevaluate the technology that is available today and to work toward developing guidelines for the most effective use of lighting in controlled environments with emphasis on lighting for plants but also to initiate interest in the development of improved guidelines for human and animal research. There are a number of established guidelines for lighting in human and animal environments. Development of new lighting guidelines is necessary for three reasons: (1) recent scientific discoveries show that in addition to supporting the sensation of vision, light has profound nonvisual biological and behavioral effects in both animals and humans; (2) federal regulations (EPACT 1992) are requiring all indoor environments to become more energy efficient with a specific emphasis on energy conservation in lighting; (3) lighting engineers and manufacturers have developed a wealth of new light sources and lighting products that can be applied in animal and human environments. The workshop was aimed at bringing together plant scientists and physical scientists to interact in the discussions. It involved participation of biological scientists involved in studying mechanisms of light reactions and those involved in utilizing lighting for production of plants and maintenance of animals in controlled environments. It included participation of physical scientists from universities and government involved in research as well as those from industry involved in producing lamps and in construction of controlled growth facilities. Selected papers are indexed separately for inclusion in the Energy Science and Technology Database.

  20. Magnetic particle separation using controllable magnetic force switches

    International Nuclear Information System (INIS)

    Wei Zunghang; Lee, C.-P.; Lai, M.-F.

    2010-01-01

    Magnetic particle separation is very important in biomedical applications. In this study, a magnetic particle microseparator is proposed that uses micro magnets to produce open/closed magnetic flux for switching on/off the separation. When all magnets are magnetized in the same direction, the magnetic force switch for separation is on; almost all magnetic particles are trapped in the channel side walls and the separation rate can reach 95%. When the magnetization directions of adjacent magnets are opposite, the magnetic force switch for separation is off, and most magnetic particles pass through the microchannel without being trapped. For the separation of multi-sized magnetic particles, the proposed microseparator is numerically demonstrated to have high separation rate.

  1. The climatic out of control. the climatic forcing

    International Nuclear Information System (INIS)

    Bony-Lena, S.; Dufresne, J.L.; Acot, P.; Friedlingstein, P.; Berger, A.; Loutre, M.L.; Raynaud, D.; Thuiller, W.; Le Treut, H.; Houssais, M.N.; Duplessy, J.C.; Royer, J.F.; Douville, H.; Barberousse, A.; Quinon, P.

    2007-01-01

    The expert group on the climate evolution affirms that the global warming is unequivocal and that the human being is the main responsible. This document broaches the climatic change under many aspects: the principle, the historical aspect of the greenhouse effect, the GIEC, the carbon cycle, the paleo-climate theory, the antarctic ices and the impacts of the climatic change on the biodiversity, the simulations and the models, the climatic indicators and the climatic forcing by human activities. (A.L.B.)

  2. Chapter 10. Multinational and international controls. Paper 18. Nuclear proliferation: arrangements for international control

    International Nuclear Information System (INIS)

    Rotblat, J.

    1979-01-01

    In the context of nuclear proliferation, the role of Third World countries is crucial since they constitute the great majority of nations, but only a few of them have as yet decided on their future energy programmes. Both the IAEA and the nuclear energy industries are urging them to opt for nuclear power. This is undesirable, because nuclear energy is an unsuitable energy source for most of these countries; it would create a new economic dependence on industrialized countries and would greatly increase the dangers of a nuclear war. To counteract this, measures are needed (a) to encourage Third World countries to meet their energy need from sources other than nuclear ones; (b) to reduce pressures on countries to acquire nuclear reactors; and (c) to eliminate the threat of new hegemonies to countries that already have nuclear power. To achieve this, it is proposed that two new international organizations be set up. One, a World Energy Organization (WEO), would be a specialized agency of the United Nations, with functions similar to those of WHO or FAO but with sufficient funds to make loans to individual countries which accept WEO's advice about their energy programmes. The second, an International Nuclear Fuel Agency (INFA), would be the sole authority to operate enrichment, fuel fabrication, reprocessing and waste disposal plants. Organizationally, it could be part of the IAEA, but the latter would have to separate its promotional and safeguarding activities. An amendment to the NPT would be needed to oblige all countries both nuclear and non-nuclear weapon states, equally to accept INFA controls. (author)

  3. 2013 International Conference on Mechatronics and Automatic Control Systems

    CERN Document Server

    2014-01-01

    This book examines mechatronics and automatic control systems. The book covers important emerging topics in signal processing, control theory, sensors, mechanic manufacturing systems and automation. The book presents papers from the 2013 International Conference on Mechatronics and Automatic Control Systems held in Hangzhou, China on August 10-11, 2013. .

  4. Optical Control of Internal Conversion in Pyrazine

    Science.gov (United States)

    Barry, Grant; Singha, Sima; Hu, Zhan; Seideman, Tamar; Gordon, Robert

    2014-03-01

    We apply quantum control schemes previously reserved for atoms and small molecules to more complex polyatomic molecules. Pyrazine was chosen as a model polyatomic molecule for its well-studied conical intersection seam between the S1 and S2 potential energy surfaces (PESs). Using shaped ultraviolet femtosecond laser pulses, we demonstrate optical control of the excited state dynamics of this molecule under collisionless conditions. This was achieved in a pump-probe experiment by employing a genetic algorithm programmed to suppress ionization of the pyrazine molecules at a preselected time. Our findings indicate that the optimized pulses localize the wave packet for times up to 1.5 ps at a location on the coupled S1/S2 PESs where ionization is energetically forbidden. Our approach is general and does not require knowledge of the molecular Hamiltonian. Funding provided by National Science Foundation grant no. CHE-0848198.

  5. Fuel cell with internal flow control

    Science.gov (United States)

    Haltiner, Jr., Karl J.; Venkiteswaran, Arun [Karnataka, IN

    2012-06-12

    A fuel cell stack is provided with a plurality of fuel cell cassettes where each fuel cell cassette has a fuel cell with an anode and cathode. The fuel cell stack includes an anode supply chimney for supplying fuel to the anode of each fuel cell cassette, an anode return chimney for removing anode exhaust from the anode of each fuel cell cassette, a cathode supply chimney for supplying oxidant to the cathode of each fuel cell cassette, and a cathode return chimney for removing cathode exhaust from the cathode of each fuel cell cassette. A first fuel cell cassette includes a flow control member disposed between the anode supply chimney and the anode return chimney or between the cathode supply chimney and the cathode return chimney such that the flow control member provides a flow restriction different from at least one other fuel cell cassettes.

  6. Forced-air warming design: evaluation of intake filtration, internal microbial buildup, and airborne-contamination emissions.

    Science.gov (United States)

    Reed, Mike; Kimberger, Oliver; McGovern, Paul D; Albrecht, Mark C

    2013-08-01

    Forced-air warming devices are effective for the prevention of surgical hypothermia. However, these devices intake nonsterile floor-level air, and it is unknown whether they have adequate filtration measures to prevent the internal buildup or emission of microbial contaminants. We rated the intake filtration efficiency of a popular current-generation forced-air warming device (Bair Hugger model 750, Arizant Healthcare) using a monodisperse sodium chloride aerosol in the laboratory. We further sampled 23 forced-air warming devices (same model) in daily hospital use for internal microbial buildup and airborne-contamination emissions via swabbing and particle counting. Laboratory testing found the intake filter to be 63.8% efficient. Swabbing detected microorganisms within 100% of the forced-air warming blowers sampled, with isolates of coagulase-negative staphylococci, mold, and micrococci identified. Particle counting showed 96% of forced-air warming blowers to be emitting significant levels of internally generated airborne contaminants out of the hose end. These findings highlight the need for upgraded intake filtration, preferably high-efficiency particulate air filtration (99.97% efficient), on current-generation forced-air warming devices to reduce contamination buildup and emission risks.

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

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  8. Reduce Fraud Risk in Your District with Stronger Internal Controls

    Science.gov (United States)

    Okrzesik, Daryl J.; Nuehring, Bert G.

    2011-01-01

    Internal accounts offer schools a faster, more convenient way to handle the income and expenses that result from student fees, school clubs and organizations, field trips, fund-raising, and similar activities. But this convenience also incurs the added risk of fraud. Fortunately, there are proven ways to strengthen internal controls and reduce…

  9. 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.

  10. Evaluation of the expression of internal control transcripts by real ...

    African Journals Online (AJOL)

    Evaluation of the expression of internal control transcripts by real-time RT-PCR analysis during tomato flower abscission. Song Gao, Tao Xu, Mingfang Qi, Yufeng Liu, Hong Li, Shuangshuang Lv, Jinhong Li, Tianlai Li ...

  11. The Future Control of Food: A Guide to International Negotiations ...

    International Development Research Centre (IDRC) Digital Library (Canada)

    2008-02-05

    Feb 5, 2008 ... The Future Control of Food: A Guide to International Negotiations and Rules on Intellectual ... New funding opportunity to fight antimicrobial resistance ... IDRC and key partners will showcase critical work on adaptation and ...

  12. Construction of an internal amplification control for Mycobacterium ...

    African Journals Online (AJOL)

    Elham

    2013-07-03

    Jul 3, 2013 ... million and 10 bacteria and the most suitable internal control concentration for the mix was ... But the risk of contamination is unavoidable in normal ..... Contamination Management: Implication for Broad-Range Ribosomal.

  13. Notification: FY 2018 CSB Management Challenges and Internal Control Weaknesses

    Science.gov (United States)

    December 26, 2017. The OIG is beginning work to update for fiscal year 2018 its list of proposed key management challenges and internal control weaknesses confronting the U.S. Chemical Safety and Hazard Investigation Board (CSB).

  14. Study on electromagnetism force of CARR control rod drive mechanism experimental machine

    International Nuclear Information System (INIS)

    Zhu Xuewei; Zhen Jianxiao; Wang Yulin; Jia Yueguang; Yang Kun; Yin Haozhe

    2015-01-01

    With the aim of acquiring electromagnetic force and electromagnetic field distributions of control rod drive mechanism (CRDM) in China Advanced Research Reactor (CARR), the force analysis on the CRDM was taken. Manufacturing the experimental machine, the electromagnetic force experiment was taken on it. The electromagnetic field and electromagnetic force simulation analyses of experimental machine were taken, working out distribution data of electromagnetic force and magnetic induction intensity distribution curve, and the effects of permanent magnetic field on electromagnetic field and structure parameters on electromagnetic force. The simulation value is accord with experiment value, the research results provide a reference to electromagnetic force study on CRDM in CARR, and also provide a reference to design of the same type CRDM. (authors)

  15. Internal Capital Market Controls and Financial Performance in Multidivisional Firms.

    OpenAIRE

    Hill, Charles W L

    1988-01-01

    It is proposed that, within the population of M-form firms, the control systems necessary to realize economic benefits from interrelationships between subunits o f a firm are incompatible with the systems necessary to realize benef its from an M-form type internal capital market. This hypothesis is t ested on 156 large U.K. firms. Questionnaire data are used to classif y the firms according to their internal control characteristics. The findings provide tentative support for the hypothesis. C...

  16. An Analysis of Internal Controls and Procurement Fraud Deterrence

    Science.gov (United States)

    2013-12-01

    might keep the organization from achieving its objectives and analyze risks , including fraud risk , so as to decide how the risk should be managed ( COSO ...internal control to adequately manage the risk ( COSO , 2013). Risk management involves developing the effective internal control targeted at a...structure and management . While the risk of fraud cannot be eliminated entirely, it can be greatly reduced with an appropriate procurement fraud prevention

  17. Internal controls and credit risk relationship among banks in Europe

    Directory of Open Access Journals (Sweden)

    Ellis Kofi Akwaa-Sekyi

    2017-01-01

    Full Text Available Purpose: The study purport to investigate the effectiveness of internal control mechanisms, investigate whether evidence of agency problem is found among banks in Europe and determine how internal controls affect credit risk. Design/methodology/approach: Panel data from 91 banks from 23 European Union countries were studied from 2008-2014. Hausman’s specification test suggest the use of fixed effects estimation technique of GLS. Quantitatively modelled data on 15 variables covering elements of internal controls, objectives of internal controls, agency problem, bank and country specific variables were used. Findings: There is still high credit risk in spite of measures being implemented by the European Central Bank. Banks have individual entity factors that increase or decrease credit risk. The study finds effective internal control systems because objectives of internal controls are achieved and significantly determine credit risk. Agency problem is confirmed due to significant positive relation with credit risk. There is significant effect of internal controls on credit risk with specific variables as risk assessment, return on average risk weighted assets, institutional ownership, bank size, inflation, interest rate and GDP. Research limitations/implications: Missing data prevented the use of strongly balanced panel. The lack of flexibility with using quantitative approach did not allow further scrutiny of the nature of variables. However, statistical tests were acceptable for the model used. The study has implications for management and owners of banks to be warry of agency problem because that provides incentive for reckless high risk transactions that may benefit the agent than the principal. Management must engage in actions that profile the company better and enhances value maximization. Rising default risk has tendency to impair corporate image leading to loss of reputational capital. Originality/value: The study provides the use of

  18. Control Modes in International Service Operations: The Propensity to Franchise

    OpenAIRE

    Karin Fladmoe-Lindquist; Laurent L. Jacque

    1995-01-01

    What determines a service firm's organizational choice between equity-based control and franchising? This question, which has elicited some theoretical answers and a few empirical tests in a domestic setting, has never been addressed in an international context before. This study explains the mode of control chosen in terms of a theoretical framework which borrows from agency theory and transaction cost analysis. The propensity to franchise internationally was found to be directly related to ...

  19. Inhibition of TRAIL-induced apoptosis and forced internalization of TRAIL receptor 1 by adenovirus proteins.

    Science.gov (United States)

    Tollefson, A E; Toth, K; Doronin, K; Kuppuswamy, M; Doronina, O A; Lichtenstein, D L; Hermiston, T W; Smith, C A; Wold, W S

    2001-10-01

    Tumor necrosis factor (TNF)-related apoptosis-inducing ligand (TRAIL) induces apoptosis through two receptors, TRAIL-R1 (also known as death receptor 4) and TRAIL-R2 (also known as death receptor 5), that are members of the TNF receptor superfamily of death domain-containing receptors. We show that human adenovirus type 5 encodes three proteins, named RID (previously named E3-10.4K/14.5K), E3-14.7K, and E1B-19K, that independently inhibit TRAIL-induced apoptosis of infected human cells. This conclusion was derived from studies using wild-type adenovirus, adenovirus replication-competent mutants that lack one or more of the RID, E3-14.7K, and E1B-19K genes, and adenovirus E1-minus replication-defective vectors that express all E3 genes, RID plus E3-14.7K only, RID only, or E3-14.7K only. RID inhibits TRAIL-induced apoptosis when cells are sensitized to TRAIL either by adenovirus infection or treatment with cycloheximide. RID induces the internalization of TRAIL-R1 from the cell surface, as shown by flow cytometry and indirect immunofluorescence for TRAIL-R1. TRAIL-R1 was internalized in distinct vesicles which are very likely to be endosomes and lysosomes. TRAIL-R1 is degraded, as indicated by the disappearance of the TRAIL-R1 immunofluorescence signal. Degradation was inhibited by bafilomycin A1, a drug that prevents acidification of vesicles and the sorting of receptors from late endosomes to lysosomes, implying that degradation occurs in lysosomes. RID was also shown previously to internalize and degrade another death domain receptor, Fas, and to prevent apoptosis through Fas and the TNF receptor. RID was shown previously to force the internalization and degradation of the epidermal growth factor receptor. E1B-19K was shown previously to block apoptosis through Fas, and both E1B-19K and E3-14.7K were found to prevent apoptosis through the TNF receptor. These findings suggest that the receptors for TRAIL, Fas ligand, and TNF play a role in limiting virus

  20. Air Force Command and Control: The Need for Increased Adaptability

    Science.gov (United States)

    2012-07-01

    that other services such as the Marines have already developed a deploy- able and scalable C2 capability. There may be economy of scales gained by...GDSS global decision support system GIG Global Information Grid GNO global network operations HOA Horn of Africa HQ headquarters ISAF International

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

    Energy Technology Data Exchange (ETDEWEB)

    Anthony L. Crawford

    2012-08-01

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

  2. A ''Fifth Force'' search using a controlled local mass

    International Nuclear Information System (INIS)

    Nelson, P.; Graham, D.; Nelson, P.; Newman, R.

    1988-01-01

    We present a progress report on a search for composition dependence in the forces acting on lead and copper test masses on a torsion balance due to a copper or lead attracting mass. The attracting mass in this experiment is a ring of radius R positioned so that the torsion balance lies on its axis at a distance z = √3/2.R from the ring's center. The ring is moved periodically between symmetric positions on opposite sides of the balance. The resulting change in gravitational field experienced by the balance is spatially uniform to a very high degree: all derivatives of the change in field at the center of the balance vanish through third order. The problem of gravitational field gradients coupling to the balance is thus minimized. This experiment should provide useful limits on the strength of composition dependent anomalous forces, independent of their range (for ranges greater than about 50 cm), and independent of assumptions about surrounding topography. We describe the performance of a first version of the experiment using a 28 kg copper ring, and discuss plans for an experiment using a 300 kg lead ring. No results are reported

  3. Exoskeleton master controller with force-reflecting telepresence

    Science.gov (United States)

    Burke, James B.; Bartholet, Stephen J.; Nelson, David K.

    1992-01-01

    A thorough understanding of the requirements for successful master-slave robotic systems is becoming increasingly desirable. Such systems can aid in the accomplishment of tasks that are hazardous or inaccessible to humans. Although a history of use has proven master-slave systems to be viable, system requirements and the impact of specifications on the human factors side of system performance are not well known. In support of the next phase of teleoperation research being conducted at the Armstrong Research Laboratory, a force-reflecting, seven degree of freedom exoskeleton for master-slave teleoperation has been concepted, and is presently being developed. The exoskeleton has a unique kinematic structure that complements the structure of the human arm. It provides a natural means for teleoperating a dexterous, possibly redundant manipulator. It allows ease of use without operator fatigue and faithfully follows human arm and wrist motions. Reflected forces and moments are remotely transmitted to the operator hand grip using a cable transmission scheme. This paper presents the exoskeleton concept and development results to date. Conceptual design, hardware, algorithms, computer architecture, and software are covered.

  4. Nuclear materials control and accountability internal audit program

    International Nuclear Information System (INIS)

    Barham, M.A.; Abbott, R.R.

    1991-01-01

    This paper reports that the Department of Energy Order (DOE) 5633.3, Control and Accountability for Nuclear Materials, includes several requirements for development and implementation of an internal audit program. Martin Marietta Energy System, Inc., manages five sites in Tennessee, Kentucky, and Ohio for the DOE Field Office, Oak Ridge and has a Central Nuclear Materials Control and Accountability (NMC and A) Manager with matrixed responsibility for the NMC and A program at the five sites. The Energy Systems Central NMC and A Manager has developed an NMC and A Internal Audit Handbook which defines the functional responsibilities, performance criteria, and reporting and documentation requirements for the Energy Systems NMC and A Internal Audit Program. The initial work to develop and implement these standards was tested at the K-25 Site when the site hired an internal auditor to meet the DOE requirements for an NMC and A Internal Audit program

  5. Complimentary Force Allocation Control for a Dual-Mover Linear Switched Reluctance Machine

    Directory of Open Access Journals (Sweden)

    J. F. Pan

    2017-12-01

    Full Text Available This paper inspects the complementary force allocation control schemes for an integrated, dual-mover linear switched reluctance machine (LSRM. The performance of the total force is realized by the coordination of the two movers. First, the structure and characteristics of the LSRM are investigated. Then, a complimentary force allocation control scheme for the two movers is proposed. Next, three force allocation methods—constant proportion, constant proportion with a saturation interval and error compensation, and the variable proportion allocation strategies—are proposed and analyzed, respectively. Experimental results demonstrate that the complimentary force interaction between the two movers can effectively reduce the total amount of force ripples from each method. The results under the variable proportion method also show that dynamic error values falling into 0.044 mm and −0.04 mm under the unit ramp force reference can be achieved. With the sinusoidal force reference with an amplitude of 60 N and a frequency of 0.5 Hz, a dynamic force control precision of 0.062 N and 0.091 N can also be obtained.

  6. Experimental study on the control interaction force coefficient; Soju ryutairyoku kansho keisu ni kansuru jikkenteki kenkyu

    Energy Technology Data Exchange (ETDEWEB)

    Nakatake, K; Oda, K; Yoshitake, A; Fujita, K; Nakajima, A [Kyushu University, Fukuoka (Japan). Faculty of Engineering

    1996-04-10

    The interaction force induced to hull by steering is important for prediction of control performance of ships. The control interaction force coefficient dependent on the steering has been investigated through the rudder angle tests using three small model ships with a length of 2.5 m, i.e., mathematical type of ship, cargo type of ship, and tanker type of ship. The interaction forces acting on the hull, propeller, and rudder were determined by measuring the lateral force as well as the forward force of the hydrodynamic forces acting on the rudder. These forces were compared with the theoretically calculated values. Prior to the rudder angle tests, the self propulsion factor and the number of revolution of propeller were determined from the results of the open water tests, resistance tests, and self propulsion tests by the changing load method. The rudder angle tests were conducted under this number of revolution of propeller as a standard condition, and under those increasing and decreasing by 15%. Consequently, the interaction forces determined from the rudder angle tests agreed well with those determined from the other tests. When comparing the control hydrodynamic forces determined from the tests with those theoretically calculated, a similar trend was observed. Effectiveness of the theoretical model was confirmed. 4 refs., 14 figs., 3 tabs.

