WorldWideScience

Sample records for internal force control

  1. Force decomposition in robot force control

    Science.gov (United States)

    Murphy, Steve H.; Wen, John T.

    1991-01-01

    The unit inconsistency in force decomposition has motivated an investigation into the force control problem in multiple-arm manipulation. Based on physical considerations, it is argued that the force that should be controlled is the internal force at the specified frame in the payload. This force contains contributions due to both applied forces from the arms and the inertial force from the payload and the arms. A least-squares scheme free of unit inconsistency for finding this internal force is presented. The force control issue is analyzed, and an integral force feedback controller is proposed.

  2. International Quick Response Forces

    Science.gov (United States)

    1994-06-06

    humaijitarian relief, maintenance of a cease-fire, and promocion of national reconciliation - and became a manhunt for Somali warlord Mohamed Farah...maritime components would accompany this 6 5This scheme is adopted from USPACOM’s and USACOM’s Joint Task Force and JuiiL AdapUiv= Fuce Packages

  3. Internal Controls

    Institute of Scientific and Technical Information of China (English)

    2003-01-01

    Managing risk is essential for positioning a company for growth in the current business environment.Yet as companies around the world clamber to inplement integrated risk controls in light of corlporate meltdowns and terrorist concems,many firms fail to pull the weeds out of their own backyard in China before trying to harvest the profitable crops!

  4. 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.

  5. On the work of internal forces

    CERN Document Server

    Guemez, Julio; Brito, Lucilia

    2016-01-01

    We discuss the role of the internal forces and how their work changes the energy of a system. We illustrate the contribution of the internal work to the variation of the system's energy, using a pure mechanical example, a thermodynamical system and an example from electromagnetism. We emphasize that internal energy variations related to the work of the internal forces should be pinpointed in the classroom and placed on the same footing as other internal energy variations such as those caused by temperature changes or by chemical reactions.

  6. Modeling Robot Flexibility for Endpoint Force Control.

    Science.gov (United States)

    1988-05-01

    SIDM 19. KE9Y WORDS fCntknu. OnPVOO&O 0401 It 00041000111O ed 0000#uF 6P 1111411 amA.w) robot force control * robot control / robot dynamics flexible...no. 3, pp. 62-75. [2] Eppinger, S.D. and Seering, W.P. On Dynamic Models of Robot Force Control . In Proceedings of International Conference on...W.P. Understanding Bandwidth Limitations in Robot Force Control . In Proceedings of International Conference on Robotics and Automation. IEEE, April 1987

  7. Veterinary practice internal controls.

    Science.gov (United States)

    Catanzaro, T E

    1996-02-01

    This chapter explores the responsive management requirements critical for effective internal controls. Internal control techniques offered include the application of segregation of function, goal-orientation, performance planning, and training objectives in five veterinary practice areas. These areas are client controls, cash controls, inventory controls, purchase controls, and stock controls. Because only trusted staff members are given access to practice assets, the veterinary leadership must have a responsive management plan to protect the life of the practice while building the practice team. Methods are shared for controlling opportunities that can lead to employee fraud while concurrently building a team approach to internal controls.

  8. Internal and External Forces in Language Change.

    Science.gov (United States)

    Yang, Charles D.

    2000-01-01

    Develops a model of language change characterizing the dynamic interaction between internal universal grammar and external linguistic evidence, as mediated by language acquisition. Borrows insights from the study of biological evolution, where internal and external forces interact in similar fashion. Applies the model to explore the loss of the…

  9. Substitution of prescribing tasks from doctors to nurses: an international expert survey on forces, conditions and jurisdictional control.

    NARCIS (Netherlands)

    Kroezen, M.; Francke, A.L.; Groenewegen, P.P.; Dijk, L. van

    2011-01-01

    Background: Nurse prescribing is highly relevant in the current climate of cost containment and task substitution in health care, and is being introduced in a growing number of countries. However, international comparisons are scarce. This survey aims to provide a comprehensive and recent overview o

  10. International veterinary epilepsy task force consensus proposal

    DEFF Research Database (Denmark)

    De Risio, Luisa; Bhatti, Sofie; Muñana, Karen

    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...

  11. 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.