  7. The International Neuroblastoma Risk Group (INRG) staging system: an INRG Task Force report.

    Science.gov (United States)

    Monclair, Tom; Brodeur, Garrett M; Ambros, Peter F; Brisse, Hervé J; Cecchetto, Giovanni; Holmes, Keith; Kaneko, Michio; London, Wendy B; Matthay, Katherine K; Nuchtern, Jed G; von Schweinitz, Dietrich; Simon, Thorsten; Cohn, Susan L; Pearson, Andrew D J

    2009-01-10

    The International Neuroblastoma Risk Group (INRG) classification system was developed to establish a consensus approach for pretreatment risk stratification. Because the International Neuroblastoma Staging System (INSS) is a postsurgical staging system, a new clinical staging system was required for the INRG pretreatment risk classification system. To stage patients before any treatment, the INRG Task Force, consisting of neuroblastoma experts from Australia/New Zealand, China, Europe, Japan, and North America, developed a new INRG staging system (INRGSS) based on clinical criteria and image-defined risk factors (IDRFs). To investigate the impact of IDRFs on outcome, survival analyses were performed on 661 European patients with INSS stages 1, 2, or 3 disease for whom IDRFs were known. In the INGRSS, locoregional tumors are staged L1 or L2 based on the absence or presence of one or more of 20 IDRFs, respectively. Metastatic tumors are defined as stage M, except for stage MS, in which metastases are confined to the skin, liver, and/or bone marrow in children younger than 18 months of age. Within the 661-patient cohort, IDRFs were present (ie, stage L2) in 21% of patients with stage 1, 45% of patients with stage 2, and 94% of patients with stage 3 disease. Patients with INRGSS stage L2 disease had significantly lower 5-year event-free survival than those with INRGSS stage L1 disease (78% +/- 4% v 90% +/- 3%; P = .0010). Use of the new staging (INRGSS) and risk classification (INRG) of neuroblastoma will greatly facilitate the comparison of risk-based clinical trials conducted in different regions of the world.

  8. 2nd International Conference on Mechatronics and Automatic Control

    CERN Document Server

    2015-01-01

    This book examines mechatronics and automatic control systems. The book covers important emerging topics in signal processing, control theory, sensors, mechanic manufacturing systems and automation. The book presents papers from the second International Conference on Mechatronics and Automatic Control Systems held in Beijing, China on September 20-21, 2014. Examines how to improve productivity through the latest advanced technologies Covering new systems and techniques in the broad field of mechatronics and automatic control systems.

  9. Internal laboratory control in residue analysis of chlorinated hydrocarbons

    Energy Technology Data Exchange (ETDEWEB)

    1980-01-01

    The thesis contains a chapter on gaschromatographic system in which gas current, temperatures, separation system, detector system, recorder, dosing system and integrator are described. The chapter on reagents deals with standards and solvents, absorbents and other reagents. The chapter on laboratory equipment deals with general recommendations for apparatus, purification and total numerical result of blank test. The chapter ''Methods'' contains general references, aptitude for a special problem, common investigations and control by standard reference materials. The chapter on the work up of samples treats extraction, purification, concentrating the solution, internal standard, multiple determination and control samples. The chapter on measurement presents calibration, internal standard, multiple determination, securing the result and control samples. The chapter on evaluation consists of qualitative and quantitave evaluation, decision criteria and communication of the result. The chapter of documentation described routine investigations, tests and controls of internal laboratory control, preliminary works, maintenance and service works.

  10. A methodology for controlling motion and constraint forces in holonomically constrained systems

    International Nuclear Information System (INIS)

    Sapio, Vincent De; Srinivasa, Narayan

    2015-01-01

    Holonomic constraints are ubiquitous in multibody systems. We present an approach to effectively address the control of holonomically constrained systems using a novel decomposition of task, constraint, and posture space. In addition to providing a natural approach for motion control in the presence of constraints, this scheme also allows for concurrent specification of desired constraint forces, given sufficient actuation. It does this by exposing both motion coordinates and constraint forces within the control formalism, allowing for substantial flexibility in control synthesis. Implementations are presented based on a partitioning of the constraint forces into controlled and uncontrolled subsets, as well as a specification of implicit conditions on the constraint forces. A number of examples demonstrate the practical efficacy of the approach. Finally, a system-level methodology for constraint management during robot interactions with the environment is presented

  11. 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)

  12. A methodology for controlling motion and constraint forces in holonomically constrained systems

    Energy Technology Data Exchange (ETDEWEB)

    Sapio, Vincent De, E-mail: vdesapio@hrl.com; Srinivasa, Narayan, E-mail: nsrinivasa@hrl.com [HRL Laboratories, LLC, Information and Systems Sciences Laboratory (United States)

    2015-02-15

    Holonomic constraints are ubiquitous in multibody systems. We present an approach to effectively address the control of holonomically constrained systems using a novel decomposition of task, constraint, and posture space. In addition to providing a natural approach for motion control in the presence of constraints, this scheme also allows for concurrent specification of desired constraint forces, given sufficient actuation. It does this by exposing both motion coordinates and constraint forces within the control formalism, allowing for substantial flexibility in control synthesis. Implementations are presented based on a partitioning of the constraint forces into controlled and uncontrolled subsets, as well as a specification of implicit conditions on the constraint forces. A number of examples demonstrate the practical efficacy of the approach. Finally, a system-level methodology for constraint management during robot interactions with the environment is presented.

  13. Force control of a magnetorheological damper using an elementary hysteresis model-based feedforward neural network

    International Nuclear Information System (INIS)

    Ekkachai, Kittipong; Nilkhamhang, Itthisek; Tungpimolrut, Kanokvate

    2013-01-01

    An inverse controller is proposed for a magnetorheological (MR) damper that consists of a hysteresis model and a voltage controller. The force characteristics of the MR damper caused by excitation signals are represented by a feedforward neural network (FNN) with an elementary hysteresis model (EHM). The voltage controller is constructed using another FNN to calculate a suitable input signal that will allow the MR damper to produce the desired damping force. The performance of the proposed EHM-based FNN controller is experimentally compared to existing control methodologies, such as clipped-optimal control, signum function control, conventional FNN, and recurrent neural network with displacement or velocity inputs. The results show that the proposed controller, which does not require force feedback to implement, provides excellent accuracy, fast response time, and lower energy consumption. (paper)

  14. Identification and Modeling of Electrohydraulic Force Control of the Material Test System (MTS)

    International Nuclear Information System (INIS)

    Ruan, J; Pei, X; Zhu, F M

    2006-01-01

    In the heavy-duty material test device, an electrohydraulic force servo system is usually utilized to load the tested samples. The signal from the pressure sensor is compared with the instruction and the difference between them is then fed to a digital servo valve to form a closed loop control to the target force. The performance of the electrohydraulic force servo system is not only closely related to how accurate to feed the flow rate to the hydraulic cylinder, but also the stiffness of the system which is dominated by the compressibility of oil. Thus the clarification of the characteristic parameters becomes the key of the solution to optimal force control. To identify the electrohydraulic force servo system various step signals are input to excite the dynamic response of the system. From the relationship between the step magnitude and the force response, the system model and the key control parameters are determined. The electrohydraulic force servo system is identified as a first order system with time constant varied with the pressure. Based on the identification of the system optimal control parameters are finally obtained and force rate error is reduced to 0.2% from original 3%

  15. Reasons for medical evacuations of soldiers serving in International Security Assistance Force (ISAF) operation in Afghanistan.

    Science.gov (United States)

    Korzeniewski, Krzysztof; Gregulski, Robert

    2014-01-01

    The article presents the results of a research study into the reasons for medical evacuations of Polish military personnel taking part in the International Security Assistance Force (ISAF) operation in Afghanistan from 2007 to 2013. The authors have analysed medical records of 485 soldiers who were medically evacuated out of a combat zone in Afghanistan for battle injuries, non-battle injuries and diseases. Each medically evacuated Polish soldier was subjected to statistical analysis. The study population comprised 25,974 soldiers assigned to the Polish Military Contingent Afghanistan in the given period. From 2007 to 2013, 1.9% of the Polish military personnel (n = 485) participating in the ISAF operation in Afghanistan were evacuated for medical reasons before the scheduled termination of their contract. 40.6% of all medical evacuations were due to battle injuries, 32.4% due to non-battle injuries, and 27.0% due to diseases. ISAF is an example of a combat operation, in which battle injuries remain the leading health problem in mission participants. 3 of 4 Polish soldiers who were medically evacuated from Afghanistan were no longer fit for military service in the area of operations due to the traumas they had suffered.

  16. Force control in the absence of visual and tactile feedback

    NARCIS (Netherlands)

    Mugge, W.; Abbink, D.A.; Schouten, Alfred Christiaan; van der Helm, F.C.T.; Arendzen, J.H.; Meskers, C.G.M.

    2013-01-01

    Motor control tasks like stance or object handling require sensory feedback from proprioception, vision and touch. The distinction between tactile and proprioceptive sensors is not frequently made in dynamic motor control tasks, and if so, mostly based on signal latency. We previously found that

  17. 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.

  18. Dynamical signatures of isometric force control as a function of age, expertise, and task constraints.

    Science.gov (United States)

    Vieluf, Solveig; Sleimen-Malkoun, Rita; Voelcker-Rehage, Claudia; Jirsa, Viktor; Reuter, Eva-Maria; Godde, Ben; Temprado, Jean-Jacques; Huys, Raoul

    2017-07-01

    From the conceptual and methodological framework of the dynamical systems approach, force control results from complex interactions of various subsystems yielding observable behavioral fluctuations, which comprise both deterministic (predictable) and stochastic (noise-like) dynamical components. Here, we investigated these components contributing to the observed variability in force control in groups of participants differing in age and expertise level. To this aim, young (18-25 yr) as well as late middle-aged (55-65 yr) novices and experts (precision mechanics) performed a force maintenance and a force modulation task. Results showed that whereas the amplitude of force variability did not differ across groups in the maintenance tasks, in the modulation task it was higher for late middle-aged novices than for experts and higher for both these groups than for young participants. Within both tasks and for all groups, stochastic fluctuations were lowest where the deterministic influence was smallest. However, although all groups showed similar dynamics underlying force control in the maintenance task, a group effect was found for deterministic and stochastic fluctuations in the modulation task. The latter findings imply that both components were involved in the observed group differences in the variability of force fluctuations in the modulation task. These findings suggest that between groups the general characteristics of the dynamics do not differ in either task and that force control is more affected by age than by expertise. However, expertise seems to counteract some of the age effects. NEW & NOTEWORTHY Stochastic and deterministic dynamical components contribute to force production. Dynamical signatures differ between force maintenance and cyclic force modulation tasks but hardly between age and expertise groups. Differences in both stochastic and deterministic components are associated with group differences in behavioral variability, and observed behavioral

  19. A compact internal drum test rig for measurements of rolling contact forces between a single tread block and a substrate

    NARCIS (Netherlands)

    Lundberg, O.E.; Kari, L.; Lopez Arteaga, I.

    2017-01-01

    A novel test rig design is presented which enables detailed studies of the three force components generated in the impact and release phase of rolling contact between a tyre tread block and a substrate. The design of the compact internal drum test rig provides realistic impact and release angles for

  20. The Prediction of Labor Force Status: Implications from International Adult Skill Assessments. Research Report. ETS RR-16-11

    Science.gov (United States)

    Li, Tongyun; von Davier, Matthias; Hancock, Gregory R.

    2016-01-01

    This report investigates the prediction of labor force status using observed variables, such as gender, age, and immigrant status, and more importantly, measured skill variables, including literacy proficiency and a categorical rating of educational attainment based on the 1994 International Adult Literacy Survey (IALS), the 2003 Adult Literacy…

  1. THE IMPACT OF LEFT HEMISPHERE STROKE ON FORCE CONTROL WITH FAMILIAR AND NOVEL OBJECTS: NEUROANATOMIC SUBSTRATES AND RELATIONSHIP TO APRAXIA

    Science.gov (United States)

    Dawson, Amanda M.; Buxbaum, Laurel J.; Duff, Susan V.

    2010-01-01

    Fingertip force scaling for lifting objects frequently occurs in anticipation of finger contact. An ongoing question concerns the types of memories that are used to inform predictive control. Object-specific information such as weight may be stored and retrieved when previously encountered objects are lifted again. Alternatively, visual size and shape cues may provide estimates of object density each time objects are encountered. We reasoned that differences in performance with familiar versus novel objects would provide support for the former possibility. Anticipatory force production with both familiar and novel objects was assessed in 6 left hemisphere stroke patients, 2 of whom exhibited deficient actions with familiar objects (ideomotor apraxia; IMA), along with 5 control subjects. In contrast to healthy controls and stroke participants without IMA, participants with IMA displayed poor anticipatory scaling with familiar objects. However, like the other groups, IMA participants learned to differentiate fingertip forces with repeated lifts of both familiar and novel objects. Finally, there was a significant correlation between damage to the inferior parietal and superior and middle temporal lobes, and impaired anticipatory control for familiar objects. These data support the hypotheses that anticipatory control during lifts of familiar objects in IMA patients are based on object-specific memories, and that the ventro-dorsal stream is involved in the long-term storage of internal models used for anticipatory scaling during object manipulation. PMID:19945445

  2. Prediction of forces and moments for flight vehicle control effectors. Part 1: Validation of methods for predicting hypersonic vehicle controls forces and moments

    Science.gov (United States)

    Maughmer, Mark D.; Ozoroski, L.; Ozoroski, T.; Straussfogel, D.

    1990-01-01

    Many types of hypersonic aircraft configurations are currently being studied for feasibility of future development. Since the control of the hypersonic configurations throughout the speed range has a major impact on acceptable designs, it must be considered in the conceptual design stage. The ability of the aerodynamic analysis methods contained in an industry standard conceptual design system, APAS II, to estimate the forces and moments generated through control surface deflections from low subsonic to high hypersonic speeds is considered. Predicted control forces and moments generated by various control effectors are compared with previously published wind tunnel and flight test data for three configurations: the North American X-15, the Space Shuttle Orbiter, and a hypersonic research airplane concept. Qualitative summaries of the results are given for each longitudinal force and moment and each control derivative in the various speed ranges. Results show that all predictions of longitudinal stability and control derivatives are acceptable for use at the conceptual design stage. Results for most lateral/directional control derivatives are acceptable for conceptual design purposes; however, predictions at supersonic Mach numbers for the change in yawing moment due to aileron deflection and the change in rolling moment due to rudder deflection are found to be unacceptable. Including shielding effects in the analysis is shown to have little effect on lift and pitching moment predictions while improving drag predictions.

  3. Issues of internal control during the reform period

    Directory of Open Access Journals (Sweden)

    O.I. Gresova

    2012-12-01

    Full Text Available The paper considers theoretical and methodological problems of organization and financial control activities, the main problems and reasons causing the need for a unified system of internal financial control in the State Administration of Railway Transport of Ukraine at the stage of the reform.

  4. Model tracking dual stochastic controller design under irregular internal noises

    International Nuclear Information System (INIS)

    Lee, Jong Bok; Heo, Hoon; Cho, Yun Hyun; Ji, Tae Young

    2006-01-01

    Although many methods about the control of irregular external noise have been introduced and implemented, it is still necessary to design a controller that will be more effective and efficient methods to exclude for various noises. Accumulation of errors due to model tracking, internal noises (thermal noise, shot noise and l/f noise) that come from elements such as resistor, diode and transistor etc. in the circuit system and numerical errors due to digital process often destabilize the system and reduce the system performance. New stochastic controller is adopted to remove those noises using conventional controller simultaneously. Design method of a model tracking dual controller is proposed to improve the stability of system while removing external and internal noises. In the study, design process of the model tracking dual stochastic controller is introduced that improves system performance and guarantees robustness under irregular internal noises which can be created internally. The model tracking dual stochastic controller utilizing F-P-K stochastic control technique developed earlier is implemented to reveal its performance via simulation

  5. Hybrid Force Control Based on ICMAC for an Astronaut Rehabilitative Training Robot

    Directory of Open Access Journals (Sweden)

    Lixun Zhang

    2012-08-01

    Full Text Available A novel Astronaut Rehabilitative Training Robot (ART based on a cable-driven mechanism is represented in this paper. ART, a typical passive force servo system, can help astronauts to bench press in a microgravity environment. The purpose of this paper is to design controllers to eliminate the surplus force caused by an astronaut's active movements. Based on the dynamics modelling of the cable-driven unit, a hybrid force controller based on improved credit assignment CMAC (ICMAC is presented. A planning method for the cable tension is proposed so that the dynamic load produced by the ART can realistically simulate the gravity and inertial force of the barbell in a gravity environment. Finally, MATLAB simulation results of the man-machine cooperation system are provided in order to verify the effectiveness of the proposed control strategy. The simulation results show that the hybrid control method based on the structure invariance principle can inhibit the surplus force and that ICMAC can improve the dynamic performance of the passive force servo system. Furthermore, the hybrid force controller based on ICMAC can ensure the stability of the system.

  6. Anticipatory planning and control of grasp positions and forces for dexterous two-digit manipulation.

    Science.gov (United States)

    Fu, Qiushi; Zhang, Wei; Santello, Marco

    2010-07-07

    Dexterous object manipulation requires anticipatory control of digit positions and forces. Despite extensive studies on sensorimotor learning of digit forces, how humans learn to coordinate digit positions and forces has never been addressed. Furthermore, the functional role of anticipatory modulation of digit placement to object properties remains to be investigated. We addressed these questions by asking human subjects (12 females, 12 males) to grasp and lift an inverted T-shaped object using precision grip at constrained or self-chosen locations. The task requirement was to minimize object roll during lift. When digit position was not constrained, subjects could have implemented many equally valid digit position-force coordination patterns. However, choice of digit placement might also have resulted in large trial-to-trial variability of digit position, hence challenging the extent to which the CNS could have relied on sensorimotor memories for anticipatory control of digit forces. We hypothesized that subjects would modulate digit placement for optimal force distribution and digit forces as a function of variable digit positions. All subjects learned to minimize object roll within the first three trials, and the unconstrained device was associated with significantly smaller grip forces but larger variability of digit positions. Importantly, however, digit load force modulation compensated for position variability, thus ensuring consistent object roll minimization on each trial. This indicates that subjects learned object manipulation by integrating sensorimotor memories with sensory feedback about digit positions. These results are discussed in the context of motor equivalence and sensorimotor integration of grasp kinematics and kinetics.

  7. Nuclear reactor internals and control rod handling device

    International Nuclear Information System (INIS)

    Betancourt, G.N.; Etzel, W.W.

    1981-01-01

    A method and apparatus for removing, in an essentially continuous operation, the control rods and the upper guide structure from a nuclear reactor vessel during refueling. The apparatus includes a rigid frame which is secured to the upper guide structure after the vessel head is removed. A platform is vertically reciprocable within the frame and is adapted to engage and lift simultaneously all control rod drive shafts to a maximum elevation within the frame. A mechanical interface between the platform and the frame is provided so that continuation of the lifting force on the platform transfers the lift force to the frame whereby the upper guide structure is lifted out of the vessel. Automatically operated stop means are provided to lock the platform and rods in the maximum elevation within the frame in order to prevent accidental dropping of the rods during transfer of the upper guide structure and control rods to a temporary storage area

  8. Specificity of continuous auditing approach on information technology internal controls

    Directory of Open Access Journals (Sweden)

    Kaćanski Slobodan

    2012-01-01

    Full Text Available Contemporary business world, can not be imagined without the use of information technology in all aspects of business. The use of information technology in manufacturing and non-production companies' activities can greatly facilitate and accelerate the process of operation and control. Because of its complexity, they possess vulnerable areas and provide space for the emergence of accidental and intentional frauds that can significantly materially affect the business decisions made by the companies' management. Implementation of internal controls can greatly reduce the level of errors that can contribute to making the wrong decisions. In order to protect the operating system, the company's management implement an internal audit to periodically examine the fundamental quality of the internal control systems. Since the internal audit, according to its character, only periodically checks quality of internal control systems and information technologies to be reported to the manager, the problem arises in the process of in wrong time reporting the management structures of the business entity. To eliminate this problem, management implements a special approach to internal audit, called continuous auditing.

  9. Reform of Command and Control Structures in North Atlantic Treaty Organization Special Operations Forces

    National Research Council Canada - National Science Library

    Berg, Robert S

    2007-01-01

    .... The central research question is as follows: Does NATO require a standing Special Operations Force Command and Control structure and combat capability to meet the emerging global security requirements of the Alliance...

  10. Centralized Command and Control of Theater Missile Defense: The Joint Force Missile Defense Component Coordinator

    National Research Council Canada - National Science Library

    Bucey, William H

    2006-01-01

    .... The numerous commands, decentralized command and control, and limited and expensive resources involved in TMD require changes to the joint doctrine in order to provide unity of command and economy of force...

  11. Sliding mode-based lateral vehicle dynamics control using tyre force measurements

    Science.gov (United States)

    Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

    2015-11-01

    In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

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

    Directory of Open Access Journals (Sweden)

    Ali Tavasoli

    2012-01-01

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

  13. Consequences of Inconsistency in Air Force Tobacco Control Policy.

    Science.gov (United States)

    Lando-King, Elizabeth A; Malone, Ruth E; Haddock, Christopher K; Poston, Walker S Carlos; Lando, Harry A; Jahnke, Sara A; Hawk, Nita; Smith, Elizabeth A

    2017-04-01

    Although the United States Air Force (USAF) has been a leader in efforts to reduce tobacco use among service members, tobacco continues to be a problem and initiatives to decrease tobacco use further require buy-in from leadership. We explored line leaderships' perspectives on tobacco. A diverse group of 10 senior commissioned and 10 non-commissioned personnel were interviewed. Respondents reported substantial changes in the culture of tobacco use during their years of service, from near ubiquity to restricted use areas. They also perceived mixed messages coming from the USAF, including simultaneous discouragement of and accommodations for tobacco use, and variability in policies and enforcement. Many respondents indicated that allowing tobacco use creates conflict and undermines military discipline and suggested that a tobacco-free policy would be the best way to eliminate these contradictions. Although there has been substantial movement away from a culture of tobacco in the USAF, current policies and variable enforcement of these policies create unnecessary contradictions. Establishing a tobacco-free service would resolve these issues in addition to improving the health of service members and veterans.

  14. 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.

  15. Investigation of the Effect of Internal Mold Release Agent and Filler on the Pulling Force in Pultrusion Process

    Directory of Open Access Journals (Sweden)

    M. Esfandeh

    2007-08-01

    Full Text Available Pulling force is one of the most important variables in pultrusion process which determines the capacity of the pultrusion machine. One of the characteristics of a desired pultrusion process is a low pulling force and a high line speed.Among the important factors affecting the pulling force are the internal mold release agent (IMR and the content and particle size of the filler in resin formulation. In addition to facilitating the part separation from the die, IMR also affects the curing kinetics and in turn the pulling force. In this research, a commercial IMR has been used in a range 1-5 phr. DSC and DMTAAnalyses showed that the presence of IMR in concentrations above 3 phr reduces the heat of curing reaction and also the curing rate. This results in an increase in pulling force. Study of filler effect showed that the increase in filler content from 4 to 8 phr reduces the pulling force but beyond that it is increased. Also, decreasing the filler particle size in line speed lower than 30 cm/min reduces the pulling force but increases it at higher line speed.

  16. The importance of domestic law to international arms control

    International Nuclear Information System (INIS)

    Lehman, R.F. II.

    1993-11-01

    Studies of arms control and disarmament tend to focus on political, military, and diplomatic processes. Recently, in the context of the conversion of defense activities to civilian use, the economic aspects of arms control have also received renewed interest. The legal dimension, however, is in need of fresh examination. Both international and domestic law are sailing increasingly in uncharted waters. Recent arms control agreements and related developments in international peacekeeping have expanded the scope of international law and altered how one perceives certain fundamentals, including the principle of national sovereignty. Still, the nation state is largely unchallenged as the primary actor in international affairs. National governments retain near absolute sovereign rights and responsibilities even in an age of trans-national economic integration and codified international norms for human rights, freedom of the press, and the peaceful resolution of disputes. Indeed, the role of domestic law in arms control and disarmament may be more significant now than ever before. A brief review of relationships between arms control and domestic law should illustrate ways in which ones thinking has been underestimating the importance of domestic law. Hopefully, this survey will set the stage properly for the excellent, more detailed case studies by Elinor Hammarskjold and Alan Crawford. Toward that end, this paper will highlight a number of more general, and sometimes provocative, themes. These themes should be kept in mind when those two complementary presentations are considered

  17. The importance of domestic law to international arms control

    Energy Technology Data Exchange (ETDEWEB)

    Lehman, R.F. II

    1993-11-01

    Studies of arms control and disarmament tend to focus on political, military, and diplomatic processes. Recently, in the context of the conversion of defense activities to civilian use, the economic aspects of arms control have also received renewed interest. The legal dimension, however, is in need of fresh examination. Both international and domestic law are sailing increasingly in uncharted waters. Recent arms control agreements and related developments in international peacekeeping have expanded the scope of international law and altered how one perceives certain fundamentals, including the principle of national sovereignty. Still, the nation state is largely unchallenged as the primary actor in international affairs. National governments retain near absolute sovereign rights and responsibilities even in an age of trans-national economic integration and codified international norms for human rights, freedom of the press, and the peaceful resolution of disputes. Indeed, the role of domestic law in arms control and disarmament may be more significant now than ever before. A brief review of relationships between arms control and domestic law should illustrate ways in which ones thinking has been underestimating the importance of domestic law. Hopefully, this survey will set the stage properly for the excellent, more detailed case studies by Elinor Hammarskjold and Alan Crawford. Toward that end, this paper will highlight a number of more general, and sometimes provocative, themes. These themes should be kept in mind when those two complementary presentations are considered.

  18. Internal quality control of RIA with Tonks error calculation method

    International Nuclear Information System (INIS)

    Chen Xiaodong

    1996-01-01

    According to the methodology feature of RIA, an internal quality control chart with Tonks error calculation method which is suitable for RIA is designed. The quality control chart defines the value of the allowance error with normal reference range. The method has the simplicity of its performance and directly perceived through the senses. Taking the example of determining T 3 and T 4 , the calculation of allowance error, drawing of quality control chart and the analysis of result are introduced

  19. Internal ellipsoidal estimates of reachable set of impulsive control systems

    Energy Technology Data Exchange (ETDEWEB)

    Matviychuk, Oksana G. [Institute of Mathematics and Mechanics, Russian Academy of Sciences, 16 S. Kovalevskaya str., Ekaterinburg, 620990, Russia and Ural Federal University, 19 Mira str., Ekaterinburg, 620002 (Russian Federation)

    2014-11-18

    A problem of estimating reachable sets of linear impulsive control system with uncertainty in initial data is considered. The impulsive controls in the dynamical system belong to the intersection of a special cone with a generalized ellipsoid both taken in the space of functions of bounded variation. Assume that an ellipsoidal state constraints are imposed. The algorithms for constructing internal ellipsoidal estimates of reachable sets for such control systems and numerical simulation results are given.

  20. Composite adaptive control of belt polishing force for aero-engine blade

    Science.gov (United States)

    Zhsao, Pengbing; Shi, Yaoyao

    2013-09-01

    The existing methods for blade polishing mainly focus on robot polishing and manual grinding. Due to the difficulty in high-precision control of the polishing force, the blade surface precision is very low in robot polishing, in particular, quality of the inlet and exhaust edges can not satisfy the processing requirements. Manual grinding has low efficiency, high labor intensity and unstable processing quality, moreover, the polished surface is vulnerable to burn, and the surface precision and integrity are difficult to ensure. In order to further improve the profile accuracy and surface quality, a pneumatic flexible polishing force-exerting mechanism is designed and a dual-mode switching composite adaptive control(DSCAC) strategy is proposed, which combines Bang-Bang control and model reference adaptive control based on fuzzy neural network(MRACFNN) together. By the mode decision-making mechanism, Bang-Bang control is used to track the control command signal quickly when the actual polishing force is far away from the target value, and MRACFNN is utilized in smaller error ranges to improve the system robustness and control precision. Based on the mathematical model of the force-exerting mechanism, simulation analysis is implemented on DSCAC. Simulation results show that the output polishing force can better track the given signal. Finally, the blade polishing experiments are carried out on the designed polishing equipment. Experimental results show that DSCAC can effectively mitigate the influence of gas compressibility, valve dead-time effect, valve nonlinear flow, cylinder friction, measurement noise and other interference on the control precision of polishing force, which has high control precision, strong robustness, strong anti-interference ability and other advantages compared with MRACFNN. The proposed research achieves high-precision control of the polishing force, effectively improves the blade machining precision and surface consistency, and

  1. Combining spanwise morphing, inline motion and model based optimization for force magnitude and direction control

    Science.gov (United States)

    Scheller, Johannes; Braza, Marianna; Triantafyllou, Michael

    2016-11-01

    Bats and other animals rapidly change their wingspan in order to control the aerodynamic forces. A NACA0013 type airfoil with dynamically changing span is proposed as a simple model to experimentally study these biomimetic morphing wings. Combining this large-scale morphing with inline motion allows to control both force magnitude and direction. Force measurements are conducted in order to analyze the impact of the 4 degree of freedom flapping motion on the flow. A blade-element theory augmented unsteady aerodynamic model is then used to derive optimal flapping trajectories.

  2. Dicyclopentadiene Hydrogenation in Trickle Bed Reactor under Forced Periodic Control

    Czech Academy of Sciences Publication Activity Database

    Skála, D.; Hanika, Jiří

    2008-01-01

    Roč. 62, č. 2 (2008), s. 215-218 ISSN 1336-7242 R&D Projects: GA MPO(CZ) FT-TA/039 Institutional research plan: CEZ:AV0Z40720504 Keywords : periodic control * trickle -bed reactor * dicyclopentadiene Subject RIV: CI - Industrial Chemistry, Chemical Engineering

  3. Fitts’ Law in the Control of Isometric Grip Force With Naturalistic Targets

    Directory of Open Access Journals (Sweden)

    Zachary C. Thumser

    2018-04-01

    Full Text Available Fitts’ law models the relationship between amplitude, precision, and speed of rapid movements. It is widely used to quantify performance in pointing tasks, study human-computer interaction, and generally to understand perceptual-motor information processes, including research to model performance in isometric force production tasks. Applying Fitts’ law to an isometric grip force task would allow for quantifying grasp performance in rehabilitative medicine and may aid research on prosthetic control and design. We examined whether Fitts’ law would hold when participants attempted to accurately produce their intended force output while grasping a manipulandum when presented with images of various everyday objects (we termed this the implicit task. Although our main interest was the implicit task, to benchmark it and establish validity, we examined performance against a more standard visual feedback condition via a digital force-feedback meter on a video monitor (explicit task. Next, we progressed from visual force feedback with force meter targets to the same targets without visual force feedback (operating largely on feedforward control with tactile feedback. This provided an opportunity to see if Fitts’ law would hold without vision, and allowed us to progress toward the more naturalistic implicit task (which does not include visual feedback. Finally, we changed the nature of the targets from requiring explicit force values presented as arrows on a force-feedback meter (explicit targets to the more naturalistic and intuitive target forces implied by images of objects (implicit targets. With visual force feedback the relation between task difficulty and the time to produce the target grip force was predicted by Fitts’ law (average r2 = 0.82. Without vision, average grip force scaled accurately although force variability was insensitive to the target presented. In contrast, images of everyday objects generated more reliable grip forces

  4. Fitts' Law in the Control of Isometric Grip Force With Naturalistic Targets.

    Science.gov (United States)

    Thumser, Zachary C; Slifkin, Andrew B; Beckler, Dylan T; Marasco, Paul D

    2018-01-01

    Fitts' law models the relationship between amplitude, precision, and speed of rapid movements. It is widely used to quantify performance in pointing tasks, study human-computer interaction, and generally to understand perceptual-motor information processes, including research to model performance in isometric force production tasks. Applying Fitts' law to an isometric grip force task would allow for quantifying grasp performance in rehabilitative medicine and may aid research on prosthetic control and design. We examined whether Fitts' law would hold when participants attempted to accurately produce their intended force output while grasping a manipulandum when presented with images of various everyday objects (we termed this the implicit task). Although our main interest was the implicit task, to benchmark it and establish validity, we examined performance against a more standard visual feedback condition via a digital force-feedback meter on a video monitor (explicit task). Next, we progressed from visual force feedback with force meter targets to the same targets without visual force feedback (operating largely on feedforward control with tactile feedback). This provided an opportunity to see if Fitts' law would hold without vision, and allowed us to progress toward the more naturalistic implicit task (which does not include visual feedback). Finally, we changed the nature of the targets from requiring explicit force values presented as arrows on a force-feedback meter (explicit targets) to the more naturalistic and intuitive target forces implied by images of objects (implicit targets). With visual force feedback the relation between task difficulty and the time to produce the target grip force was predicted by Fitts' law (average r 2 = 0.82). Without vision, average grip force scaled accurately although force variability was insensitive to the target presented. In contrast, images of everyday objects generated more reliable grip forces without the visualized

  5. Internal quality control of PCR-based genotyping methods

    DEFF Research Database (Denmark)

    Bladbjerg, Else-Marie; Gram, Jørgen; Jespersen, Jørgen

    2002-01-01

    Internal quality control programmes for genetic analyses are needed. We have focused on quality control aspects of selected polymorphism analyses used in thrombosis research. DNA was isolated from EDTA-blood (n = 500) and analysed for 18 polymorphisms by polymerase chain reaction (PCR), i...... because of positive reagent blanks (controls (Control of data handling revealed 0.1% reading mistakes and 0.5% entry mistakes. Based on our experiences, we propose an internal quality control programme......, electrophoresis (analytical factors), result reading and entry into a database (post-analytical factors). Furthermore, we evaluated a procedure for result confirmation. Isolated DNA was of good quality (42 micrograms/ml blood, A260/A280 ratio > 1.75, negative DNAsis tests). Occasionally, results were reanalysed...

  6. International trade agreements: a threat to tobacco control policy.

    Science.gov (United States)

    Shaffer, E R; Brenner, J E; Houston, T P

    2005-08-01

    International covenants establish a role for governments in ensuring the conditions for human health and wellbeing, which has been recognised as a central human right. International trade agreements, conversely, prioritize the rights of corporations over health and human rights. International trade agreements are threatening existing tobacco control policies and restrict the possibility of implementing new controls. This situation is unrecognised by many tobacco control advocates in signatory nations, especially those in developing countries. Recent agreements on eliminating various trade restrictions, including those on tobacco, have expanded far beyond simply international movement of goods to include internal tobacco distribution regulations and intellectual property rules regulating advertising and labelling. Our analysis shows that to the extent trade agreements protect the tobacco industry, in itself a deadly enterprise, they erode human rights principles and contribute to ill health. The tobacco industry has used trade policy to undermine effective barriers to tobacco importation. Trade negotiations provide an unwarranted opportunity for the tobacco industry to assert its interests without public scrutiny. Trade agreements provide the industry with additional tools to obstruct control policies in both developed and developing countries and at every level. The health community should become involved in reversing these trends, and help promote additional measures to protect public health.

  7. g-force induced giant efficiency of nanoparticles internalization into living cells

    Science.gov (United States)

    Ocampo, Sandra M.; Rodriguez, Vanessa; de La Cueva, Leonor; Salas, Gorka; Carrascosa, Jose. L.; Josefa Rodríguez, María; García-Romero, Noemí; Luis, Jose; Cuñado, F.; Camarero, Julio; Miranda, Rodolfo; Belda-Iniesta, Cristobal; Ayuso-Sacido, Angel

    2015-10-01

    Nanotechnology plays an increasingly important role in the biomedical arena. Iron oxide nanoparticles (IONPs)-labelled cells is one of the most promising approaches for a fast and reliable evaluation of grafted cells in both preclinical studies and clinical trials. Current procedures to label living cells with IONPs are based on direct incubation or physical approaches based on magnetic or electrical fields, which always display very low cellular uptake efficiencies. Here we show that centrifugation-mediated internalization (CMI) promotes a high uptake of IONPs in glioblastoma tumour cells, just in a few minutes, and via clathrin-independent endocytosis pathway. CMI results in controllable cellular uptake efficiencies at least three orders of magnitude larger than current procedures. Similar trends are found in human mesenchymal stem cells, thereby demonstrating the general feasibility of the methodology, which is easily transferable to any laboratory with great potential for the development of improved biomedical applications.

  8. Using the modern CNC controllers capabilities for estimating the machining forces during the milling process

    Directory of Open Access Journals (Sweden)

    Breaz Radu-Eugen

    2017-01-01

    Full Text Available Machining forces can nowadays be measured by using 3D dynamometers, which are usually very expensive devices and hardly available for most of the CNC machine-tools users. On the other hand, modern CNC controllers have nowadays the ability to display and save many outputs within the machining process, such as the currents or even the torques at the shaft's level for the feed motors on each axis. These outputs can be used for estimating the machining forces, but it is to be noticed that the above-mentioned currents and torques are proportional with the overall resistant forces, which includes not only technological forces, but also friction, inertial and pre-tensioning forces. This paper presents an approach for estimating the machining forces during a milling process, by using the outputs stored in the CNC controller and separating the effects of technological forces from the other forces involved in the process. The separation was made by running two sets of experiments, one set for dry-run regime and the other one for machining regime.

  9. Ground reaction force comparison of controlled resistance methods to isoinertial loading of the squat exercise - biomed 2010.

    Science.gov (United States)

    Paulus, David C; Reynolds, Michael C; Schilling, Brian K

    2010-01-01

    The ground reaction force during the concentric (raising) portion of the squat exercise was compared to that of isoinertial loading (free weights) for three pneumatically controlled resistance methods: constant resistance, cam force profile, and proportional force control based on velocity. Constant force control showed lower ground reaction forces than isoinertial loading throughout the range of motion (ROM). The cam force profile exhibited slightly greater ground reaction forces than isoinertial loading at 10 and 40% ROM with fifty-percent greater loading at 70% ROM. The proportional force control consistently elicited greater ground reaction force than isoinertial loading, which progressively ranged from twenty to forty percent increase over isoinertial loading except for being approximately equal at 85% ROM. Based on these preliminary results, the proportional control shows the most promise for providing loading that is comparable in magnitude to isoinertial loading. This technology could optimize resistance exercise for sport-specific training or as a countermeasure to atrophy during spaceflight.

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

    Science.gov (United States)

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

    2017-08-01

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

  11. Methodological recommendations for cognition trials in bipolar disorder by the International Society for Bipolar Disorders Targeting Cognition Task Force

    DEFF Research Database (Denmark)

    Miskowiak, K W; Burdick, K E; Martinez-Aran, A

    2017-01-01

    OBJECTIVES: To aid the development of treatment for cognitive impairment in bipolar disorder, the International Society for Bipolar Disorders (ISBD) convened a task force to create a consensus-based guidance paper for the methodology and design of cognition trials in bipolar disorder. METHODS...... of treatments to illness stage and using a multimodal approach. CONCLUSIONS: This ISBD task force guidance paper provides the first consensus-based recommendations for cognition trials in bipolar disorder. Adherence to these recommendations will likely improve the sensitivity in detecting treatment efficacy...

  12. Design of a new adaptive fuzzy controller and its implementation for the damping force control of a magnetorheological damper

    International Nuclear Information System (INIS)

    Phu, Do Xuan; Shah, Kruti; Choi, Seung-Bok

    2014-01-01

    This paper presents a new adaptive fuzzy controller and its implementation for the damping force control of a magnetorheological (MR) fluid damper in order to validate the effectiveness of the control performance. An interval type 2 fuzzy model is built, and then combined with modified adaptive control to achieve the desired damping force. In the formulation of the new adaptive controller, an enhanced iterative algorithm is integrated with the fuzzy model to decrease the time of calculation (D Wu 2013 IEEE Trans. Fuzzy Syst. 21 80–99) and the control algorithm is synthesized based on the H ∞ tracking technique. In addition, for the verification of good control performance of the proposed controller, a cylindrical MR damper which can be applied to the vibration control of a washing machine is designed and manufactured. For the operating fluid, a recently developed plate-like particle-based MR fluid is used instead of a conventional MR fluid featuring spherical particles. To highlight the control performance of the proposed controller, two existing adaptive fuzzy control algorithms proposed by other researchers are adopted and altered for a comparative study. It is demonstrated from both simulation and experiment that the proposed new adaptive controller shows better performance of damping force control in terms of response time and tracking accuracy than the existing approaches. (papers)

  13. INNOVATIVE ASPECTS OF DEVELOPMENT OF STATE INTERNAL FINANCIAL CONTROL AND INTERNAL FINANCIAL AUDIT

    Directory of Open Access Journals (Sweden)

    T. P. Voronchenko

    2015-01-01

    Full Text Available The article presents the innovative aspects of development of state internal fi nancial control and internal fi nancial audit in terms of the budgeting focused on result. A mechanism for implementing the functions of the Supervisory bodies in order to ensure the effi cient use of budgetary funds and eff ectiveness of budget expenditures. The main purpose of the article is justifi cation of implementing systems of internal fi nancial control and internal fi nancial audit in the structures of the major administrators and recipients of budgetary funds, with the allocation of the basic tools that ensure the functioning of the control mechanism, the combination of control procedures and sequence of their implementation. Methodological base of research is the generalization of domestic and foreign experience of internal fi nancial control and internal fi nancial audit, refl ecting an objective law and the necessity of development of state fi nancial control system in the conditions of innovative economy. The result of the implementation of the proposed mechanism and instruments for its implementation in key spending units and recipients of budget funds should be to ensure the eff ectiveness of the implementation of government programmes and projects. Signifi cance of the research contained in the article problems and their solutions is to ensure the effectiveness of the regulatory authorities at all stages of movement of budgetary funds and effective implementation of their Manager and recipient assigned to them socio-economic functions.

  14. Design of Robust AMB Controllers for Rotors Subjected to Varying and Uncertain Seal Forces

    DEFF Research Database (Denmark)

    Lauridsen, Jonas Skjødt; Santos, Ilmar

    2017-01-01

    This paper demonstrates the design and simulation results of model based controllers for AMB systems, subjectedto uncertain and changing dynamic seal forces. Specifically, a turbocharger with a hole-pattern seal mounted acrossthe balance piston is considered. The dynamic forces of the seal, which...... are dependent on the operational conditions,have a significant effect on the overall system dynamics. Furthermore, these forces are considered uncertain.The nominal and the uncertainty representation of the seal model are established using results from conventionalmodelling approaches, i.e. CFD and Bulkflow......, and experimental results. Three controllers are synthesized: I) AnH∞ controller based on nominal plant representation, II) A µ controller, designed to be robust against uncertaintiesin the dynamic seal model and III) a Linear Parameter Varying (LPV) controller, designed to provide a unifiedperformance over a large...

  15. Validation of engineering methods for predicting hypersonic vehicle controls forces and moments

    Science.gov (United States)

    Maughmer, M.; Straussfogel, D.; Long, L.; Ozoroski, L.

    1991-01-01

    This work examines the ability of the aerodynamic analysis methods contained in an industry standard conceptual design code, the Aerodynamic Preliminary Analysis System (APAS II), to estimate the forces and moments generated through control surface deflections from low subsonic to high hypersonic speeds. Predicted control forces and moments generated by various control effectors are compared with previously published wind-tunnel and flight-test data for three vehicles: the North American X-15, a hypersonic research airplane concept, and the Space Shuttle Orbiter. Qualitative summaries of the results are given for each force and moment coefficient and each control derivative in the various speed ranges. Results show that all predictions of longitudinal stability and control derivatives are acceptable for use at the conceptual design stage.

  16. Generalized internal model robust control for active front steering intervention

    Science.gov (United States)

    Wu, Jian; Zhao, Youqun; Ji, Xuewu; Liu, Yahui; Zhang, Lipeng

    2015-03-01

    Because of the tire nonlinearity and vehicle's parameters' uncertainties, robust control methods based on the worst cases, such as H ∞, µ synthesis, have been widely used in active front steering control, however, in order to guarantee the stability of active front steering system (AFS) controller, the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control. In this paper, a generalized internal model robust control (GIMC) that can overcome the contradiction between performance and stability is used in the AFS control. In GIMC, the Youla parameterization is used in an improved way. And GIMC controller includes two sections: a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters' uncertainties and some external disturbances. Simulations of double lane change (DLC) maneuver and that of braking on split- µ road are conducted to compare the performance and stability of the GIMC control, the nominal performance PID controller and the H ∞ controller. Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle's parameters variations, H ∞ controller is conservative so that the performance is a little low, and only the GIMC controller overcomes the contradiction between performance and robustness, which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller. Therefore, the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system, that is, can solve the instability of PID or LQP control methods and the low performance of the standard H ∞ controller.