  12. Force Display and Bi-Lateral Master-Slave Control with an Internal Model under the Consideration of Human Cross-Over Model

    Science.gov (United States)

    Kawahata, Nagakatsu; Nishizawa, Masanori; Itoh, Youichirou; Yoshida, Hiroaki

    Human behavior for controlling machines is quite adaptive but restrictive in gain, phase, frequency bandwidth and so on. It is often assumed by a cross-over model especially for compensatory tracking task. Force display system is increasingly important in robotics, remote manipulations, machine handling and etc. The control system design for force display and/or bi-lateral master-slave manipulator is not so easy because of gain limits, mechanical vibration, human-induced oscillation and others. Proposed is a control system design for force display and/or bi-lateral master-slave manipulator based on model-following control under the concept of human crossover model in compensatory tracking. Experimental results are also shown for an actual force display device designed by the proposed method.

  13. Internal control system

    OpenAIRE

    Pavésková, Ivana

    2012-01-01

    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...

  14. Diagnostic comparison of Centers for Disease Control and Prevention and International Obesity Task Force criteria for obesity classification in South African children

    Directory of Open Access Journals (Sweden)

    Kankane V. Moselakgomo

    2017-01-01

    Full Text Available Background: This study was designed to estimate overweight and obesity in school children by using contrasting definitions recommended by the Centers for Disease Control and Prevention (CDC and the International Obesity Task Force (IOTF.Method: The sample size consisted of 1361 learners (n = 678 boys; n = 683 girls aged 9–13 years who were randomly selected from Mpumalanga and Limpopo provinces of South Africa. A cross-sectional and descriptive design was used to measure the children’s anthropometric characteristics. Based on height and weight measurements, the children’s body mass index (BMI was calculated and used to classify them as underweight, overweight and obese. Percentage body fat was calculated from the sum of two skinfolds (i.e. triceps and subscapular. Age-specific BMI, percentage body fat and sum of skinfolds were examined for the boys and girls.Results: A higher prevalence of overweight and obesity was found in boys and girls when the CDC BMI categories were used. In contrast, the IOTF BMI classifications indicated a strong prevalence of underweight among the children.Conclusion: In contrast to the IOTF index that yielded a greater occurrence of underweight among South African children, the CDC criteria indicated a higher prevalence of obesity and overweight among the same children. Future large-scale surveillance studies are needed to determine the appropriateness of different definitions in order to establish a more reliable indicator for estimating overweight and obesity in South African children.

  15. 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.

  16. 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.

  17. Atomic Force Controlled Capillary Electrophoresis

    Science.gov (United States)

    Lewis, Aaron; Yeshua, Talia; Palchan, Mila; Lovsky, Yulia; Taha, Hesham

    2010-03-01

    Lithography based on scanning probe microscopic techniques has considerable potential for accurate & localized deposition of material on the nanometer scale. Controlled deposition of metallic features with high purity and spatial accuracy is of great interest for circuit edit applications in the semiconductor industry, for plasmonics & nanophotonics and for basic research in surface enhanced Raman scattering & nanobiophysics. Within the context of metal deposition we will review the development of fountain pen nanochemistry and its most recent emulation Atomic Force Controlled Capillary Electrophoresis (ACCE). Using this latter development we will demonstrate achievement of unprecedented control of nanoparticle deposition using a three-electrode geometry. Three electrodes are attached: one on the outside of a metal coated glass probe, one on the inside of a hollow probe in a solution containing Au nanoparticles in the capillary, and a third on the surface where the writing takes place. The three electrodes provide electrical pulses for accurate control of deposition and retraction of the liquid from the surface overcoming the lack of control seen in both dip pen lithography & fountain pen nanochemistry when the tip contacts the surface. With this development, we demonstrate depositing a single 1.3 nm Au nanoparticle onto surfaces such as semiconductors.

  18. Sensor Fusion of Force and Acceleration for Robot Force Control

    OpenAIRE

    Gámez García, Javier; Robertsson, Anders; Gómez Ortega, Juan; Johansson, Rolf

    2004-01-01

    In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and force sensors play a very important role and it can overcome many of the difficulties of uncerta...