  17. Automated boundary interaction force control of micromanipulators with in situ applications to microsurgery

    International Nuclear Information System (INIS)

    Eslami, Sohrab; Jalili, Nader

    2012-01-01

    Most recent works on miniature tasks are concentrated on developing tools to take advantage of the visual servoing feedback to control the ultra-small interaction forces. This paper spans an extensive platform for automatic controlling of boundary interaction forces with high precision in the level of micro/nano-Newton with extensive micro/nanoengineering applications such as the microsurgery. To this end, a comprehensive piezoresistive microcantilever (PMC) model considering the shear deformation and rotary inertia effects treating as the distributed-parameters model along with the Hertzian contact force is presented. The purpose of considering the Hertzian contact force model is to investigate the dynamic response of the interaction force between the microcantilever's tip and the specimen. Afterward, a control platform is introduced to automatically manipulate the PMC to follow an ideal micro/nano-interaction force. By using the integrated PMC with the micromanipulator and a digital signal processor, an intuitive programming code is written to incorporate the micromanipulator and the controller in a real-time framework. To calibrate and verify the induced voltage in the PMC, a self-sensing experiment on the piezoelectric microcantilever is carried out to warrant the calibration procedure. Some experiments are established to affirm the validity of the proposed control for the autonomous real-time tasks on the boundary interaction force control. Unlike the conventional research studies, the measured force here contributes as the feedback source in contrast to the vision feedback while force sensors possess more precision, productivity and small size. This technique has several potential applications listed but not limited to the micro/nanomanipulation, developing artificial biological systems (e.g., fabricating hydrogel for the scaffold), and medicine such as microsurgery. As a result, using the proposed platform, we are able to manipulate and control the

  18. Biological forcing controls the chemistry of the coral exoskeleton

    Science.gov (United States)

    Meibom, A.; Mostefaoui, S.; Cuif, J.; Yurimoto, H.; Dauphin, Y.; Houlbreque, F.; Dunbar, R.; Constantz, B.

    2006-12-01

    A multitude of marine organisms produce calcium carbonate skeletons that are used extensively to reconstruct water temperature variability of the tropical and subtropical oceans - a key parameter in global climate-change models. Such paleo-climate reconstructions are based on the notion that skeletal oxygen isotopic composition and certain trace-element abundances (e.g., Sr/Ca and Mg/Ca ratios) vary in response to changes in the water temperature. However, it is a fundamental problem that poorly understood biological processes introduce large compositional deviations from thermodynamic equilibrium and hinder precise calibrations of many paleo-climate proxies. Indeed, the role of water temperature in controlling the composition of the skeleton is far from understood. We have studied trace-element abundances as well as oxygen and carbon isotopic compositions of individual skeletal components in the zooxanthellate and non-zooxanthellate corals at ultra-structural, i.e. micrometer to sub-micrometer length scales. From this body of work we draw the following, generalized conclusions: 1) Centers of calcification (COC) are not in equilibrium with seawater. Notably, the Sr/Ca ratio is higher than expected for aragonite equilibrium with seawater at the temperature at which the skeleton was formed. Furthermore, the COC are further away from equilibrium with seawater than fibrous skeleton in terms of stable isotope composition. 2) COC are dramatically different from the fibrous aragonite skeleton in terms of trace element composition. 3) Neither trace element nor stable isotope variations in the fibrous (bulk) part of the skeleton are directly related to changes in SST. In fact, changes in SST can have very little to do with the observed compositional variations. 4) Trace element variations in the fibrous (bulk) part of the skeleton are not related to the activity of zooxanthellae. These observations are directly relevant to the issue of biological versus non

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

    Directory of Open Access Journals (Sweden)

    Shuhuan Wen

    2012-12-01

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

  20. Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot.

    Science.gov (United States)

    Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Bengoa, Pablo; Jung, Je Hyung

    2017-07-01

    In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot. The estimators are based on the kinematic and dynamic model of the UHP and the use of signals measured by means of common low-cost sensors. In order to demonstrate the effectiveness of the estimators, several experimental tests were carried out. The force and impedance control of the UHP was implemented first by directly measuring the interaction force using accurate extra sensors and the robot performance was compared to the case where the proposed estimators replace the direct measured values. The experimental results reveal that the controller based on the estimators has similar performance to that using direct measurement (less than 1 N difference in root mean square error between two cases), indicating that the proposed force and motion estimators can facilitate implementation of interactive controller for the UHP in robotmediated rehabilitation trainings.

  1. Development of master slave system for interventional radiology with force-rate control

    International Nuclear Information System (INIS)

    Ide, Masaru; Zobel, P.B.; Claudio, P.D.; Mohri, Makoto; Komeda, Takashi

    2010-01-01

    The objective of this study is to develop a master-slave system for a catheter-guided operation, which is performed by using radiology, through the vascular system. When the master-slave system is used, the surgeon is not exposed to x-rays during the operation. The master tool is managed by an operator away from the slave tool, which is near the patient. The system must provide a realistic picture to the surgeon, particularly in term of force information because this operation is performed by observing three-dimensional fields on a two-dimensional monitor. In this paper, we describe the development of a master slave system that involves the use of force-rate control for guiding the catheter without using force sensors. The master tool has a force-display function. This system can be controlled by force and velocity controlling; hence, this system realized an innovative mechanism and algorism. Finally, the preliminary experiment indicated that the new control method was effective. Further, the force display was stable and achieved fast response. (author)

  2. International Conference on Systems, Control and Information Technologies 2016

    CERN Document Server

    Kaliczyńska, Małgorzata

    2017-01-01

    This book presents the proceedings of the International Conference on Systems, Control and Information Technologies 2016. It includes research findings from leading experts in the fields connected with INDUSTRY 4.0 and its implementation, especially: intelligent systems, advanced control, information technologies, industrial automation, robotics, intelligent sensors, metrology and new materials. Each chapter offers an analysis of a specific technical problem followed by a numerical analysis and simulation as well as the implementation for the solution of a real-world problem.

  3. Internal cost control on the ecological quality of products

    Directory of Open Access Journals (Sweden)

    N.P. Syroid

    2018-04-01

    Full Text Available To improve the environmental quality of products due attention should be paid to control the processes related to environmental quality input of the product. The results of the study help to state the purpose and objectives of the control, also to define objects for internal control of operations cost of environmental quality. So, we believe that the main purpose of internal cost control on the ecological quality of products is the establishment of the correctness and legality of business operations, prevention of violations and abuses in the expenditure of natural, labour, material and financial resources to ensure the minimization of negative impact on the health of consumers and the environment. The basic objectives of internal control of expenditure are brought forward, but it should be noted that they can vary and depend on the size, structure, spheres and types of economic activity of the enterprise, the requirements of management personnel. In the process of identifying the objects of control of environmental quality it should be noted that this list is not exhaustive, but it is most relevant to highlight objects such as genetically modified organisms and waste production. Also the subjects of cost control to environmental quality, their functions and the information base for monitoring are determined. Proper organization of the process of internal cost control on the ecological quality of products would benefit from a clear documentation of transactions, timely and complete registration of accounting data in the registers, the true reflection of information in managerial financial reporting and ensure reduction of the negative impact on the health of consumers and the environment.

  4. ANALYTICAL SYNTHESIS OF FORCED PULSE ELECTRONIC DRIVE CONTROL OF A TRACKING SYSTEM

    Directory of Open Access Journals (Sweden)

    A. S. Abufanas

    2017-01-01

    Full Text Available The problem of analytical synthesis of a control signal by a linear dynamical system is considered. As an optimization criterion, it is proposed to consider the transition time of the system from the initial state to a given final state. This type of control is called forced, providing the maximum system speed. The principle of solving this problem is considered on the basis of application of uncertain Lagrange multipliers and the Pontryagin maximum principle. Expressions are obtained for the matrix of transitions of the system and the control signal in a vector form.As an example, the electric drive described by the widespread second-order mathematical model is considered to evaluate the efficiency of the proposed method. Qualitative illustrations of the operability of the proposed approach, obtained by modeling in the Mathcad environment, and quantitative characteristics of the change in the input and output signals of the hypothetical control system are presented. It is shown that the use of forced control does not lead to the output of variables characterizing the state of the system, beyond the limits of admissible values.The use of forced control makes it possible to synthesize the control law in the form of a sequence of rectangular pulses of constant amplitude determined by the power source, variable duty cycle and polarity. This approach can be used for the control of DC-type DC motors used in various tracking systems used on unmanned aerial vehicles. Key words: forced control, target function, electric drive, pulse train. The use of forced control makes it possible to synthesize the control law in the form of a sequence of rectangular pulses of constant amplitude determined by the power source, variable duty cycle and polarity. This approach can be used for the control of DC-type DC motors used in various tracking systems used on unmanned aerial vehicles.

  5. 5th International Conference on Electrical Engineering and Automatic Control

    CERN Document Server

    Yao, Yufeng

    2016-01-01

    On the basis of instrument electrical and automatic control system, the 5th International Conference on Electrical Engineering and Automatic Control (CEEAC) was established at the crossroads of information technology and control technology, and seeks to effectively apply information technology to a sweeping trend that views control as the core of intelligent manufacturing and life. This book takes a look forward into advanced manufacturing development, an area shaped by intelligent manufacturing. It highlights the application and promotion of process control represented by traditional industries, such as the steel industry and petrochemical industry; the technical equipment and system cooperative control represented by robot technology and multi-axis CNC; and the control and support of emerging process technologies represented by laser melting and stacking, as well as the emerging industry represented by sustainable and intelligent life. The book places particular emphasis on the micro-segments field, such as...

  6. Sci—Fri PM: Topics — 03: The Global Task Force on Radiotherapy for Cancer Control: Core Investments

    Energy Technology Data Exchange (ETDEWEB)

    Van Dyk, J. [Western University, London, Ontario (Canada); Jaffray, D. A.; MacPherson, M. S. [Princess Margaret Cancer Centre, Toronto, Ontario (Canada)

    2014-08-15

    The Union for International Cancer Control (UICC) is a membership-based, non-governmental organization with a mandate to “…to unite the cancer community to reduce the global cancer burden, to promote greater equity, and to integrate cancer control into the world health and development agenda.” COMP is an associate member of the UICC. It is well recognized by the UICC that there are major gaps between high, and low and middle income countries, in terms of access to cancer services including access to radiation therapy. In this context, the UICC has developed a Global Task Force on Radiotherapy for Cancer Control with a charge to answer a single question: “What does it cost to close the gap between what exists today and reasonable access to radiotherapy globally?” The Task Force consists of leaders internationally recognized for their radiation treatment related expertise (radiation oncologists, medical physicists, radiation therapists) as well as those with global health and economics specialization. The Task Force has developed three working groups: (1) to look at the global burden of cancer; (2) to look at the infrastructure requirements (facilities, equipment, personnel); and (3) to consider outcomes in terms of numbers of lives saved and palliated patients. A report is due at the World Cancer Congress in December 2014. This presentation reviews the infrastructure considerations under analysis by the second work group. The infrastructure parameters being addressed include capital costs of buildings and equipment and operating costs, which include human resources, equipment servicing and quality control, and general overhead.

  7. Dose control for internal radiation; Kawalan dos untuk sinaran dalam

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1988-12-31

    The chapter briefly discussed the following subjects: aerosol physics, relationship of surface contamination and internal contamination for workers, surface contamination control and the it`s procedures i.e. protective personnel cloth, waste management in active area, storage of radioactive materials etc.

  8. Trends in International Persuasion: Persuasion in the Arms Control Negotiations.

    Science.gov (United States)

    Hopmann, P. Terrence; Walcott, Charles

    An analysis of the bargaining process in international arms control negotiations is possible by developing a framework of interrelated hypotheses, by delineating and practicing interactions study called "Bargaining Process Analysis," and by formulating procedural steps that bridge the gap between laboratory studies and "real world" situations. In…

  9. 49 CFR 225.33 - Internal Control Plans.

    Science.gov (United States)

    2010-10-01

    ... official business. Each railroad shall amend its Internal Control Plan, as necessary, to reflect any..., incident, injury or illness will not be permitted or tolerated and will result in some stated disciplinary... paragraph (a)(1). Each railroad shall have procedures to process complaints from any person about the policy...

  10. International Electrotechnical Commission standards and French material control standards

    International Nuclear Information System (INIS)

    Furet, J.; Weill, J.

    1978-01-01

    There are reported the international standards incorporated into the IEC Subcommitee 45 A (Nuclear Reactor Instrumentation) and the national standards elaborated by the Commissariat a l'Energie Atomique, CEA, Group of normalized control equipment, the degree of application of those being reported on the base design, call of bids and exploitation of nuclear power plants. (J.E. de C)

  11. Internal Controls for Accounting Areas. Alliance Action Information Sheets

    Science.gov (United States)

    Technical Assistance ALLIANCE for Parent Centers, 2006

    2006-01-01

    Internal controls are important to ensure your Parent Center's resources are well protected. Steps should be taken to ensure that finance transactions are authorized by management, executed properly and on time, and recorded appropriately. Some centers may not have staff with all of the titles used in the procedures presented in this paper.…

  12. 12 CFR 609.940 - Internal systems and controls.

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 6 2010-01-01 2010-01-01 false Internal systems and controls. 609.940 Section 609.940 Banks and Banking FARM CREDIT ADMINISTRATION FARM CREDIT SYSTEM ELECTRONIC COMMERCE Standards... business plan objectives and policies and procedures requirements regarding E-commerce; and (b) Prevent and...

  13. Planes, Politics and Oral Proficiency: Testing International Air Traffic Controllers

    Science.gov (United States)

    Moder, Carol Lynn; Halleck, Gene B.

    2009-01-01

    This study investigates the variation in oral proficiency demonstrated by 14 Air Traffic Controllers across two types of testing tasks: work-related radio telephony-based tasks and non-specific English tasks on aviation topics. Their performance was compared statistically in terms of level ratings on the International Civil Aviation Organization…

  14. The Future Control of Food: A Guide to International Negotiations ...

    International Development Research Centre (IDRC) Digital Library (Canada)

    5 févr. 2008 ... This is the best single summary of the political choices facing food and agriculture policymakers that has been written in this decade. Pat Mooney, Executive Director, the ETC Group An excellent resource for those mapping the increasing control of our food chain by international players. Suman Sahai ...

  15. ENHANCING ASSETS' PROTECTION THROUGH AN ADEQUATE MONITORING OF INTERNAL CONTROL SYSTEM BY INTERNAL AUDIT

    Directory of Open Access Journals (Sweden)

    Dan Eugen Cosmin

    2011-12-01

    Full Text Available The assets are established into a company as very important and strategic resources that are contributing at the creation of the needed premises to conduct the daily-basis activity and also to reach present and future planned objectives. Recent studies like COSO's Fraudulent Financial Reporting 1998-2007 have highlighted an increasing fraudulent activity against assets therefore the efforts of fighting against fraud must be supplemented in order to preserve the existence and value of those resources. Internal controls are processes implemented in order to give a reasonable assurance that the company will not become a fraud victim. Even so, a lot of internal controls are paying a heavy tribute to their lack of efficiency and update. Thus, for a correct functioning, internal controls must be monitored and assessed permanently in order to preserve their strength and ability to fulfill their mission. This approach will deliver more added value because rather than being corrected after they have already occurred, the frauds related with the assets will be prevented, detected and reported at a timely moment, thereby the incidence and value of those criminal activities will decrease significantly. Furthermore, because not only the process of monitoring is important but even the entity conducting this activity we believe that internal audit is the most appropriate to undertake this responsibility. Thus, through this material we opened a discussion about how important permanent monitored and updated internal controls are in order to assure a proper assets protection and why internal audit, rather than the management, should be the most eligible to undertake this responsibility. Also we provided some suggestions regarding the main activities that must be taken into consideration by an internal audit professional when is being involved in a monitoring process of internal control system. We do believe that this paper will be the starting point for new

  16. Methodological recommendations for cognition trials in bipolar disorder by the International Society for Bipolar Disorders Targeting Cognition Task Force

    DEFF Research Database (Denmark)

    Miskowiak, K W; Burdick, K E; Martinez-Aran, A

    2017-01-01

    OBJECTIVES: To aid the development of treatment for cognitive impairment in bipolar disorder, the International Society for Bipolar Disorders (ISBD) convened a task force to create a consensus-based guidance paper for the methodology and design of cognition trials in bipolar disorder. METHODS...... symptoms and concomitant medication. Task force recommendations are to: (i) enrich trials with objectively measured cognitively impaired patients; (ii) generally select a broad cognitive composite score as the primary outcome and a functional measure as a key secondary outcome; and (iii) include remitted...... of treatments to illness stage and using a multimodal approach. CONCLUSIONS: This ISBD task force guidance paper provides the first consensus-based recommendations for cognition trials in bipolar disorder. Adherence to these recommendations will likely improve the sensitivity in detecting treatment efficacy...

  17. Self-determination in New Contexts: The Self-determination of Refugees and Forced Migrants in International Law

    Directory of Open Access Journals (Sweden)

    Kathleen McVay

    2012-06-01

    Full Text Available The international movement of people as a result of conflict, natural disaster, and famine is increasingly challenging for States. The Refugee Convention and its additional protocols have proven to be inadequate for protecting many people from human rights abuses. Accordingly this paper seeks to ascertain whether self-determination may operate to protect permanent refugee and forced migrant communities. Self-determination is a human right that has attracted considerable controversy. However, its universal applicability and the strength of the right make it an attractive means of limiting the power of a State in respect of refugee and forced migrant communities. Drawing from historical analogy this article concludes that in limited circumstances self-determination may be available for permanent refugee or forced migrant communities.

  18. Virtual Control of Prosthetic Hand Based on Grasping Patterns and Estimated Force from Semg

    Directory of Open Access Journals (Sweden)

    Zhu Gao-Ke

    2016-01-01

    Full Text Available Myoelectric prosthetic hands aim to serve upper limb amputees. The myoelectric control of the hand grasp action is a kind of real-time or online method. Thus it is of great necessity to carry on a study of online prosthetic hand electrical control. In this paper, the strategy of simultaneous EMG decoding of grasping patterns and grasping force was realized by controlling a virtual multi-degree-freedom prosthetic hand and a real one-degree-freedom prosthetic hand simultaneously. The former realized the grasping patterns from the recognition of the sEMG pattern. The other implemented the grasping force from sEMG force decoding. The results show that the control method is effective and feasible.

  19. The Influence of Flexibility Coefficient on the Size of Internal Forces and Deformations in Circular Plates on Elastic Medium

    Directory of Open Access Journals (Sweden)

    Şandru Mirela

    2016-09-01

    Full Text Available This paper presents an analytical study which deals with the behavior of the circular plates in bending theory, considering the soil-structure interaction under Winkler's hypothesis. It was intended to illustrate the variation of internal forces and deformations according to the flexibility coefficient of plates considering three models: a fixed solid circular plate subjected to a uniformly distributed load, a fixed solid circular plate acted by a displacement applied on the exterior contour and a solid plate subjected to a temperature gradient. For this study the computation relations were written as a product between a dimensional and a non-dimensional factor, the last one indicating the variation of internal forces and deformations. For each type of action there are presented results obtained using the finite element method to illustrate the differences between this method and the analytical computation.

  20. Optimization of Process Parameters of Edge Robotic Deburring with Force Control

    Directory of Open Access Journals (Sweden)

    Burghardt A.

    2016-12-01

    Full Text Available The issues addressed in the paper present a part of the scientific research conducted within the framework of the automation of the aircraft engine part manufacturing processes. The results of the research presented in the article provided information in which tolerances while using a robotic control station with the option of force control we can make edge deburring.

  1. Optimization of Process Parameters of Edge Robotic Deburring with Force Control

    Science.gov (United States)

    Burghardt, A.; Szybicki, D.; Kurc, K.; Muszyńska, M.

    2016-12-01

    The issues addressed in the paper present a part of the scientific research conducted within the framework of the automation of the aircraft engine part manufacturing processes. The results of the research presented in the article provided information in which tolerances while using a robotic control station with the option of force control we can make edge deburring.

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

    Science.gov (United States)

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

    2017-07-01

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

  3. Arms Control: US and International efforts to ban biological weapons

    Energy Technology Data Exchange (ETDEWEB)

    1992-12-01

    The Bacteriological (Biological) and Toxin Weapons Convention, the treaty that bans the development, production, and stockpiling and acquisition of biological weapons was opened for signature in 1972 and came into force in 1975 after being ratified by 22 governments, including the depository nations of the USA, the United Kingdom, and the former Soviet Union. In support of the Convention, the USA later established export controls on items used to make biological weapons. Further, in accordance with the 1990 President`s Enhanced Proliferation Control Initiative, actions were taken to redefine and expand US export controls, as well as to encourage multilateral controls through the Australia Group. Thus far, the Convention has not been effective in stopping the development of biological weapons. The principal findings as to the reasons of the failures of the Convention are found to be: the Convention lacks universality, compliance measures are effective, advantage of verification may outweigh disadvantages. Recommendations for mitigating these failures are outlined in this report.

  4. 47 CFR 90.475 - Operation of internal transmitter control systems in specially equipped systems.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 5 2010-10-01 2010-10-01 false Operation of internal transmitter control... Control Internal Transmitter Control Systems § 90.475 Operation of internal transmitter control systems in specially equipped systems. (a) An internal transmitter control system need not be designed to meet the...

  5. Painleve analysis for a forced Korteveg-de Vries equation arisen in fluid dynamics of internal solitary waves

    Directory of Open Access Journals (Sweden)

    Zhang Sheng

    2015-01-01

    Full Text Available In this paper, Painleve analysis is used to test the Painleve integrability of a forced variable-coefficient extended Korteveg-de Vries equation which can describe the weakly-non-linear long internal solitary waves in the fluid with continuous stratification on density. The obtained results show that the equation is integrable under certain conditions. By virtue of the truncated Painleve expansion, a pair of new exact solutions to the equation is obtained.

  6. At the Fulcrum of Air Force Identity: Balancing the Internal and External Pressures of Image and Culture

    Science.gov (United States)

    2014-01-01

    internally oriented understanding (labeled culture).10 Their model is an organizational abstraction of George Mead’s 1934 charac- terization of...fundamental shift in the societal structure of the day. Norman Cantor indicates that “the main social consequence of the Black Death was not the...FILE APPROACH TO THE US AIR FORCE IDENTITY 50 In a move eerily reminiscent of George Orwell’s “Ministry of Truth,” Mose- ley declared, “Our new

  7. Control Rod Drive Mechanism Installed in the Internal of Reactor Pressure Vessel

    Energy Technology Data Exchange (ETDEWEB)

    Choi, M. H.; Choi, S.; Park, J. S.; Lee, J. S.; Kim, D. O.; Hur, N. S.; Hur, H.; Yu, J. Y

    2008-09-15

    This report describes the review results and important technologies related to the in-vessel type control rod drive mechanism. Generally, most of the CRDMs used in the PWR are attached outside of the reactor pressure vessel, and the pernetration of the vessel head can not avoid. However, in-vessel type CRDMs, which are installed inside the reactor vessel, can eliminate the possibility of rod ejection accidents and the penetration of the vessel head, and provide a compact design of the reactor vessel and containment. There are two kinds of in-vessel type CRDM concerning the driving force-driven by a driving motor and by a hydraulic force. Motor driven CRDMs have been mainly investigated in Japan(MRX, IMR, DRX, next generation BWR etc.), and developed the key components such as a canned motor, an integrated rod position indicator, a separating ball-nut and a ball bearing that can operate under the water conditions of a high temperature and pressure. The concept of hydraulically driven CRDMs have been first reported by KWU and Siemens for KWU 200 reactor, and Argentina(CAREM) and China(NHR-5, NHR-200) have been developed the internal CRDM with the piston and cylinder of slightly different geometries. These systems are driven by the hydraulic force which is produced by pumps outside of the reactor vessel and transmitted through a pipe penetrating the reactor vessel, and needs complicated control and piping systems including pumps, valves and pipes etc.. IRIS has been recently decided the internal CRDMs as the reference design, and an analytical and experimental investigations of the hydraulic drive concept are performed by POLIMI in Italy. Also, a small French company, MP98 has been developed a new type of control rods, called 'liquid control rods', where reactivity is controlled by the movement of a liquid absorber in a manometer type device.

  8. Nonlinear dynamics of mini-satellite respinup by weak internal controllable torques

    Energy Technology Data Exchange (ETDEWEB)

    Somov, Yevgeny, E-mail: e-somov@mail.ru [Samara State Technical University, Department for Guidance, Navigation and Control, 244 Molodogvardeyskaya Str., Samara 443100 (Russian Federation)

    2014-12-10

    Contemporary space engineering advanced new problem before theoretical mechanics and motion control theory: a spacecraft directed respinup by the weak restricted control internal forces. The paper presents some results on this problem, which is very actual for energy supply of information mini-satellites (for communication, geodesy, radio- and opto-electronic observation of the Earth et al.) with electro-reaction plasma thrusters and gyro moment cluster based on the reaction wheels or the control moment gyros. The solution achieved is based on the methods for synthesis of nonlinear robust control and on rigorous analytical proof for the required spacecraft rotation stability by Lyapunov function method. These results were verified by a computer simulation of strongly nonlinear oscillatory processes at respinuping of a flexible spacecraft.

  9. Nonlinear dynamics of mini-satellite respinup by weak internal controllable torques

    Science.gov (United States)

    Somov, Yevgeny

    2014-12-01

    Contemporary space engineering advanced new problem before theoretical mechanics and motion control theory: a spacecraft directed respinup by the weak restricted control internal forces. The paper presents some results on this problem, which is very actual for energy supply of information mini-satellites (for communication, geodesy, radio- and opto-electronic observation of the Earth et al.) with electro-reaction plasma thrusters and gyro moment cluster based on the reaction wheels or the control moment gyros. The solution achieved is based on the methods for synthesis of nonlinear robust control and on rigorous analytical proof for the required spacecraft rotation stability by Lyapunov function method. These results were verified by a computer simulation of strongly nonlinear oscillatory processes at respinuping of a flexible spacecraft.

  10. Internal Model-Based Robust Tracking Control Design for the MEMS Electromagnetic Micromirror.

    Science.gov (United States)

    Tan, Jiazheng; Sun, Weijie; Yeow, John T W

    2017-05-26

    The micromirror based on micro-electro-mechanical systems (MEMS) technology is widely employed in different areas, such as scanning, imaging and optical switching. This paper studies the MEMS electromagnetic micromirror for scanning or imaging application. In these application scenarios, the micromirror is required to track the command sinusoidal signal, which can be converted to an output regulation problem theoretically. In this paper, based on the internal model principle, the output regulation problem is solved by designing a robust controller that is able to force the micromirror to track the command signal accurately. The proposed controller relies little on the accuracy of the model. Further, the proposed controller is implemented, and its effectiveness is examined by experiments. The experimental results demonstrate that the performance of the proposed controller is satisfying.

  11. Simulation study of burning control with internal transport barrier

    Energy Technology Data Exchange (ETDEWEB)

    Tateishi, Gonta [Interdisciplinary Graduate School of Engineering Sciences, Kyushu University, Fukuoka (Japan); Yagi, Masatoshi; Itoh, S.I. [Kyushu Univ., Fukuoka (Japan). Research Inst. for Applied Mechanics

    2000-02-01

    Dynamics of burning plasma with internal transport barrier is studied by use of a one dimensional transport simulation code. Two possible mechanisms are modeled for internal transport barrier collapse. One is the collapse, which occurs above the critical pressure gradient, the impact of which is modeled by the enhancement of thermal conductivity. The other is the collapse, which occurs due to the sawtooth trigger. The extended Kadomtsev type reconnection model with multiple resonant surfaces is introduced. Both models are examined for the analysis of long time sustainment of burning. A test of profile control to mitigate the collapse is investigated. The additional circulating power to suppress thermal quench (collapse) is evaluated. (author)

  12. A novel feedback control system – Controlling the material flow in deep drawing using distributed blank-holder force

    DEFF Research Database (Denmark)

    Endelt, Benny Ørtoft; Tommerup, Søren; Danckert, Joachim

    2013-01-01

    The performance of a feedback control system is often limited by the quality of the model on which it is based, and often the controller design is based on trial and error due to insufficient modeling capabilities. A framework is proposed where the controller design is based on classical state...... on a deep drawing operation where the objective was to control material flow throughout the part using only spatial information regarding flange draw-in. The control system controls both the magnitude and distribution of the blank-holder force. The methodology proved stable and flexible with respect...

  13. Timing at peak force may be the hidden target controlled in continuation and synchronization tapping.

    Science.gov (United States)

    Du, Yue; Clark, Jane E; Whitall, Jill

    2017-05-01

    Timing control, such as producing movements at a given rate or synchronizing movements to an external event, has been studied through a finger-tapping task where timing is measured at the initial contact between finger and tapping surface or the point when a key is pressed. However, the point of peak force is after the time registered at the tapping surface and thus is a less obvious but still an important event during finger tapping. Here, we compared the time at initial contact with the time at peak force as participants tapped their finger on a force sensor at a given rate after the metronome was turned off (continuation task) or in synchrony with the metronome (sensorimotor synchronization task). We found that, in the continuation task, timing was comparably accurate between initial contact and peak force. These two timing events also exhibited similar trial-by-trial statistical dependence (i.e., lag-one autocorrelation). However, the central clock variability was lower at the peak force than the initial contact. In the synchronization task, timing control at peak force appeared to be less variable and more accurate than that at initial contact. In addition to lower central clock variability, the mean SE magnitude at peak force (SEP) was around zero while SE at initial contact (SEC) was negative. Although SEC and SEP demonstrated the same trial-by-trial statistical dependence, we found that participants adjusted the time of tapping to correct SEP, but not SEC, toward zero. These results suggest that timing at peak force is a meaningful target of timing control, particularly in synchronization tapping. This result may explain the fact that SE at initial contact is typically negative as widely observed in the preexisting literature.

  14. 3D force control for robotic-assisted beating heart surgery based on viscoelastic tissue model.

    Science.gov (United States)

    Liu, Chao; Moreira, Pedro; Zemiti, Nabil; Poignet, Philippe

    2011-01-01

    Current cardiac surgery faces the challenging problem of heart beating motion even with the help of mechanical stabilizer which makes delicate operation on the heart surface difficult. Motion compensation methods for robotic-assisted beating heart surgery have been proposed recently in literature, but research on force control for such kind of surgery has hardly been reported. Moreover, the viscoelasticity property of the interaction between organ tissue and robotic instrument further complicates the force control design which is much easier in other applications by assuming the interaction model to be elastic (industry, stiff object manipulation, etc.). In this work, we present a three-dimensional force control method for robotic-assisted beating heart surgery taking into consideration of the viscoelastic interaction property. Performance studies based on our D2M2 robot and 3D heart beating motion information obtained through Da Vinci™ system are provided.

  15. Part-time careers in academic internal medicine: A report from the association of specialty professors part-time careers task force on behalf of the alliance for academic internal medicine

    OpenAIRE

    Linzer, M; Warde, C; Alexander, RW; DeMarco, DM; Haupt, A; Hicks, L; Kutner, J; Mangione, CM; Mechaber, H; Rentz, M; Riley, J; Schuster, B; Solomon, GD; Volberding, P; Ibrahim, T

    2009-01-01

    To establish guidelines for more effectively incorporating part-time faculty into departments of internal medicine, a task force was convened in early 2007 by the Association of Specialty Professors. The task force used informal surveys, current literature, and consensus building among members of the Alliance for Academic Internal Medicine to produce a consensus statement and a series of recommendations. The task force agreed that part-time faculty could enrich a department of medicine, enhan...

  16. The Director of Mobility Forces' Role in the Command Control of Air Mobility Assets During Humanitarian Relief Operations

    National Research Council Canada - National Science Library

    Bush, Timothy E

    2000-01-01

    ...). Air Force doctrine recommends a command and control (C2) structure that permits the same organizational concept to be used throughout the spectrum of conflict, tailored to suit the specific operational objectives of a Joint Task Force (JFT...

  17. The constrained control of force and position in multi-joint movements.

    Science.gov (United States)

    van Ingen Schenau, G J; Boots, P J; de Groot, G; Snackers, R J; van Woensel, W W

    1992-01-01

    In many arm or leg movements the hand or foot has to exert an external force on the environment. Based on an inverse dynamical analysis of cycling, it is shown that the distribution of net moments in the joints needed to control the direction of the external force is often opposite to the direction of joint displacements associated with this task. Kinetic and kinematic data were obtained from five experienced cyclists during ergometer cycling by means of film analysis and pedal force measurement. An inverse dynamic analysis, based on a linked segments model, yielded net joint moments, joint powers and muscle shortening velocities of eight leg muscles. Activation patterns of the muscles were obtained by means of surface electromyography. The results show that the transfer of rotations in hip, knee and ankle joints into the translation of the pedal is constrained by conflicting requirements. This occurs between the joint moments necessary to contribute to joint power and the moments necessary to establish a direction of the force on the pedal which allows this force to do work on the pedal. Co-activation of mono-articular agonists and their bi-articular antagonists appear to provide a unique solution for these conflicting requirements: bi-articular muscles appear to be able to control the desired direction of the external force on the pedal by adjusting the relative distribution of net moments over the joints while mono-articular muscles appear to be primarily activated when they are in the position to shorten and thus to contribute to positive work. Examples are given to illustrate the universal nature of this constrained control of force (external) and position (joint). Based on this study and published data it is suggested that different processes may underlie the organization of the control of mono- and bi-articular muscles.

  18. Disturbance Observer based internal Model Controller Design: Applications to Tracking Control of Optical Disk Drive

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Hyun Taek; Suh, Il Hong [Hanyang University (Korea, Republic of)

    1999-02-01

    A digital tracking controller is proposed for a precise positioning control under a large repetitive and/or non repetitive disturbances. The proposed controller consists of the internal model controller and the disturbance observer to eliminate the modeling uncertainty. A sufficient condition is given for robust stability of the proposed control system. Numerical Examples are illustrated for a precise head positioning of optical disk drives regardless of a torque disturbance and/or output disturbance. (author). 8 refs., 19 figs.

  19. The role of interactive control systems in obtaining internal consistency in the management control system package

    DEFF Research Database (Denmark)

    Toldbod, Thomas; Israelsen, Poul

    2014-01-01

    Companies rely on multiple Management Control Systems to obtain their short and long term objectives. When applying a multifaceted perspective on Management Control System the concept of internal consistency has been found to be important in obtaining goal congruency in the company. However, to d...... management is aware of this shortcoming they use the cybernetic controls more interactively to overcome this shortcoming, whereby the cybernetic controls are also used as a learning platform and not just for performance control....

  20. The stages of the international drug control system.

    Science.gov (United States)

    Carstairs, Catherine

    2005-01-01

    This paper argues that the history of the international drug control system of the League of Nations/United Nations can be divided into three cumulative stages. The first stage, the supply stage, dates back to early part of the 20th century, and aimed to reduce the supply of drugs through careful monitoring and trade regulations. This has remained the dominant control strategy. In the middle of the century, demand control, in the form of treatment and criminalization of the individual user, began to appear. This was the least successful stage. Finally, in the 1980s, the dangers of the drug traffic assumed an important place on the international agenda and measures to reduce drug-related organized crime were enacted. To date, this has been a process of proliferation of regulatory strategies. Recently, new challenges to the international drug control system have emerged, including well-funded non-governmental organizations critical of the war on drugs, and the adoption of harm reduction measures in national policies around the world.

  1. Internal hydraulic control in the Little Belt, Denmark - observations of flow configurations and water mass formation

    Science.gov (United States)

    Holtegaard Nielsen, Morten; Vang, Torben; Chresten Lund-Hansen, Lars

    2017-12-01

    Internal hydraulic control, which occurs when stratified water masses are forced through an abrupt constriction, plays an enormous role in nature on both large and regional scales with respect to dynamics, circulation, and water mass formation. Despite a growing literature on this subject surprisingly few direct observations have been made that conclusively show the existence of and the circumstances related to internal hydraulic control in nature. In this study we present observations from the Little Belt, Denmark, one of three narrow straits connecting the Baltic Sea and the North Sea. The observations (comprised primarily of along-strait, detailed transects of salinity and temperature; continuous observations of flow velocity, salinity, and temperature at a permanent station; and numerous vertical profiles of salinity, temperature, fluorescence, and flow velocity in various locations) show that internal hydraulic control is a frequently occurring phenomenon in the Little Belt. The observations, which are limited to south-going flows of approximately two-layered water masses, show that internal hydraulic control may take either of two configurations, i.e. the lower or the upper layer being the active, accelerating one. This is connected to the depth of the pycnocline on the upstream side and the topography, which is both deepening and contracting toward the narrow part of the Little Belt. The existence of two possible flow configurations is known from theoretical and laboratory studies, but we believe that this has never been observed in nature and reported before. The water masses formed by the intense mixing, which is tightly connected with the presence of control, may be found far downstream of the point of control. The observations show that these particular water masses are associated with chlorophyll concentrations that are considerably higher than in adjacent water masses, showing that control has a considerable influence on the primary production and

  2. Corruption and internal control weaknesses. Case study Romania

    Directory of Open Access Journals (Sweden)

    Luminiţa IONESCU

    2015-03-01

    Full Text Available Corruption represents one of the major causes of poverty all over the world and European Union is fighting against it. In the last few years, the corruption phenomenon registered a high level in some European countries and became one of the most problematic factors for doing business, due to the evolution of the perceived top five global risks: interstate conflict and regional consequences, extreme weather events, failure of national governance, state collapse or crises, high structural unemployment or underemployment              (WEF-Global Risk Report 2015, p. 14. One of the modalities in combating corruption is implementing the internal control and most of the governments and organizations adopted strong control techniques. Most of the control weaknesses are related to the financial procedures and the number of controllers. Some of the controllers do not have enough financial expertise or do not understand the importance of informatics systems.

  3. The Perception of the Internal Managerial Control System – the Case of the Romanian Public Entities

    Directory of Open Access Journals (Sweden)

    State Violeta

    2017-01-01

    Full Text Available In order to control the management of activities for achieve the objectives, the managers at all levels of the hierarchy must have relevant information on the organization's events and activities, in an appropriate form and detail. Thus, they can assume their responsibilities. In this context, we considered that important of organizing and implementing in the public entities of the system of internal managerial control. This system provides reasonable assurance that the organization's objectives will be achieved in terms of efficiency, efficacy, economically. For this purpose, we have carried out a documentary research of both specialized papers and the applicable regulations in force in Romania in the field of managerial internal control within the public entities, as well as empirical research. Thus, in a conjunct survey, we conducted a survey on the implementation of the managerial internal control system in different public institutions in Romania with the central objective to highlight the perception of the staff involved in this tool at the disposal of the management.

  4. 47 CFR 90.471 - Points of operation in internal transmitter control systems.

    Science.gov (United States)

    2010-10-01

    ...) SAFETY AND SPECIAL RADIO SERVICES PRIVATE LAND MOBILE RADIO SERVICES Transmitter Control Internal Transmitter Control Systems § 90.471 Points of operation in internal transmitter control systems. The... licensee for internal communications and transmitter control purposes. Operating positions in internal...

  5. Strengthening the regulatory control of consumer goods through international harmonization

    International Nuclear Information System (INIS)

    Yus Rusdian Akhmad

    2013-01-01

    The International Atomic Energy Agency (IAEA) is currently working on a recommendation in the form of guidelines for regulating consumer goods. Preparation of this document has a significant dimension of international issues, especially in terms of the application of the principles of justification and application of the concept of exemption. International harmonization among regulators ranging from the regional to the global level is a central issue and considering the complex issues that arise in addition to covering the scientific aspects also involve consideration of the legal aspects or values espoused by any State which may differ from one another. PERKA BAPETEN on consumer goods is still in the preparation stage so that the discussion of the material will be useful for improving the quality of the regulation in time. There is a significant gap of understanding to the related materials by the parties concerned (between local and international parties were among the local party). This paper intends to propose the understanding and views on radiation protection and regulatory control for consumer goods and hopely could contributed significantly to strengthening its regulatory control which is primarily through a reduction in the gap of understanding to the related concept that potentially multi perceptions and encourage stronger cooperation among regulatory bodies. (author)

  6. The regulations concerning the uses of international controlled material

    International Nuclear Information System (INIS)

    1978-01-01

    These provisions are established on the basis of and to enforce ''The law for the regulations of nuclear source materials, nuclear fuel materials and reactors'' and the ''Prescriptions on the usage of internationally regulated goods'' in the Enforcement Ordinance of the Law. Terms are explained, such as area for incoming and outgoing of goods, main measuring point, batch and real stocks. Applications for the permission of the use of internationally regulated goods shall be filed, in which the kinds of such goods for the materials and equipments in each partner country, with which international agreement was concluded, and the quantity and expected period of use of each regulated material must be written. The users of such regulated materials shall keep the records on the usage of such materials in each factory or establishment. Such records include the quantities of receiving and delivering and stocks of nuclear raw material of each kind, radiation control reports and the records of accidents in the facilities for using nuclear raw materials. Applications for the approval of the stipulation on the management of measurement shall be filed, in which the functions and organizations of the persons engaging in the measurement and control of internationally regulated goods, the establishment of the areas for receiving and delivering the goods and the marks to be put on such areas, etc. Applications for the designation as the persons engaging in information processing works are specified. (Okada, K.)

  7. Problems is applying new internal dose coefficients to radiation control

    Energy Technology Data Exchange (ETDEWEB)

    Sato, Yuichi [Oarai Laboratory, Chiyoda Technol Corporation, Ibaraki (Japan)

    1998-06-01

    The author discussed problems concerning the conceivable influence in the radiation control and those newly developing when the new internal dose coefficients are applied in the law in the future. For the conceivable influence, the occupational and public exposure was discussed: In the former, the effective dose equivalent limit (at present, 50 mSv/y) was thought to be reduced and in the latter, the limit to be obscure although it might be more greatly influenced by the new coefficients. For newly developing problems, since the new biological model which is more realistic was introduced for calculation of the internal dose and made the calculation more complicated, use of computer is requisite. The effective dose of the internal exposure in the individual monitoring should be conveniently calculated as done at present even after application of the new coefficients. For calculation of the effective dose of the internal exposure, there are such problems as correction of the inhaled particle size and of the individual personal parameter. A model calculation of residual rate in the chest where the respiratory tract alone participated was presented as an example but for the whole body, more complicated functions were pointed out necessary. The concept was concluded to be incorporated in the law in a convenient and easy manner and a software for calculation of internal dose using the new coefficients was wanted. (K.H.)

  8. Design of Optimal Hybrid Position/Force Controller for a Robot Manipulator Using Neural Networks

    Directory of Open Access Journals (Sweden)

    Vikas Panwar

    2007-01-01

    Full Text Available The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.

  9. Comparison of two temperature control techniques in a forced water heater solar system

    Science.gov (United States)

    Hernández, E.; E Guzmán, R.; Santos, A.; Cordoba, E.

    2017-12-01

    a study on the performance of a forced solar heating system in which a comparative analysis of two control strategies, including the classic on-off control and PID control is presented. From the experimental results it was found that the two control strategies show a similar behaviour in the solar heating system forced an approximate settling time of 60 min and over-elongation 2°C for the two control strategies. Furthermore, the maximum temperature in the storage tank was 46°C and the maximum efficiency of flat plate collector was 76.7% given that this efficiency is the ratio of the energy of the radiation on the collector and the energy used to heat water. The efficiency obtained is a fact well accepted because the business efficiencies of flat plate collectors are approximately 70%.

  10. External Periodic Force Control of a Single-Degree-of-Freedom Vibroimpact System

    Directory of Open Access Journals (Sweden)

    Jingyue Wang

    2013-01-01

    Full Text Available A single-degree-of-freedom mechanical model of vibro-impact system is established. Bifurcation and chaos in the system are revealed with the time history diagram, phase trajectory map, and Poincaré map. According to the bifurcation and chaos of the actual vibro-impact system, the paper puts forward external periodic force control strategy. The method of controlling chaos by external periodic force feedback controller is developed to guide chaotic motions towards regular motions. The stability of the control system is also analyzed especially by theory. By selecting appropriate feedback coefficients, the unstable periodic orbits of the original chaotic orbit can be stabilized to the stable periodic orbits. The effectiveness of this control method is verified by numerical simulation.

  11. Design of Active Magnetic Bearing Controllers for Rotors Subjected to Gas Seal Forces

    DEFF Research Database (Denmark)

    Lauridsen, Jonas Skjødt; Santos, Ilmar F.

    2018-01-01

    Proper design of feedback controllers is crucial for ensuring high performance of Active Magnetic Bearing (AMB) supported rotor dynamic systems. Annular seals in those systems can contribute with significant forces, which, in many cases, are hard to model in advance due to complex geometries...... of the seal and multiphase fluids. Hence, it can be challenging to design AMB controllers that will guarantee robust performance for these kinds of systems. This paper demonstrates the design, simulation and experimental results of model based controllers for AMB systems, subjected to dynamic seal forces....... The controllers are found using H-infinity - and µ synthesis and are based on a global rotor dynamic model in-which the seal coefficients are identified in-situ. The controllers are implemented in a rotor-dynamic test facility with two radial AMBs and one annular seal with an adjustable inlet pressure. The seal...