  19. International Drug Control Policy

    Science.gov (United States)

    2009-08-24

    Use for Addicts .................................................... 34 Figures Figure 1. Map of World Drug Majors in FY2009...cannabis resin, coca leaf, cocaine, heroin, and opium. Psychotropic substances include ecstasy,2 LSD ,3 amphetamine, and methamphetamine. Examples of other...methylenedioxy-N-methylamphetamine). 3 LSD is the street name for lysergic acid diethylamide. 4 The most recent international effort to estimate the value of

  20. 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.

  1. 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

  2. A Discussion of Internal Accounting Control System of Fire Forces%部队会计控制制度建设研究

    Institute of Scientific and Technical Information of China (English)

    王彩霞

    2011-01-01

    It is important to establish a sound system of internal accounting controls for strengthening financial management and asset management. It effectively reduces the financial risks and asset losses, standardizes accounting practices. It improves the quality of accounting information in order to ensure national accounting laws and regulations effective implementation. To improve the effectiveness of army logistics support, this paper discusses the significance of the main content to safeguard measures and other aspects.%建立健全内部会计控制制度,是加强财务管理和资产管理的重要措施,可有效降低财务风险和减少资产损失,规范会计行为,提高会计信息质量,从而保证国家会计法律法规和规章制度的有效实施。

  3. Computer-Controlled Force Generator Project

    Data.gov (United States)

    National Aeronautics and Space Administration — TDA Research, Inc proposes to develop a compact, low power, high life-cycle computer controlled Programmable Force Generator (PFG) that can generate any force...

  4. Forced Internal Waves in the Arctic Ocean.

    Science.gov (United States)

    1980-05-01

    lead axis with a superimposed pattern of localized lead driven circulation perpendicular to the lead axis. Such a pattern has been predicted by Estoque ...Conseil Perm. Intern. p. l’Expl. de la Mer, Pub. de Circonstance, No. 43, 47 pp. Estoque , M. A. and C. M. Bhumralker, 1969. Flow over a localized heat

  5. FORCED OSCILLATIONS IN NONLINEAR FEEDBACK CONTROL SYSTEM

    Science.gov (United States)

    Since a nonlinear feedback control system may possess more than one type of forced oscillations, it is highly desirable to investigate the type of...method for finding the existence of forced oscillations and response curve characteristics of a nonlinear feedback control system by means of finding the...second order feedback control system are investigated; the fundamental frequency forced oscillation for a higher order system and the jump resonance

  6. Democratic Control of Military Forces

    National Research Council Canada - National Science Library

    Smail Ostrakovic

    2011-01-01

    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...

  7. Stopping intense beams of internally cold molecules via centrifugal forces

    Science.gov (United States)

    Wu, Xing; Gantner, Thomas; Zeppenfeld, Martin; Chervenkov, Sotir; Rempe, Gerhard

    2016-05-01

    Cryogenic buffer-gas cooling produces intense beams of internally cold molecules. It offers a versatile source for studying collision dynamics and reaction pathways in the cold regime, and could open new avenues for controlled chemistry, precision spectroscopy, and exploration of fundamental physics. However, an efficient deceleration of these beams still presents a challenge. Here, we demonstrate that intense and continuous beams of electrically guided molecules produced by a cryogenic buffer-gas cell can be brought to a halt by the centrifugal force in a rotating frame. Various molecules (e.g. CH3F and CF3CCH) are decelerated to below 20m /s at a corresponding output intensity of ~ 6 ×109mm-2 .s-1 . In addition, our RF-resonant depletion detection shows that up to 90 % rotational-state purity can be achieved in the so-produced slow molecular beams.

  8. Effective force control by muscle synergies

    Directory of Open Access Journals (Sweden)