  12. Multi-muscle FES force control of the human arm for arbitrary goals.

    Science.gov (United States)

    Schearer, Eric M; Liao, Yu-Wei; Perreault, Eric J; Tresch, Matthew C; Memberg, William D; Kirsch, Robert F; Lynch, Kevin M

    2014-05-01

    We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject's hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint force targets was 11% of the total range of achievable forces. Major sources of error were random error due to trial-to-trial variability and model bias due to nonstationary system properties. Because the muscles working collectively are the actuators of the skeletal system, the quantification of errors in force control guides designs of motion controllers for multi-joint, multi-muscle FES systems that can achieve arbitrary goals.

  13. Active Control of Contact Force for a Pantograph-Catenary System

    Directory of Open Access Journals (Sweden)

    Jiqiang Wang

    2016-01-01

    Full Text Available The performance of the high speed trains depends critically on the quality of the contact in the pantograph-catenary interaction. Maintaining a constant contact force needs taking special measures and one of the methods is to utilize active control to optimize the contact force. A number of active control methods have been proposed in the past decade. However, the primary objective of these methods has been to reduce the variation of the contact force in the pantograph-catenary system, ignoring the effects of locomotive vibrations on pantograph-catenary dynamics. Motivated by the problems in active control of vibration in large scale structures, the author has developed a geometric framework specifically targeting the remote vibration suppression problem based only on local control action. It is the intention of the paper to demonstrate its potential in the active control of the pantograph-catenary interaction, aiming to minimize the variation of the contact force while simultaneously suppressing the vibration disturbance from the train. A numerical study is provided through the application to a simplified pantograph-catenary model.

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

    Science.gov (United States)

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

    2015-01-01

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

  15. Oversight Review: Quality Control Review of Air Force Audit Agency's Special Access Program Audits

    National Research Council Canada - National Science Library

    2005-01-01

    .... The Government Auditing Standards (GAS) require that an audit organization performing audits and/or attestation engagements in accordance with GAS should have an appropriate internal quality control system in place and undergo an external...

  16. Analytical quality control services of the International Atomic Energy Agency

    International Nuclear Information System (INIS)

    Suschny, O.

    1986-01-01

    The International Atomic Energy Agency provides quality control services to analytical laboratories. These services which include the provision of reference materials and the organisation of intercomparisons are rendered for the purpose of assisting laboratories in determining the accuracy of their analytical work. The following classes of materials are presently available: nuclear materials, environmental materials, animal and plant materials, materials for biomedical studies and materials of marine origin. (orig.) [de

  17. Ligation of internal iliac arteries for control of pelvic haemorrhage.

    Directory of Open Access Journals (Sweden)

    Nandanwar Y

    1993-10-01

    Full Text Available This is a retrospective review of the internal iliac ligations (IAL done over a period of 3 years. Both gynaecological and obstetric cases were considered. A total of 46 ligations were performed. The additional treatment required was hysterectomy to control haemorrhage. Intra-and post-operative complications were noted. A comparative review of the effectiveness of IAL in different situations is done and alternative modalities of treatment are considered.

  18. A demand assignment control in international business satellite communications network

    Science.gov (United States)

    Nohara, Mitsuo; Takeuchi, Yoshio; Takahata, Fumio; Hirata, Yasuo

    An experimental system is being developed for use in an international business satellite (IBS) communications network based on demand-assignment (DA) and TDMA techniques. This paper discusses its system design, in particular from the viewpoints of a network configuration, a DA control, and a satellite channel-assignment algorithm. A satellite channel configuration is also presented along with a tradeoff study on transmission rate, HPA output power, satellite resource efficiency, service quality, and so on.

  19. Architectural study of the design and operation of advanced force feedback manual controllers

    Science.gov (United States)

    Tesar, Delbert; Kim, Whee-Kuk

    1990-01-01

    A teleoperator system consists of a manual controller, control hardware/software, and a remote manipulator. It was employed in either hazardous or unstructured, and/or remote environments. In teleoperation, the main-in-the-loop is the central concept that brings human intelligence to the teleoperator system. When teleoperation involves contact with an uncertain environment, providing the feeling of telepresence to the human operator is one of desired characteristics of the teleoperator system. Unfortunately, most available manual controllers in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size, high costs, or lack of smoothness and transparency, and elementary architectures. To investigate other alternatives, a force-reflecting, 3 degree of freedom (dof) spherical manual controller is designed, analyzed, and implemented as a test bed demonstration in this research effort. To achieve an improved level of design to meet criteria such as compactness, portability, and a somewhat enhanced force-reflecting capability, the demonstration manual controller employs high gear-ratio reducers. To reduce the effects of the inertia and friction on the system, various force control strategies are applied and their performance investigated. The spherical manual controller uses a parallel geometry to minimize inertial and gravitational effects on its primary task of transparent information transfer. As an alternative to the spherical 3-dof manual controller, a new conceptual (or parallel) spherical 3-dof module is introduced with a full kinematic analysis. Also, the resulting kinematic properties are compared to those of other typical spherical 3-dof systems. The conceptual design of a parallel 6-dof manual controller and its kinematic analysis is presented. This 6-dof manual controller is similar to the Stewart Platform with the actuators located on the base to minimize the dynamic effects. Finally, a combination of the new 3-dof and 6-dof

  20. Compact vibration isolation and suspension for Australian International Gravitational Observatory: local control system.

    Science.gov (United States)

    Dumas, Jean-Charles; Barriga, Pablo; Zhao, Chunnong; Ju, Li; Blair, David G

    2009-11-01

    High performance vibration isolators are required for ground based gravitational wave detectors. To attain very high performance at low frequencies we have developed multistage isolators for the proposed Australian International Gravitational Observatory detector in Australia. New concepts in vibration isolation including self-damping, Euler springs, LaCoste springs, Roberts linkages, and double preisolation require novel sensors and actuators. Double preisolation enables internal feedback to be used to suppress low frequency seismic noise. Multidegree of freedom control systems are required to attain high performance. Here we describe the control components and control systems used to control all degrees of freedom. Feedback forces are injected at the preisolation stages and at the penultimate suspension stage. There is no direct actuation on test masses. A digital local control system hosted on a digital signal processor maintains alignment and position, corrects drifts, and damps the low frequency linear and torsional modes without exciting the very high Q-factor test mass suspension. The control system maintains an optical cavity locked to a laser with a high duty cycle even in the absence of an autoalignment system. An accompanying paper presents the mechanics of the system, and the optical cavity used to determine isolation performance. A feedback method is presented, which is expected to improve the residual motion at 1 Hz by more than one order of magnitude.

  1. Compact vibration isolation and suspension for Australian International Gravitational Observatory: Local control system

    Science.gov (United States)

    Dumas, Jean-Charles; Barriga, Pablo; Zhao, Chunnong; Ju, Li; Blair, David G.

    2009-11-01

    High performance vibration isolators are required for ground based gravitational wave detectors. To attain very high performance at low frequencies we have developed multistage isolators for the proposed Australian International Gravitational Observatory detector in Australia. New concepts in vibration isolation including self-damping, Euler springs, LaCoste springs, Roberts linkages, and double preisolation require novel sensors and actuators. Double preisolation enables internal feedback to be used to suppress low frequency seismic noise. Multidegree of freedom control systems are required to attain high performance. Here we describe the control components and control systems used to control all degrees of freedom. Feedback forces are injected at the preisolation stages and at the penultimate suspension stage. There is no direct actuation on test masses. A digital local control system hosted on a digital signal processor maintains alignment and position, corrects drifts, and damps the low frequency linear and torsional modes without exciting the very high Q-factor test mass suspension. The control system maintains an optical cavity locked to a laser with a high duty cycle even in the absence of an autoalignment system. An accompanying paper presents the mechanics of the system, and the optical cavity used to determine isolation performance. A feedback method is presented, which is expected to improve the residual motion at 1 Hz by more than one order of magnitude.

  2. ORGANIZATIONAL SYSTEMS OF INTERNAL FINANCIAL CONTROL IN THE WORLD

    Directory of Open Access Journals (Sweden)

    Mihaela – Lavinia CIOBĂNICĂ

    2014-04-01

    Full Text Available Beyond the multitude of definitions, internal control is found in the centre of managerial concerns worldwide. This amplification of interest towards internal control has its origin in a series of events, of which two can be mentioned: the growing business complexity and dispersal activity centres, which led to the growth and development of the delegation of competence, the only way which enables the responsible to exercise powers from a distance and entirely, bringing together the components needed by its delegates. Regulatory domain, which has not ceased to expand: laws, regulations, rules, professional constraints, budgetary and social – all these have increasingly limited the decision makers, through a network of rules that must be respected. Consequently, what can be done to be safe from any punishment and to ensure constant watch over the essentials? To answer these questions, and many others, experts in the field have taken initiatives that have enabled them to define with precision the specific internal control and to set goals, creating the famous models: COSO and CoCo.

  3. Internal quality control of neutron activation analysis laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Kim, S. H.; Mun, J. H.; BaeK, S. Y.; Jung, Y. S.; Kim, Y. J. [KAERI, Taejon (Korea, Republic of)

    2004-07-01

    The importance for quality assurance and control in analytical laboratories has been emphasized, day by day. Internal quality control using certified reference materials(CRMs) can be one of effective methods for this purpose. In this study, 10 kinds of CRMs consisting of soil, sediment and biological matrix were analyzed. To evaluate the confidence of analytical results and the validation of testing method and procedure, the accuracy and the precision of the measured elements were treated statistically and the reproducibility was compared with those values produced before 2003.

  4. The Peaceful Uses of Military Forces. Praeger Special Studies in International Politics and Public Affairs.

    Science.gov (United States)

    Hanning, Hugh

    This study of the peaceful uses of military forces (PUMF) offers a compendium of information and principles for the planning and conduct of such PUMF activities as meeting disaster or emergency relief situations, education and training, and economic and social projects. The provision of training opportunities by the military is a means of…

  5. Government Internal Control System Maturity: The Role of Internal Guidance and External Control of Local Government in Indonesia

    Directory of Open Access Journals (Sweden)

    Sutaryo Sutaryo

    2017-12-01

    Full Text Available This study discusses the Government Internal Control System (SPIP. The purpose of this study is to obtain empirical evidence of influence of guidance, external control, and the characteristics of Local Governments on Internal Control (SPIP maturity of local governments in Indonesia. The samples used in this study are 188 local governments in 2014. The variables used include the dependent variable, i.e. the SPIP maturity of local government; Independent variables, i.e. guidance frequency, the number of internal control findings, total assets, total expenditure and the number of local government units. This study uses secondary data obtained from the Financial and Development Supervisory Agency (BPKP and the Supreme Audit Agency (BPK. This study uses multiple regression analysis and the results show that the guidace frequency and total expenditure have a positive influence on maturity of SPIP, SPI finding has a negative influence, and the total assets and the number of units do not have significant influence on the maturity of SPIP.

  6. Enhancement of vortex induced forces and motion through surface roughness control

    Science.gov (United States)

    Bernitsas, Michael M [Saline, MI; Raghavan, Kamaldev [Houston, TX

    2011-11-01

    Roughness is added to the surface of a bluff body in a relative motion with respect to a fluid. The amount, size, and distribution of roughness on the body surface is controlled passively or actively to modify the flow around the body and subsequently the Vortex Induced Forces and Motion (VIFM). The added roughness, when designed and implemented appropriately, affects in a predetermined way the boundary layer, the separation of the boundary layer, the level of turbulence, the wake, the drag and lift forces, and consequently the Vortex Induced Motion (VIM), and the fluid-structure interaction. The goal of surface roughness control is to increase Vortex Induced Forces and Motion. Enhancement is needed in such applications as harnessing of clean and renewable energy from ocean/river currents using the ocean energy converter VIVACE (Vortex Induced Vibration for Aquatic Clean Energy).

  7. Reduction of vortex induced forces and motion through surface roughness control

    Science.gov (United States)

    Bernitsas, Michael M; Raghavan, Kamaldev

    2014-04-01

    Roughness is added to the surface of a bluff body in a relative motion with respect to a fluid. The amount, size, and distribution of roughness on the body surface is controlled passively or actively to modify the flow around the body and subsequently the Vortex Induced Forces and Motion (VIFM). The added roughness, when designed and implemented appropriately, affects in a predetermined way the boundary layer, the separation of the boundary layer, the level of turbulence, the wake, the drag and lift forces, and consequently the Vortex Induced Motion (VIM), and the fluid-structure interaction. The goal of surface roughness control is to decrease/suppress Vortex Induced Forces and Motion. Suppression is required when fluid-structure interaction becomes destructive as in VIM of flexible cylinders or rigid cylinders on elastic support, such as underwater pipelines, marine risers, tubes in heat exchangers, nuclear fuel rods, cooling towers, SPAR offshore platforms.

  8. Time scaling internal state predictive control of a solar plant

    Energy Technology Data Exchange (ETDEWEB)

    Silva, R.N. [DEE-FCT/UNL, Caparica (Portugal); Rato, L.M. [INESC-ID/University, Evora (Portugal); Lemos, J.M. [INESC-ID/IST, Lisboa (Portugal)

    2003-12-01

    The control of a distributed collector solar field is addressed in this work, exploiting the plant's transport characteristic. The plant is modeled by a hyperbolic type partial differential equation (PDE) where the transport speed is the manipulated flow, i.e. the controller output. The model has an external distributed source, which is the solar radiation captured along the collector, approximated to depend only of time. From the solution of the PDE, a linear discrete state space model is obtained by using time-scaling and the redefinition of the control input. This method allows overcoming the dependency of the time constants with the operating point. A model-based predictive adaptive controller is derived with the internal temperature distribution estimated with a state observer. Experimental results at the solar power plant are presented, illustrating the advantages of the approach under consideration. (author)

  9. Internal Targeting and External Control: Phototriggered Targeting in Nanomedicine.

    Science.gov (United States)

    Arrue, Lily; Ratjen, Lars

    2017-12-07

    The photochemical control of structure and reactivity bears great potential for chemistry, biology, and life sciences. A key feature of photochemistry is the spatiotemporal control over secondary events. Well-established applications of photochemistry in medicine are photodynamic therapy (PDT) and photopharmacology (PP). However, although both are highly localizable through the application of light, they lack cell- and tissue-specificity. The combination of nanomaterial-based drug delivery and targeting has the potential to overcome limitations for many established therapy concepts. Even more privileged seems the merger of nanomedicine and cell-specific targeting (internal targeting) controlled by light (external control), as it can potentially be applied to many different areas of medicine and pharmaceutical research, including the aforementioned PDT and PP. In this review a survey of the interface of photochemistry, medicine and targeted drug delivery is given, especially focusing on phototriggered targeting in nanomedicine. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  10. THE COMMUNICATION OF INTERNAL CONTROL SYSTEM WEAKNESSES - NECESSITY AND RESPONSIBILITY

    Directory of Open Access Journals (Sweden)

    Mariana, NEDELCU (BUNEA

    2014-11-01

    Full Text Available In terms of its mission, the control is an inherent part of management, being a specifically human activity, especially useful serving both the management, business partners, public institutions and public. Especially in the last period, amid the economic and financial crisis manifested in recent years, the control has evolved and evolving both by the improvement of organization and management systems and by the response to continuous development of the environment in which it operates. The control activities are an integral part of the management process by which the entity aims to achieve their objectives. The research methodology consists essentially in a literature review and recent regulations in the analyzed field.The objective of this study is to highlight the way in which shall be communicated the deficiencies of internal control systems, to the persons responsible for their governance, inclusively in the banking system.

  11. International trade agreements challenge tobacco and alcohol control policies.

    Science.gov (United States)

    Zeigler, Donald W

    2006-11-01

    This report reviews aspects of trade agreements that challenge tobacco and alcohol control policies. Trade agreements reduce barriers, increase competition, lower prices and promote consumption. Conversely, tobacco and alcohol control measures seek to reduce access and consumption, raise prices and restrict advertising and promotion in order to reduce health and social problems. However, under current and pending international agreements, negotiated by trade experts without public health input, governments and corporations may challenge these protections as constraints on trade. Advocates must recognise the inherent conflicts between free trade and public health and work to exclude alcohol and tobacco from trade agreements. The Framework Convention on Tobacco Control has potential to protect tobacco policies and serve as a model for alcohol control.

  12. Control of internal exposure doses of Belarus population

    International Nuclear Information System (INIS)

    Minenko, V.; Drozdovich, V.; Ulanovski, A.; Ternov, V.I.; Vasilyeva, I.

    1997-01-01

    Starting from May 1986 instrumental control of internal exposure is being carried out in Belarus using different equipment. In earlier, iodine period, the basic aim of the control was a mass screening of the population for defining of iodine content in thyroid. After the iodine period attention of the radiological control was focused on monitoring of caesium radionuclides content in human bodies of the inhabitants of radioactively contaminated territories. Goals of the control were changing, depending on the time that passed since the day of the accident. Nowadays the National Commission of Belarus recognizes entering of the, Republic into rehabilitation period of the accident of the Chernobyl Nuclear Power Plant. Developed Conception of Protection Measures for the rehabilitation period for the population living at the territories affected by the radioactive contamination in the result of the Chernobyl catastrophe

  13. Introduction to the IEEE International Symposium on Applications of Ferroelectrics and International Symposium on Piezoresponse Force Microscopy and Nanoscale Phenomena in Polar Materials.

    Science.gov (United States)

    Ye, Zuo-Guang; Tan, Xiaoli; Bokov, Alexei A

    2012-09-01

    The 20th IEEE International Symposium on Applications of Ferroelectrics (ISAF) was held on July 24-27, 2011, in Vancouver, British Columbia, Canada, jointly with the International Symposium on Piezoresponse Force Microscopy and Nanoscale Phenomena in Polar Materials (PFM). Over a period of four days, approximately 400 scientists, engineers, and students from around the world presented their work and discussed the latest developments in the field of ferroelectrics, related materials, and their applications. It is particularly encouraging to see that a large number of students (115) were attracted to the joint conference and presented high-quality research works. This trend is not only important to this conference series, but more importantly, it is vital to the future of the ferroelectrics field.

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

    Directory of Open Access Journals (Sweden)

    Sébastien Mick

    2017-10-01

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

  15. Internal Barriers to Implementing Diversity Management in the Air Force: Four Conversations We Must Have

    National Research Council Canada - National Science Library

    Bean, Debra

    2000-01-01

    .... Unfortunately, there is little evidence that the internal environment is as well understood; and this lack of knowledge about barriers and facilitators of change is problematic for program developers...

  16. Guidelines and Ethical Considerations for Assessment Center Operations: International Task Force on Assessment Center Guidelines.

    Science.gov (United States)

    Public Personnel Management, 2000

    2000-01-01

    This update of the International Personnel Management Association's guidelines for organizational psychologists, human resource management specialists, and others addresses elements of assessment centers, policy statements, assessor training, informed participation, and participants' rights. (SK)

  17. Characterization of sliders for efficient force generation of electrostatically controlled linear actuator

    International Nuclear Information System (INIS)

    Nguyen, T A; Konishi, S

    2014-01-01

    In this paper, the characterization of sliders for efficient force generation of an electrostatically controlled linear actuator (ECLIA) is investigated. The ECLIA consists of a piezoactuator (PZT), driving and holding electrodes, multiple sliders and a guide structure. The stepping motion of the sliders is driven by the PZT actuator via an electrostatic clutch mechanism. Thus, multiple sliders can achieve parallel, independent, precise motion, and a large stroke. Previous studies have indicated that the Si bulk slider and Si electrode created an air gap owing to the deformation of the Si electrode. Thus, the Si slider generated a low pushing force. In this study, we propose a fishbone structure mounted on a flexible slider to enhance the pushing force of the slider. The flexible slider, that can deform and fit into the Si electrode to reduce the air gap, results in highly efficient electrostatic-force generation. The fishbone structure improves the longitudinal stiffness of the flexible slider for high pushing-force generation. The results show that the pushing force created by the fishbone slider was three times greater than that of the conventional Si slider. The fishbone and flexible sliders exhibited a high performance for the ECLIA. (paper)

  18. Taxing Pensions of an Internationally Mobile Labor Force: Portability Issues and Taxation Options

    OpenAIRE

    Holzmann, Robert

    2016-01-01

    There is a rising share of individuals spending at least some part of their working life abroad and acquiring pension rights. While the portability of pensions and other social benefits has received some analytical attention over the recent decade there is currently limited analytical guidance on the taxation of retirement provisions within a country, and there is virtually none for the taxation of internationally portable pensions. For both national and international taxation of pensions, th...

  19. Globalisation, international education and the marketing of TESOL: student identity as a site of conflicting forces

    OpenAIRE

    Chowdhury, Md Raqibuddin

    2017-01-01

    This study provides a critique of institutional discourses that are informed by race, culture and identity, learning constraints and particular constructions of English and offers ways of thinking that encourage multiplicity and complexity. Its principal aim is to probe issues relating to the identity formation of international TESOL students in the context of the globalisation of international education. To achieve this aim, the study poses questions about the commodification of the TESOL ma...

  20. Inertial shear forces and the use of centrifuges in gravity research. What is the proper control?

    NARCIS (Netherlands)

    Loon, van J.J.W.A.; Folgering, H.T.E.; Bouten, C.V.C.; Veldhuijzen, J.P.; Smit, T.H.

    2003-01-01

    Centrifuges are used for 1×g controls in space flight microgravity experiments and in ground based research. Using centrifugation as a tool to generate an Earth like acceleration introduces unwanted inertial shear forces to the sample. Depending on the centrifuge and the geometry of the experiment

  1. A Cost-Effective Atomic Force Microscope for Undergraduate Control Laboratories

    Science.gov (United States)

    Jones, C. N.; Goncalves, J.