    Denise J Berger

    2014-04-01

    Full Text Available Muscle synergies have been proposed as a way for the central nervous system (CNS to simplify the generation of motor commands and they have been shown to explain a large fraction of the variation in the muscle patterns across a variety of conditions. However, whether human subjects are able to control forces and movements effectively with a small set of synergies has not been tested directly. Here we show that muscle synergies can be used to generate target forces in multiple directions with the same accuracy achieved using individual muscles. We recorded electromyographic (EMG activity from 13 arm muscles and isometric hand forces during a force reaching task in a virtual environment. From these data we estimated the force associated to each muscle by linear regression and we identified muscle synergies by non-negative matrix factorization. We compared trajectories of a virtual mass displaced by the force estimated using the entire set of recorded EMGs to trajectories obtained using 4 to 5 muscle synergies. While trajectories were similar, when feedback was provided according to force estimated from recorded EMGs (EMG-control on average trajectories generated with the synergies were less accurate. However, when feedback was provided according to recorded force (force-control we did not find significant differences in initial angle error and endpoint error. We then tested whether synergies could be used as effectively as individual muscles to control cursor movement in the force reaching task by providing feedback according to force estimated from the projection of the recorded EMGs into synergy space (synergy-control. Human subjects were able to perform the task immediately after switching from force-control to EMG-control and synergy-control and we found no differences between initial movement direction errors and endpoint errors in all control modes. These results indicate that muscle synergies provide an effective strategy for motor

  9. Effective force control by muscle synergies.

    Science.gov (United States)

    Berger, Denise J; d'Avella, Andrea

    2014-01-01

    Muscle synergies have been proposed as a way for the central nervous system (CNS) to simplify the generation of motor commands and they have been shown to explain a large fraction of the variation in the muscle patterns across a variety of conditions. However, whether human subjects are able to control forces and movements effectively with a small set of synergies has not been tested directly. Here we show that muscle synergies can be used to generate target forces in multiple directions with the same accuracy achieved using individual muscles. We recorded electromyographic (EMG) activity from 13 arm muscles and isometric hand forces during a force reaching task in a virtual environment. From these data we estimated the force associated to each muscle by linear regression and we identified muscle synergies by non-negative matrix factorization. We compared trajectories of a virtual mass displaced by the force estimated using the entire set of recorded EMGs to trajectories obtained using 4-5 muscle synergies. While trajectories were similar, when feedback was provided according to force estimated from recorded EMGs (EMG-control) on average trajectories generated with the synergies were less accurate. However, when feedback was provided according to recorded force (force-control) we did not find significant differences in initial angle error and endpoint error. We then tested whether synergies could be used as effectively as individual muscles to control cursor movement in the force reaching task by providing feedback according to force estimated from the projection of the recorded EMGs into synergy space (synergy-control). Human subjects were able to perform the task immediately after switching from force-control to EMG-control and synergy-control and we found no differences between initial movement direction errors and endpoint errors in all control modes. These results indicate that muscle synergies provide an effective strategy for motor coordination.

  10. 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.

  11. Robust force control of a robot manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Dawson, D.M. (Clemson Univ., SC (United States)); Lewis, F.L. (Univ. of Texas, Fort Worth (United States)); Dorsey, J.F. (Georgia Inst. of Tech., Atlanta (United States))

    1992-08-01

    In this article, the authors develop a robust position/force controller based on the impedance approach without requiring exact knowledge of the robot dynamics. The controller is constructed so that a desired positional trajectory can be followed along the surface of the environment while the forces exerted on the environmental surface are regulated according to a target impedance. A global uniform ultimate boundedness result is obtained for the position tracking error and the force regulation error (i.e., the error between the actual manipulator impedance and desired target impedance). The controller only requires measurement of the end-effector force, joint velocity, and joint position.

  12. Global climate forcing of aerosols embodied in international trade

    Science.gov (United States)

    Lin, Jintai; Tong, Dan; Davis, Steven; Ni, Ruijing; Tan, Xiaoxiao; Pan, Da; Zhao, Hongyan; Lu, Zifeng; Streets, David; Feng, Tong; Zhang, Qiang; Yan, Yingying; Hu, Yongyun; Li, Jing; Liu, Zhu; Jiang, Xujia; Geng, Guannan; He, Kebin; Huang, Yi; Guan, Dabo

    2016-10-01

    International trade separates regions consuming goods and services from regions where goods and related aerosol pollution are produced. Yet the role of trade in aerosol climate forcing attributed to different regions has never been quantified. Here, we contrast the direct radiative forcing of aerosols related to regions' consumption of goods and services against the forcing due to emissions produced in each region. Aerosols assessed include black carbon, primary organic aerosol, and secondary inorganic aerosols, including sulfate, nitrate and ammonium. We find that global aerosol radiative forcing due to emissions produced in East Asia is much stronger than the forcing related to goods and services ultimately consumed in that region because of its large net export of emissions-intensive goods. The opposite is true for net importers such as Western Europe and North America: global radiative forcing related to consumption is much greater than the forcing due to emissions produced in these regions. Overall, trade is associated with a shift of radiative forcing from net importing to net exporting regions. Compared to greenhouse gases such as carbon dioxide, the short atmospheric lifetimes of aerosols cause large localized differences between consumption- and production-related radiative forcing. International efforts to reduce emissions in the exporting countries will help alleviate trade-related climate and health impacts of aerosols while lowering global emissions.

  13. Construction robot force control in cleaning operations

    Science.gov (United States)

    Zhou, Y.; Skibniewski, M. J.

    1994-01-01

    Basic surface treatment tasks on construction sites that can be performed by robots include the spraying, cleaning, and finishing of surfaces. In the present paper, a construction robot is proposed for accomplishing a variety of cleaning tasks in construction. Specifically, the force-control problem in cleaning a surface is studied. The paper shows that a force sensor can be used not only to monitor the force acting at the contact points, but also to identify the uncertainties of the unstructured construction environment. A different formulation for the external force is presented. With this formulation, the external force on the end-effector is presented as a function of the contact force, contact torque, and constraint conditions, but not the actuated torque in the joint space. Therefore, the force-control problem is simplified to compensate for the external force and to exert a desired force. One advantage fo this approach is that the original PID position control loop of an industrial robot is retained so that the time-consuming computed torque method is avoided. The proposed control scheme can be applied to numerous cleaning tasks with hard contact regardless of the different nature of the surface.

  14. Cutaneous mechanisms of isometric ankle force control.

    Science.gov (United States)

    Choi, Julia T; Lundbye-Jensen, Jesper; Leukel, Christian; Nielsen, Jens Bo

    2013-07-01

    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 output. We used repetitive electrical stimulation of the superficial peroneal (foot dorsum) and medial plantar nerves (foot sole) to disrupt cutaneous afferent input in 8 healthy subjects. We measured the effects of repetitive nerve stimulation on (1) tactile thresholds, (2) performance in an ankle force-matching and (3) an ankle position-matching task. Additional force-matching experiments were done to compare the effects of transient versus continuous stimulation in 6 subjects and to determine the effects of foot anesthesia using lidocaine in another 6 subjects. The results showed that stimulation decreased cutaneous sensory function as evidenced by increased touch threshold. Absolute dorsiflexion force error increased without visual feedback during peroneal nerve stimulation. This was not a general effect of stimulation because force error did not increase during plantar nerve stimulation. The effects 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.

  15. The internal control of tax

    Directory of Open Access Journals (Sweden)

    E. B. Shuvalova

    2016-01-01

    Full Text Available 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. The internal control system has a positive effect on the further development of business and helps to attract investment or loans. There are new business opportunities due to the presence of an established and controlled by the system the company’s financial department. From the point of view of tax authorities increase the economic potential of the taxpayer provides the growth of the tax base and therefore increase revenues. Thus, the development of methodological tools of internal fiscal control organizations is of relevance to all participants of tax relations. The theoretical basis of the study served as a position of economic theory, the works of local and foreign experts in the field of tax control theory. The information base for the study were the statistical compilations, economic and legal literature, affecting the perspective of this study, laws and regulations of the Russian Federation, instructions, letters, explanations of the Federal Tax Service and the Ministry of Finance of the Russian Federation, the data published in the press materials all-Russian scientific and practical conferences, seminars and Internet resources.

  16. The current issues of internal control and internal audit harmonization

    OpenAIRE

    Синюгіна, Наталія Вікторівна

    2013-01-01

    The relevance of topics related to a harmonization of internal control and internal audit system of internal financial control is being proved. It is high lightened the essence of harmonization period by reviewing existing thoughts on this object, a concept of 'harmonization of internal control and internal audit", and provided reasonably practical recommendations to ensure such harmonization in the modern world. The scientific impact of this research is to clarify the concept of "harmonizati...

  17. The history of IFMFC - The accumulated knowledge and experience of the magnetic force control with IFMFC

    Energy Technology Data Exchange (ETDEWEB)

    Watanabe, Tsueo [Tokyo Metropolitan University, Tokyo (Japan)

    2016-03-15

    The history of IFMFC (International Forum on Magnetic Force Control) shows the usefulness of the magnetic force control in the fields of the environment and material resource in Japan, Korea and China. The IFMFC started in 2010 and has been organized in every year. This paper shows the application of the magnetic force control in each countries with the accumulated knowledge and experience of the magnetic force control with IFMFC.