    2010-01-01

    This paper presents a simple, cost-effective and robust atomic force microscope (AFM), which has been purposely designed and built for use as a teaching aid in undergraduate controls labs. The guiding design principle is to have all components be open and visible to the students, so the inner functioning of the microscope has been made clear to…

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

    CERN Document Server

    Ghalyan, Ibrahim Fahad Jasim

    2016-01-01

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

  3. Simulation of body force field effects on airfoil separation control and optimization of plasma actuator

    International Nuclear Information System (INIS)

    Abdoli, A; Mirzaee, I; Purmahmod, N; Anvari, A

    2008-01-01

    Among all active flow control methods, EHD, MHD and EMHD are the only methods which operate on the basis of body force induction on flow field. The EHD plasma actuator is the proper method which has been used in various flow control applications recently. In this paper, the effects of different body force fields on different domains have been studied for separation control on NACA 0021 and the results have been discussed. The airflow velocity has been assumed to be 35 m s -1 at a post-stall angle of attack of 23 deg. Three different domains have been used around the airfoil to investigate body forces with different strengths and directions and those which give the best result in separation control have been obtained for each domain. It has been shown that the results could be used for optimizing the plasma actuator by manipulating its electrode configuration. Two non-dimensional numbers, A b and D c , have been obtained and validated by different applied body forces. These numbers have been defined for plasma actuators to show their efficiency in different applications

  4. Simulation of body force field effects on airfoil separation control and optimization of plasma actuator

    Energy Technology Data Exchange (ETDEWEB)

    Abdoli, A; Mirzaee, I; Purmahmod, N [Faculty of Engineering, Urmia University, Urmia (Iran, Islamic Republic of); Anvari, A [Department of Physics, Sharif University of Technology, Tehran (Iran, Islamic Republic of)], E-mail: ab.abdoli@gmail.com

    2008-09-07

    Among all active flow control methods, EHD, MHD and EMHD are the only methods which operate on the basis of body force induction on flow field. The EHD plasma actuator is the proper method which has been used in various flow control applications recently. In this paper, the effects of different body force fields on different domains have been studied for separation control on NACA 0021 and the results have been discussed. The airflow velocity has been assumed to be 35 m s{sup -1} at a post-stall angle of attack of 23 deg. Three different domains have been used around the airfoil to investigate body forces with different strengths and directions and those which give the best result in separation control have been obtained for each domain. It has been shown that the results could be used for optimizing the plasma actuator by manipulating its electrode configuration. Two non-dimensional numbers, A{sub b} and D{sub c}, have been obtained and validated by different applied body forces. These numbers have been defined for plasma actuators to show their efficiency in different applications.

  5. A Novel Approach for Automatic Control of Piezoelectric Elements Used for Lorentz Force Detuning Compensation

    CERN Document Server

    Przygoda, K; Napieralski, A; Grecki, M

    2010-01-01

    Abstract: Linear accelerators such as Free Electron Lasers (FELs) use superconducting (SC) resonant cavities to accelerate electron beam to high energies. TESLA type resonators are extremely sensitive to detuning induced by mechanical deformations – Lorentz force detuning (LFD), mainly due to the extremely high quality factor (Q) of the 1.3 GHz resonance mode, in the range of 1e6. The resulting modulation of a resonance frequency of the cavity makes power consumption and stability performances of the Low-Latency Radio Frequency (LLRF) control more critical. In order to minimize the RF control efforts and desired stabilities, the fast piezoelectric actuators with digital control systems are commonly used. The paper presents a novel approach for automatic control of piezoelectric actuators used for compensation of Lorentz force detuning, the practical application and carried out tests in accelerating module ACC6 in Free-Electron Laser in Hamburg (FLASH).

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

    Directory of Open Access Journals (Sweden)

    Yi-Ching Chen

    2017-11-01

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

  7. The Role of Forcing and Internal Dynamics in explaining the 'Medieval Climate Anomaly'

    Science.gov (United States)

    Goossee, Hugues; Crespin, Elisabeth; Dubinkina, Svetlana; Loutre, Marie-France; Mann, Michael E.; Renssen, Hans; Shindell, Drew

    2012-01-01

    Proxy reconstructions suggest that peak global temperature during the past warm interval known as the Medieval Climate Anomaly (MCA, roughly 950-1250 AD) has been exceeded only during the most recent decades. To better understand the origin of this warm period, we use model simulations constrained by data assimilation establishing the spatial pattern of temperature changes that is most consistent with forcing estimates, model physics and the empirical information contained in paleoclimate proxy records. These numerical experiments demonstrate that the reconstructed spatial temperature pattern of the MCA can be explained by a simple thermodynamical response of the climate system to relatively weak changes in radiative forcing combined with a modification of the atmospheric circulation, displaying some similarities with the positive phase of the so-called Arctic Oscillation, and with northward shifts in the position of the Gulf Stream and Kuroshio currents. The mechanisms underlying the MCA are thus quite different from anthropogenic mechanisms responsible for modern global warming.

  8. Comparative Effects of Different Balance-Training-Progression Styles on Postural Control and Ankle Force Production: A Randomized Controlled Trial.

    Science.gov (United States)

    Cuğ, Mutlu; Duncan, Ashley; Wikstrom, Erik

    2016-02-01

    Despite the effectiveness of balance training, the exact parameters needed to maximize the benefits of such programs remain unknown. One such factor is how individuals should progress to higher levels of task difficulty within a balance-training program. Yet no investigators have directly compared different balance-training-progression styles. To compare an error-based progression (ie, advance when proficient at a task) with a repetition-based progression (ie, advance after a set amount of repetitions) style during a balance-training program in healthy individuals. Randomized controlled trial. Research laboratory. A total of 28 (16 women, 12 men) physically healthy young adults (age = 21.57 ± 3.95 years, height = 171.60 ± 11.03 cm, weight = 72.96 ± 16.18 kg, body mass index = 24.53 ± 3.7). All participants completed 12 supervised balance-training sessions over 4 weeks. Each session consisted of a combination of dynamic unstable-surface tasks that incorporated a BOSU ball and lasted about 30 minutes. Static balance from an instrumented force plate, dynamic balance as measured via the Star Excursion Balance Test, and ankle force production in all 4 cardinal planes of motion as measured with a handheld dynamometer before and after the intervention. Selected static postural-control outcomes, dynamic postural control, and ankle force production in all planes of motion improved (P .05) for any of the outcome measures. A 4-week balance-training program consisting of dynamic unstable-surface exercises on a BOSU ball improved dynamic postural control and ankle force production in healthy young adults. These results suggest that an error-based balance-training program is comparable with but not superior to a repetition-based balance-training program in improving postural control and ankle force production in healthy young adults.

  9. The regulations concerning the uses of international controlled material

    International Nuclear Information System (INIS)

    1979-01-01

    The regulations are defined under the law for the regulations of nuclear source materials, nuclear fuel materials and reactors and provisions concerning the uses of international controlled material in the order for execution of the law. Basic concepts and terms are explained, such as: area of material delivery; fluctuation of stock; batch; real stock, effective value; fuel assembly and main measuring point. The application for permission of the uses of international controlled material shall be filed to the Director General of Science and Technology Agency by the processor, the establisher of reactor, the reprocessor or the user for each works or enterprise, listing name and address of the person, name and location of the works or the enterprise where such material is used, kind and quantity of the material and expected period of the uses. Records shall be made and kept for particular periods for each works or enterprise on specified matters, including especially delivery, stock and fluctuation of stock of nuclear source or fuel material, etc. Provisions on control of measurement, method of analysis and information processing business are stipulated. Reports shall be submitted to the Director in the forms attached on delivery, control and fluctuation of stock of nuclear source or fuel material, etc. (Okada, K.)

  10. The potential value of dynamic materials control in international safeguards

    International Nuclear Information System (INIS)

    Keepin, G.R.; Lovett, J.E.

    1979-01-01

    The difficulties inherent in conventional materials accountancy based on semi-annual or annual shutdown cleanout physical inventories have been recognized for many years. The increasing importance of international nuclear materials safeguards, coupled with the availability of advanced non-destructive measurement technology which could be installed on or near process lines, has led to the development of the concept of advanced or dynamic materials control. The potential benefits of dynamic materials control in terms of significantly improved detection capabilities (ranging from a few kilograms of plutonium down to perhaps a few hundred grams, even for large-scale bulk processing facilities), and even more dramatically improved detection timeliness (typically a few days, and potentially only a few hours, in advanced facilities), are reviewed. At least twelve major dynamic material control systems already in existence or in the process of being installed are noted, and some of the essential characteristics are discussed. Some currently unresolved questions are explored, and future prospects for the concept of dynamic material control in international safeguards are reviewed. (author)

  11. Foreign Internal Defense. Does Air Force Special Operations Have What it Takes?,

    Science.gov (United States)

    1993-12-01

    anything in the air or on the ground. However, while the desert conditions in areas of Peru and Chile are similarly without rain, their surrounding...example, during CABANAS 89, a joint/combined exercise, Honduran officials did not allow the use of CASA -212 aircraft in the. exercise because of...correctly understood while flying en route to Desert One on the Iranian hostage rescue mission. The experience is described by Col James H. Kyle, US Air Force

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

    Directory of Open Access Journals (Sweden)

    Jan Vittek

    2003-01-01

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

  13. Evaluation of friction forces between control bars and guide tubes of CAREM fuel element

    International Nuclear Information System (INIS)

    Ghiselli, Alberto M.; Fiori, Jose M.; Yedros, Pablo A.

    2003-01-01

    The design of the MSAC (Mecanismo del Sistema de ajuste y control, Mechanism of the Adjustment and control system, MACS) for CAREM reactor shall consider all loads that the reactor shall support during its operation. Several charges are originated by friction forces produced on contact points of the control Bars/Guide tubes assembly against other components. A test facility was designed and manufactured for the determination of friction components and the damping characteristics of the assembly formed by guide tubes fuel element, the control bars and the guide of the bar of the MACS. In this work a description of the test performed and the results obtained is presented. (author)

  14. On Synergistic Integration of Adaptive Dithering Based Internal Model Control for Hysteresis Compensation in Piezoactuated Nanopositioner

    Directory of Open Access Journals (Sweden)

    Saikat Kumar Shome

    2015-01-01

    Full Text Available Piezoelectric-stack actuated platforms are very popular in the parlance of nanopositioning with myriad applications like micro/nanofactory, atomic force microscopy, scanning probe microscopy, wafer design, biological cell manipulation, and so forth. Motivated by the necessity to improve trajectory tracking in such applications, this paper addresses the problem of rate dependent hysteretic nonlinearity in piezoelectric actuators (PEA. The classical second order Dahl model for hysteresis encapsulation is introduced first, followed by the identification of parameters through particle swarm optimization. A novel inversion based feedforward mechanism in combination with a feedback compensator is proposed to achieve high-precision tracking wherein the paradoxical concept of noise as a performance enhancer is introduced in the realm of PZAs. Having observed that dither induced stochastic resonance in the presence of periodic forcing reduces tracking error, dither capability is further explored in conjunction with a novel output harmonics based adaptive control scheme. The proposed adaptive controller is then augmented with an internal model control based approach to impart robustness against parametric variations and external disturbances. The proposed control law has been employed to track multifrequency signals with consistent compensation of rate dependent hysteresis of the PEA. The results indicate a greatly improved positioning accuracy along with considerable robustness achieved with the proposed integrated approach even for dual axis tracking applications.

  15. 7 CFR 4290.506 - Safeguarding the RBIC's assets/Internal controls.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 15 2010-01-01 2010-01-01 false Safeguarding the RBIC's assets/Internal controls... Safeguarding the RBIC's assets/Internal controls. You must adopt a plan to safeguard your assets and monitor... your control procedures. ...

  16. 13 CFR 107.506 - Safeguarding Licensee's assets/Internal controls.

    Science.gov (United States)

    2010-01-01

    .../Internal controls. 107.506 Section 107.506 Business Credit and Assistance SMALL BUSINESS ADMINISTRATION... Safeguarding Licensee's assets/Internal controls. You must adopt a plan to safeguard your assets and monitor... your control procedures. ...

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

    Directory of Open Access Journals (Sweden)

    Sangjune Eum

    2017-02-01

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

  18. Real-time control of internal transport barriers in JET

    Energy Technology Data Exchange (ETDEWEB)

    Mazon, D.; Litaudon, X.; Moreau, D. [Association Euratom-CEA, CEA Cadarache, St. Paul lez Durance (France)] [and others

    2002-07-01

    We present the results of recent experiments related to real-time control of internal transport barriers (ITBs) in JET. Using a simple criterion to characterize the ITB existence, location and strength, we have successfully controlled for the first time the radial electron temperature profile within the ITB. The dimensionless variable used in the real-time algorithm - ratio of the ion gyro-radius to the local gradient scale length of the electron temperature - is a measure of the normalized electron temperature gradient and characterizes satisfactorily the main ITB features with a relatively low computational cost. We show several examples of control of this variable in various experimental conditions of toroidal field and plasma current, using different heating systems as control actuators. We also present a double-loop feedback scheme where both the global neutron rate from D-D reactions and the ITB strength are controlled simultaneously. In this case the ITB is sustained in a fully non-inductive current drive regime during several seconds. With the proposed control method, disruptions are avoided by holding the plasma performance at a prescribed target and this opens the route towards stationary operation of tokamak plasmas with ITBs. Initial results suggest that the additional control of the current profile is an important issue for achieving steady-state operation, in particular in the triggering and the sustainment of the ITB. (author)

  19. Displacement and force coupling control design for automotive active front steering system

    Science.gov (United States)

    Zhao, Wanzhong; Zhang, Han; Li, Yijun

    2018-06-01

    A displacement and force coupling control design for active front steering (AFS) system of vehicle is proposed in this paper. In order to investigate the displacement and force characteristics of the AFS system of the vehicle, the models of AFS system, vehicle, tire as well as the driver model are introduced. Then, considering the nonlinear characteristics of the tire force and external disturbance, a robust yaw rate control method is designed by applying a steering motor to generate an active steering angle to adjust the yaw stability of the vehicle. Based on mixed H2/H∞ control, the system robustness and yaw rate tracking performance are enforced by H∞ norm constraint and the control effort is captured through H2 norm. In addition, based on the AFS system, a planetary gear set and an assist motor are both added to realize the road feeling control in this paper to dismiss the influence of extra steering angle through a compensating method. Evaluation of the overall system is accomplished by simulations and experiments under various driving condition. The simulation and experiment results show the proposed control system has excellent tracking performance and road feeling performance, which can improve the cornering stability and maneuverability of vehicle.

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

    Directory of Open Access Journals (Sweden)

    Jeremy Krause

    2018-05-01

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

  1. A report on older-age bipolar disorder from the International Society for Bipolar Disorders Task Force

    DEFF Research Database (Denmark)

    Sajatovic, Martha; Strejilevich, Sergio A; Gildengers, Ariel G

    2015-01-01

    , and shed light on issues of relevance to BD research across the lifespan. Although there is still a dearth of research and health efforts focused on older adults with BD, emerging data have brought some answers, innovative questions, and novel perspectives related to the notion of late onset, medical......OBJECTIVES: In the coming generation, older adults with bipolar disorder (BD) will increase in absolute numbers as well as proportion of the general population. This is the first report of the International Society for Bipolar Disorder (ISBD) Task Force on Older-Age Bipolar Disorder (OABD). METHODS...

  2. 2011 International Conference in Electrics, Communication and Automatic Control Proceedings

    CERN Document Server

    2012-01-01

    This two-volume set contains the very latest, cutting-edge material in electrics, communication and automatic control. As a vital field of research that is highly relevant to current developments in a number of technological domains, the subjects it covers include micro-electronics and integrated circuit control, signal processing technology, next-generation network infrastructure, wireless communication and scientific instruments. The aim of the International Conference in Electrics, Communication and Automatic Control, held in Chongqing, China, in June 2011 was to provide a valuable inclusive platform for researchers, engineers, academicians and industrial professionals from all over the world to share their research results with fellow scientists in the sector. The call for papers netted well over 600 submissions, of which 224 were selected for presentation. This fully peer-reviewed collection of papers from the conference can be viewed as a single-source compendium of the latest trends and techniques in t...

  3. International Conference on Instability and Control of Massively Separated Flows

    CERN Document Server

    Soria, Julio

    2015-01-01

    This book contains the outcome of the international meeting on instability, control and noise generated by massive flow separation that was organized at the Monash Center, in Prato, Italy, September 4-6, 2013. The meeting served as the final review of the EU-FP7 Instability and Control of Massively Separated Flows Marie Curie travel grant and was supported by the European Office of Aerospace Research and Development. Fifty leading specialists from twelve countries reviewed the progress made since the 50s of the last century and discussed modern analysis techniques, advanced experimental flow diagnostics, and recent developments in active flow control techniques from the incompressible to the hypersonic regime. Applications involving massive flow separation and associated instability and noise generation mechanisms of interest to the aeronautical, naval and automotive industries have been addressed from a theoretical, numerical or experimental point of view, making this book a unique source containing the stat...

  4. Future Control and Automation : Proceedings of the 2nd International Conference on Future Control and Automation

    CERN Document Server

    2012-01-01

    This volume Future Control and Automation- Volume 1 includes best papers selected from 2012 2nd International Conference on Future Control and Automation (ICFCA 2012) held on July 1-2, 2012, Changsha, China. Future control and automation is the use of control systems and information technologies to reduce the need for human work in the production of goods and services. This volume can be divided into five sessions on the basis of the classification of manuscripts considered, which is listed as follows: Identification and Control, Navigation, Guidance and Sensor, Simulation Technology, Future Telecommunications and Control

  5. Internal versus External Control of Reinforcement: A Review of the Locus of Control Construct

    Science.gov (United States)

    Kormanik, Martin B.; Rocco, Tonette S.

    2009-01-01

    One aspect of personality, perceptions of internal versus external control of reinforcement, shifts under conditions of change. This review of the literature examines the relationship between planned organizational change and locus of control. The review includes literature from the disciplines of clinical and social psychology, adult development,…

  6. Effects of Internal Control Training on the Locus of Control of Some ...

    African Journals Online (AJOL)

    This study investigated the effect of internal control training on the locus of control of selected school going adolescents in Benin City. A sample size of 60 was drawn from two of the 27 co-educational schools in Oredo Local government area of Benin City. A table of random number technique was used to select subjects for ...

  7. Sustainable Innovation, Management Accounting and Control Systems, and International Performance

    Directory of Open Access Journals (Sweden)

    Ernesto Lopez-Valeiras

    2015-03-01

    Full Text Available This study analyzes how Management Accounting and Control Systems (MACS facilitate the appropriation of the benefits of sustainable innovations in organizations. In particular, this paper examines the moderating role of different types of MACS in the relationships between sustainable innovation and international performance at an organizational level. We collected survey data from 123 Spanish and Portuguese organizations. Partial Least Square was used to analyze the data. Results show that the effect of sustainable innovations on international performance is enhanced by contemporary rather than traditional types of MACS. Overall our findings show that MACS can help managers to develop and monitor organizational activities (e.g., costumer services and distribution activities, which support the appropriation of the potential benefits from sustainable innovation. This paper responds to recent calls for in-depth studies about the organizational mechanism that may enhance the success of sustainable innovation.

  8. Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

    Directory of Open Access Journals (Sweden)

    Nobutomo Morita

    2018-01-01

    Full Text Available The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces—such as metal, paper, film, and so on—thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV by modifying the design which was adopted from MEMS (microelectromechanical systems fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects—aluminum block, wood block, and white acrylic block—considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

  9. Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter.

    Science.gov (United States)

    Morita, Nobutomo; Nogami, Hirofumi; Higurashi, Eiji; Sawada, Renshi

    2018-01-23

    The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces-such as metal, paper, film, and so on-thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects-aluminum block, wood block, and white acrylic block-considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

  10. Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System

    Directory of Open Access Journals (Sweden)

    Jian Huang

    2015-08-01

    Full Text Available Impedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally, a coupling effect occurs between the internal loop of the grasping operation and the external loop of the interaction with the environment when a multi-fingered robot hand is used to complete a contact task. Therefore, a robot hand cannot hold an object using a large external force to complete a wide range of tasks by applying the conventional method. In this paper, the coupling of the internal/external forces occurring in grasping operations using multiple fingers is analysed. Then, improved impedance control based on the previous method is proposed as an effective tool to solve the problem of grasping failure caused by single-finger contact. Furthermore, a method for applying the improved grasping algorithm to the admittance control of a robot hand-arm system is also proposed. The proposed method divides the impedance effect into the grasping control of the hand and the cooperative control of the arm, so that expanding the task space and increasing the flexibility of impedance adjustment can be achieved. Experiments were conducted to demonstrate the effectiveness of the proposed method.

  11. The new Rotterdam Rules: An overwiew on the main differences with the international regulations in force on carriage of goods by sea

    OpenAIRE

    Rimaboschi, Massimiliano

    2009-01-01

    This new instrument, that will enter into force once it has been ratified by at least twenty States, deals with the international carriage of goods and is closely connected with the international trade. International transport law is currently regulated by two main international Conventions, the Hague Rules and the Hamburg Rules. Many countries have adopted the Hague Rules as amended by two Protocols, respectively adopted in Brussels on 1968 (the Hague Visby Rules – 30 contracting States) and...

  12. The Line between Peaceful Settlement of Disputes and the Use of Force in International Law

    Directory of Open Access Journals (Sweden)

    Oana Cristina Necula

    2012-12-01

    Full Text Available In this article, we attempt to analyze the evolution of a conflictual situation between atleast two international parties, examining each stage involved, with focus on peaceful solutions.However, what we observe is that no all disputes can be resolved through the use of common peacefulmeans. Refusing to accept violet methods of international conflict resolution and expressing faith inhuman values, freedom and fundamental rights of people, we believe that, in cases like these,imposing peaceful coercive measures in order to restore cooperation between states, becomesnecessary. These actions specifically, represent the subject of this paper. First and foremost, we mustunderstand that the international system is not a stand-alone one, butone that has evolved over theyears from tribes, empires and colonies, being at this moment composed of sovereign nation states,most of them allies as part of inter-governmental organizations. We are currently witnessing thecreating of a new subject of international law-the European Union-which does not aim to become anational state, an inter-state organization, or a federation of states. It selectively combines the featuresof these, creating a whole new international entity, whose evolution is still unknown, but that willundoubtedly change the system certainly in a gradual manner.In the midst of all thesetransformations of the international world lie the differences between mentalities and humanbehavior, or maybe even the similarities between them. These get translated into conflicts and theirresolution is intended to be as least invasive as possible, eventually leading to the development oflegal instruments designed to protect the freedom and sovereignty of the parties involved.

  13. Non-proliferation through effective international control, with particular reference to peaceful uses of nuclear material as a result of nuclear disarmament and international control of plutonium

    International Nuclear Information System (INIS)

    Imai, Ryukichi

    1993-01-01

    The role of nuclear factors in the international political situation has changed. The emphasis is now on the new circumstance of the post cold-war world. Non-proliferation is dealt with through effective international control, with particular reference to peaceful uses of nuclear material as a result of nuclear weapons dismantling and international control of plutonium

  14. Control of Internal Transport Barriers in Magnetically Confined Fusion Plasmas

    Science.gov (United States)

    Panta, Soma; Newman, David; Sanchez, Raul; Terry, Paul

    2016-10-01

    In magnetic confinement fusion devices the best performance often involves some sort of transport barriers to reduce the energy and particle flow from core to edge. Those barriers create gradients in the temperature and density profiles. If gradients in the profiles are too steep that can lead to instabilities and the system collapses. Control of these barriers is therefore an important challenge for fusion devices (burning plasmas). In this work we focus on the dynamics of internal transport barriers. Using a simple 7 field transport model, extensively used for barrier dynamics and control studies, we explore the use of RF heating to control the local gradients and therefore the growth rates and shearing rates for barrier initiation and control in self-heated fusion plasmas. Ion channel barriers can be formed in self-heated plasmas with some NBI heating but electron channel barriers are very sensitive. They can be formed in self-heated plasmas with additional auxiliary heating i.e. NBI and radio-frequency(RF). Using RF heating on both electrons and ions at proper locations, electron channel barriers along with ion channel barriers can be formed and removed demonstrating a control technique. Investigating the role of pellet injection in controlling the barriers is our next goal. Work supported by DOE Grant DE-FG02-04ER54741.

  15. Introduction to modeling and control of internal combustion engine systems

    Energy Technology Data Exchange (ETDEWEB)

    Guzzella, Lino; Onder, Christopher H. [ETH Zuerich (Switzerland). Institute for Dynamic Systems and Control

    2010-07-01

    Internal combustion engines (ICE) still have potential for substantial improvements, particularly with regard to fuel efficiency and environmental compatibility. In order to fully exploit the remaining margins, increasingly sophisticated control systems have to be applied. This book offers an introduction to cost-effective model-based control-system design for ICE. The primary emphasis is put on the ICE and its auxiliary devices. Mathematical models for these processes are developed and solutions for selected feedforward and feedback control-problems are presented. The discussions concerning pollutant emissions and fuel economy of ICE in automotive applications constantly intensified since the first edition of this book was published. Concerns about the air quality, the limited resources of fossil fuels and the detrimental effects of greenhouse gases exceedingly spurred the interest of both the industry and academia in further improvements. The most important changes and additions included in this second edition are: - restructured and slightly extended section on superchargers; - short subsection on rotational oscillations and their treatment on engine test-benches; - complete section on modeling, detection, and control of engine knock; - improved physical and chemical model for the three-way catalytic converter; - new methodology for the design of an air-to-fuel ratio controller; - short introduction to thermodynamic engine-cycle calculation and corresponding control-oriented aspects. (orig.)

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

    Science.gov (United States)

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

    2017-07-01

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

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

    Science.gov (United States)

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

    2017-07-01

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

  18. Force analysis of the advanced neutron source control rod drive latch mechanism

    International Nuclear Information System (INIS)

    Damiano, B.

    1989-01-01

    The Advanced Neutron Source reactor (ANS), a proposed Department of Energy research reactor currently undergoing conceptual design at the Oak Ridge National Laboratory (ORNL), will generate a thermal neutron flux approximating 10 30 M -2 emdash S -1 . The compact core necessary to produce this flux provides little space for the shim safety control rods, which are located in the central annulus of the core. Without proper control rod drive design, the control rod drive magnets (which hold the control rod latch in a ready-to-scram position) may be unable to support the required load due to their restricted size. This paper describes the force analysis performed on the control rod latch mechanism to determine the fraction of control rod weight transferred to the drive magnet. This information will be useful during latch, control rod drive and magnet design. 5 refs., 12 figs

  19. Nonlinear Forced Vibration of a Viscoelastic Buckled Beam with 2 : 1 Internal Resonance

    Directory of Open Access Journals (Sweden)

    Liu-Yang Xiong

    2014-01-01

    Full Text Available Nonlinear dynamics of a viscoelastic buckled beam subjected to primary resonance in the presence of internal resonance is investigated for the first time. For appropriate choice of system parameters, the natural frequency of the second mode is approximately twice that of the first providing the condition for 2 : 1 internal resonance. The ordinary differential equations of the two mode shapes are established using the Galerkin method. The problem is replaced by two coupled second-order differential equations with quadratic and cubic nonlinearities. The multiple scales method is applied to derive the modulation-phase equations. Steady-state solutions of the system as well as their stability are examined. The frequency-amplitude curves exhibit the steady-state response in the directly excited and indirectly excited modes due to modal interaction. The double-jump, the saturation phenomenon, and the nonperiodic region phenomena are observed illustrating the influence of internal resonance. The validity range of the analytical approximations is assessed by comparing the analytical approximate results with a numerical solution by the Runge-Kutta method. The unstable regions in the internal resonance are explored via numerical simulations.

  20. Promoting International Energy Security. Volume 1: Understanding Potential Air Force Roles

    Science.gov (United States)

    2012-01-01

    obtain additional information, contact Distribution Services: Telephone: (310) 451 -7002; Fax: (310) 451 -6915; Email: order@rand.org Library of...raise the temperature of one pound of water one degree Fahrenheit ) DoD Department of Defense EIA U.S. Energy Information Administration IEA International

  1. Joining forces: collaborating internationally to deliver high-quality, online postgraduate education in pain management.

    Science.gov (United States)

    Devonshire, Elizabeth; Siddall, Philip

    2011-01-01

    The effective management of pain is a complex and costly global issue, requiring a range of innovative educational strategies to enable culturally appropriate and high-quality health care provision. In response to this issue, the Pain Management Research Institute at the University of Sydney (Sydney, Australia) has established several strategic alliances with other overseas universities to deliver online postgraduate education in pain management. The present article discusses the rationale for joining forces, and the approach adopted in creating and maintaining these alliances. It also provides insights into the benefits, challenges and opportunities associated with collaborative educational initiatives of this nature, from institutional, academic and student perspectives.

  2. Controlling pandemic flu: the value of international air travel restrictions.

    Directory of Open Access Journals (Sweden)

    Joshua M Epstein

    2007-05-01

    Full Text Available Planning for a possible influenza pandemic is an extremely high priority, as social and economic effects of an unmitigated pandemic would be devastating. Mathematical models can be used to explore different scenarios and provide insight into potential costs, benefits, and effectiveness of prevention and control strategies under consideration.A stochastic, equation-based epidemic model is used to study global transmission of pandemic flu, including the effects of travel restrictions and vaccination. Economic costs of intervention are also considered. The distribution of First Passage Times (FPT to the United States and the numbers of infected persons in metropolitan areas worldwide are studied assuming various times and locations of the initial outbreak. International air travel restrictions alone provide a small delay in FPT to the U.S. When other containment measures are applied at the source in conjunction with travel restrictions, delays could be much longer. If in addition, control measures are instituted worldwide, there is a significant reduction in cases worldwide and specifically in the U.S. However, if travel restrictions are not combined with other measures, local epidemic severity may increase, because restriction-induced delays can push local outbreaks into high epidemic season. The per annum cost to the U.S. economy of international and major domestic air passenger travel restrictions is minimal: on the order of 0.8% of Gross National Product.International air travel restrictions may provide a small but important delay in the spread of a pandemic, especially if other disease control measures are implemented during the afforded time. However, if other measures are not instituted, delays may worsen regional epidemics by pushing the outbreak into high epidemic season. This important interaction between policy and seasonality is only evident with a global-scale model. Since the benefit of travel restrictions can be substantial while

  3. Kinematic control of aerodynamic forces on an inclined flapping wing with asymmetric strokes

    International Nuclear Information System (INIS)

    Park, Hyungmin; Choi, Haecheon

    2012-01-01

    In the present study, we conduct an experiment using a one-paired dynamically scaled model of an insect wing, to investigate how asymmetric strokes with different wing kinematic parameters are used to control the aerodynamics of a dragonfly-like inclined flapping wing in still fluid. The kinematic parameters considered are the angles of attack during the mid-downstroke (α md ) and mid-upstroke (α mu ), and the duration (Δτ) and time of initiation (τ p ) of the pitching rotation. The present dragonfly-like inclined flapping wing has the aerodynamic mechanism of unsteady force generation similar to those of other insect wings in a horizontal stroke plane, but the detailed effect of the wing kinematics on the force control is different due to the asymmetric use of the angle of attack during the up- and downstrokes. For example, high α md and low α mu produces larger vertical force with less aerodynamic power, and low α md and high α mu is recommended for horizontal force (thrust) production. The pitching rotation also affects the aerodynamics of a flapping wing, but its dynamic rotational effect is much weaker than the effect from the kinematic change in the angle of attack caused by the pitching rotation. Thus, the influences of the duration and timing of pitching rotation for the present inclined flapping wing are found to be very different from those for a horizontal flapping wing. That is, for the inclined flapping motion, the advanced and delayed rotations produce smaller vertical forces than the symmetric one and the effect of pitching duration is very small. On the other hand, for a specific range of pitching rotation timing, delayed rotation requires less aerodynamic power than the symmetric rotation. As for the horizontal force, delayed rotation with low α md and high α mu is recommended for long-duration flight owing to its high efficiency, and advanced rotation should be employed for hovering flight for nearly zero horizontal force. The present

  4. Teleoperator comfort and psychometric stability: Criteria for limiting master-controller forces of operation and feedback during telemanipulation

    Science.gov (United States)

    Wiker, Steven F.; Hershkowitz, Elaine; Zik, John

    1989-01-01

    The following question is addressed: How much force should operators exert, or experience, when operating a telemanipulator master-controller for sustained periods without encountering significant fatigue and discomfort, and without loss of stability in psychometric perception of force. The need to minimize exertion demands to avoid fatigue is diametrically opposed by the need to present a wide range of force stimuli to enhance perception of applied or reflected forces. For 104 minutes subjects repetitiously performed a series of 15 s isometric pinch grasps; controlled at 5, 15, and 25 percent of their maximum voluntary strength. Cyclic pinch grasps were separated by rest intervals of 7.5 and 15 s. Upon completion of every 10 minute period, subjects interrupted grasping activities to gage the intensity of fatigue and discomfort in the hand and forearm using a cross-modal matching technique. A series of psychometric tests were then conducted to determine accuracy and stability in the subject's perception of force experienced. Results showed that onset of sensations of discomfort and fatigue were dependent upon the magnitude of grasp force, work/rest ratio, and progression of task. Declines in force magnitude estimation slopes, indicating a reduction in force perception sensitivity, occurred with increased grasp force when work/rest ratios were greater than 1.0. Specific recommendations for avoiding discomfort and shifts in force perception, by limiting pinch grasp force required for master-controller operation and range of force reflection or work/rest ratios, are provided.

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

    Directory of Open Access Journals (Sweden)

    Victor Barasuol

    2018-06-01

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

  6. Comparison of timing and force control of foot tapping between elderly and young subjects.

    Science.gov (United States)

    Takimoto, Koji; Takebayashi, Hideaki; Miyamoto, Kenzo; Takuma, Yutaka; Inoue, Yoshikazu; Miyamoto, Shoko; Okabe, Takao; Okuda, Takahiro; Kaba, Hideto

    2016-06-01

    [Purpose] To examine the ability of young and elderly individuals to control the timing and force of periodic sequential foot tapping. [Subjects and Methods] Participants were 10 young (age, 22.1 ± 4.3 years) and 10 elderly individuals (74.8 ± 6.7 years) who were healthy and active. The foot tapping task consisted of practice (stimulus-synchronized tapping with visual feedback) and recall trials (self-paced tapping without visual feedback), periodically performed in this order, at 500-, 1,000-, and 2,000-ms target interstimulus-onset intervals, with a target force of 20% maximum voluntary contraction of the ankle plantar-flexor muscle. [Results] The coefficients of variation of force and intertap interval, used for quantifying the steadiness of the trials, were significantly greater in the elderly than in the young individuals. At the 500-ms interstimulus-onset interval, age-related effects were observed on the normalized mean absolute error of force, which was used to quantify the accuracy of the trials. The coefficients of variation of intertap interval for elderly individuals were significantly greater in the practice than in the recall trials at the 500- and 1,000-ms interstimulus-onset intervals. [Conclusion] The elderly individuals exhibited greater force and timing variability than the young individuals and showed impaired visuomotor processing during foot tapping sequences.

  7. Effective method to control the levitation force and levitation height in a superconducting maglev system

    International Nuclear Information System (INIS)

    Yang Peng-Tao; Yang Wan-Min; Wang Miao; Li Jia-Wei; Guo Yu-Xia

    2015-01-01

    The influence of the width of the middle magnet in the permanent magnet guideways (PMGs) on the levitation force and the levitation height of single-domain yttrium barium copper oxide (YBCO) bulks has been investigated at 77 K under the zero field cooled (ZFC) state. It is found that the largest levitation force can be obtained in the system with the width of the middle magnet of the PMG equal to the size of the YBCO bulk when the gap between the YBCO bulk and PMG is small. Both larger levitation force and higher levitation height can be obtained in the system with the width of the middle magnet of the PMG larger than the size of the YBCO bulk. The stiffness of the levitation force between the PMG and the YBCO bulk is higher in the system with a smaller width of the middle magnet in the PMG. These results provide an effective way to control the levitation force and the levitation height for the superconducting maglev design and applications. (paper)

  8. Airport Casualties: Non-Admission and Return Risks at Times of Internalized/Externalized Border Controls

    Directory of Open Access Journals (Sweden)

    Maybritt Jill Alpes

    2015-09-01

    Full Text Available This article analyzes what can happen to forced returnees upon arrival in their country of nationality. Subjective configurations of state agents in the Global South have created return risks, which in turn transform subjectivities of post-colonial citizens. The article contributes to this Special Issue by tracing repercussions of the externalization and internalization of border controls. In the case of Cameroon, these connections have resulted in the criminalization of emigration. Aspiring migrants are prosecuted if their departure projects fail to respect the entry requirements of countries in the Global North. The article is based on research conducted in Douala, Cameroon, in the form of discussions with control agents at the international airport, investigations at a prison, a review of related case law, police registers and interviews with Cameroonians returnees (November 2013–January 2014. Border controls and connected anti-fraud programs suppress family-based forms of solidarity and allow only for subjectivities rooted in state-managed forms of national identity. The article illustrates how efforts to combat fraud fuel corruption in returnees’ social networks, whereby, instead of receiving remittances, families in emigration countries have to mobilize financial resources in order to liberate returnees from police stations or prison complexes. Migration related detention of nationals in the Global South highlights the growing significance of exit controls in migration management.

  9. Proportional Derivative Active Force Control for “X” Configuration Quadcopter

    Directory of Open Access Journals (Sweden)

    Niam Tamami

    2014-12-01

    Full Text Available This paper present a control method “x” configuration quadcopter. The control method used PDAFC (Proportional Derivative Active Force Control. PD is used to stabilize quadcopter, and AFC is used to reject uncertainty disturbance (e.g. wind by estimate disturbance torque value of quadcopter. By adding PD with AFC, better result is obtained, AFC can minimize uncertainty disturbance effect. The sensitivity toward uncertainty disturbance can be set from sensitivity constant to get best performance of disturbance rejection. Stability analysis of PDAFC was evaluated by Lyapunov stability theory.

  10. Force Control for a Pneumatic Cylinder Using Generalized Predictive Controller Approach

    OpenAIRE

    Mohd Faudzi, Ahmad ’Athif; Mustafa, Nu’man Din; Osman, Khairuddin

    2014-01-01

    Pneumatic cylinder is a well-known device because of its high power to weight ratio, easy use, and environmental safety. Pneumatic cylinder uses air as its power source and converts it to a possible movement such as linear and rotary movement. In order to control the pneumatic cylinder, controller algorithm is needed to control the on-off solenoid valve with encoder and pressure sensor as the feedback inputs. In this paper, generalized predictive controller (GPC) is proposed as the control st...

  11. Report of a workshop on nuclear forces and nonproliferation Woodrow Wilson international center for scholars, Washington, DC October 28, 2010

    Energy Technology Data Exchange (ETDEWEB)

    Pilat, Joseph F [Los Alamos National Laboratory

    2010-12-08

    A workshop sponsored by the Los Alamos National Laboratory in cooperation with the Woodrow Wilson International Center for Scholars was held at the Wilson Center in Washington, DC, on October 28, 2010. The workshop addressed evolving nuclear forces and their impacts on nonproliferation in the context of the new strategic environment, the Obama Administration's Nuclear Posture Review and the 2010 NPT Review Conference. The discussions reflected the importance of the NPR for defining the role of US nuclear forces in dealing with 21st century threats and providing guidance for National Nuclear Security Administration (NNSA) and Department of Defense (DoD) programs and, for many but not all participants, highlighted its role in the successful outcome of the NPT RevCon. There was widespread support for the NPR and its role in developing the foundations for a sustainable nuclear-weapon program that addresses nuclear weapons, infrastructure and expertise in the broader nonproliferation, disarmament and international security contexts. However, some participants raised concerns about its implementation and its long-term effectiveness and sustainability.

  12. Future Control and Automation : Proceedings of the 2nd International Conference on Future Control and Automation

    CERN Document Server

    2012-01-01

    This volume Future Control and Automation- Volume 2 includes best papers from 2012 2nd International Conference on Future Control and Automation (ICFCA 2012) held on July 1-2, 2012, Changsha, China. Future control and automation is the use of control systems and information technologies to reduce the need for human work in the production of goods and services. This volume can be divided into six sessions on the basis of the classification of manuscripts considered, which is listed as follows: Mathematical Modeling, Analysis and Computation, Control Engineering, Reliable Networks Design, Vehicular Communications and Networking, Automation and Mechatronics.

  13. Internal combustion engines - Modelling, estimation and control issues

    Energy Technology Data Exchange (ETDEWEB)

    Vigild, C.W.

    2001-12-01

    Alternative power-trains have become buzz words in the automotive industry in the recent past. New technologies like Lithium-Ion batteries or fuel cells combined with high efficient electrical motors show promising results. However both technologies are extremely expensive and important questions like 'How are we going to supply fuel-cells with hydrogen in an environmentally friendly way?', 'How are we going to improve the range - and recharging speed - of electrical vehicles?' and 'How will our existing infrastructure cope with such changes?' are still left unanswered. Hence, the internal combustion engine with all its shortcomings is to stay with us for the next many years. What the future will really bring in this area is uncertain, but one thing can be said for sure; the time of the pipe in - pipe out engine concept is over. Modem engines, Diesel or gasoline, have in the recent past been provided with many new technologies to improve both performance and handling and to cope with the tightening emission legislations. However, as new devices are included, the number of control inputs is also gradually increased. Hence, the control matrix dimension has grown to a considerably size, and the typical table and regression based engine calibration procedures currently in use today contain both challenging and time-consuming tasks. One way to improve understanding of engines and provide a more comprehensive picture of the control problem is by use of simplified physical modelling - one of the main thrusts of this dissertation. The application of simplified physical modelling as a foundation for engine estimation and control design is first motivated by two control applications. The control problem concerns Air/Fuel ratio control of Spark Ignition engines. Two different ways of control are presented; one based on. a model based Extended Kalman Filter updated predictor, and one based on robust H {infinity} techniques. Both controllers are

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

    Science.gov (United States)

    Gurari, Netta; Baud-Bovy, Gabriel

    2014-09-30

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

  15. 25 CFR 542.7 - What are the minimum internal control standards for bingo?

    Science.gov (United States)

    2010-04-01

    ... 25 Indians 2 2010-04-01 2010-04-01 false What are the minimum internal control standards for bingo... SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.7 What are the minimum internal control standards for... utilized, alternate documentation and/or procedures that provide at least the level of control described by...

  16. 25 CFR 542.14 - What are the minimum internal control standards for the cage?

    Science.gov (United States)

    2010-04-01

    ... 25 Indians 2 2010-04-01 2010-04-01 false What are the minimum internal control standards for the... SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.14 What are the minimum internal control standards for... and/or procedures that provide at least the level of control described by the standards in this...

  17. 25 CFR 542.8 - What are the minimum internal control standards for pull tabs?

    Science.gov (United States)

    2010-04-01

    ... 25 Indians 2 2010-04-01 2010-04-01 false What are the minimum internal control standards for pull... SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.8 What are the minimum internal control standards for... and/or procedures that provide at least the level of control described by the standards in this...

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

    Science.gov (United States)

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

    2014-01-01

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

  19. Knowledge-Based Trajectory Error Pattern Method Applied to an Active Force Control Scheme

    Directory of Open Access Journals (Sweden)

    Endra Pitowarno, Musa Mailah, Hishamuddin Jamaluddin

    2012-08-01

    Full Text Available The active force control (AFC method is known as a robust control scheme that dramatically enhances the performance of a robot arm particularly in compensating the disturbance effects. The main task of the AFC method is to estimate the inertia matrix in the feedback loop to provide the correct (motor torque required to cancel out these disturbances. Several intelligent control schemes have already been introduced to enhance the estimation methods of acquiring the inertia matrix such as those using neural network, iterative learning and fuzzy logic. In this paper, we propose an alternative scheme called Knowledge-Based Trajectory Error Pattern Method (KBTEPM to suppress the trajectory track error of the AFC scheme. The knowledge is developed from the trajectory track error characteristic based on the previous experimental results of the crude approximation method. It produces a unique, new and desirable error pattern when a trajectory command is forced. An experimental study was performed using simulation work on the AFC scheme with KBTEPM applied to a two-planar manipulator in which a set of rule-based algorithm is derived. A number of previous AFC schemes are also reviewed as benchmark. The simulation results show that the AFC-KBTEPM scheme successfully reduces the trajectory track error significantly even in the presence of the introduced disturbances.Key Words:  Active force control, estimated inertia matrix, robot arm, trajectory error pattern, knowledge-based.

  20. China’s steel industry as a driving force for economic growth and international competitiveness

    OpenAIRE

    Popescu, Gh. H.; Nica, E.; Nicolăescu, E.; Lăzăroiu, G.

    2016-01-01

    The theory that we shall seek to elaborate here puts considerable emphasis on technological features of China’s steel production, its emergence as the world’s most significant steel producer and main manufacturing base, and the transitory decline in steel demand related to the international financial crisis. The purpose of this article is to gain a deeper understanding of the global incorporation of China’s steel enterprises, its portion of worldwide steel consumption, and its industrial poli...