  18. Trinta anos da United Nations International Force in Lebanon

    Directory of Open Access Journals (Sweden)

    SUFYAN DROUBI

    2010-10-01

    Full Text Available O presente artigo tem como foco o “United Nations International Force in Lebanon”, uma das mais tradicionais missões de paz da ONU. Analisar-se-á seus objetivos, eficácia e desenvolvimento histórico.

  19. Measurements of human force control during a constrained arm motion using a force-actuated joystick.

    Science.gov (United States)

    McIntyre, J; Gurfinkel, E V; Lipshits, M I; Droulez, J; Gurfinkel, V S

    1995-03-01

    1. When interacting with the environment, human arm movements may be prevented in certain directions (i.e., when sliding the hand along a surface) resulting in what is called a "constrained motion." In the directions that the movement is restricted, the subject is instead free to control the forces against the constraint. 2. Control strategies for constrained motion may be characterized by two extreme models. Under the active compliance model, an essentially feedback-based approach, measurements of contact force may be used in real time to modify the motor command and precisely control the forces generated against the constraint. Under the passive compliance model the motion would be executed in a feedforward manner, using an internal model of the constraint geometry. The feedforward model relies on the compliant behavior of the passive mechanical system to maintain contact while avoiding excessive contact forces. 3. Subjects performed a task in which they were required to slide the hand along a rigid surface. This task was performed in a virtual force environment in which contact forces were simulated by a two-dimensional force-actuated joystick. Unknown to the subject, the orientation of the surface constraint was varied from trial to trial, and contact force changes induced by these perturbations were measured. 4. Subjects showed variations in contact force correlated with the direction of the orientation perturbation. "Upward" tilts resulted in higher contact forces, whereas "downward" tilts resulted in lower contact forces. This result is consistent with a feedforward-based control of a passively compliant system. 5. Subject responses did not, however, correspond exactly to the predictions of a static analysis of a passive, feedforward-controlled system. A dynamic analysis reveals a much closer resemblance between a passive, feedforward model and the observed data. Numerical simulations demonstrate that a passive, dynamic system model of the movement captures

  20. The coordinate system for force control.

    Science.gov (United States)

    Saha, Devjani J; Hu, Xiao; Perreault, Eric; Murray, Wendy; Mussa-Ivaldi, Ferdinando A

    2015-03-01

    The primary objective of this study was to establish the coordinate frame for force control by observing how parameters of force that are not explicitly specified by a motor task vary across the workspace. We asked subjects to apply a force of a specific magnitude with their hand. Subjects could complete the task by applying forces in any direction of their choice in the transverse plane. They were tested with the arm in seven different configurations. To estimate whether contact forces are represented in extrinsic or intrinsic coordinates, we applied the parallel transport method of differential geometry to the net joint torques applied during the task. This approach allowed us to compare the force variability observed at different arm configurations with the force variability that would be expected if the control system were applying an invariant pattern of joint torques at the tested configurations. The results indicate that for the majority of the subjects, the predominant pattern was consistent with an invariant representation in joint coordinates. However, two out of eleven subjects also demonstrated a preference for extrinsic representation. These findings suggest that the central nervous system can represent contact forces in both coordinate frames, with a prevalence toward intrinsic representations.

  1. THE INTERNAL CONTROL MODELS IN ROMANIA

    OpenAIRE

    2015-01-01

    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...

  2. THE INTERNAL CONTROL MODELS IN ROMANIA

    OpenAIRE

    TEODORESCU CRISTIAN DRAGOS

    2015-01-01

    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...

  3. Controlling police (excessive force: The American case

    Directory of Open Access Journals (Sweden)

    Zakir Gül

    2013-09-01

    Full Text Available This article addresses the issue of police abuse of power, particularly police use of excessive force. Since the misuse of force by police is considered a problem, some entity must discover a way to control and prevent the illegal use of coercive power. Unlike most of the previous studies on the use of excessive force, this study uses a path analysis. However, not all the findings are consistent with the prior studies and hypotheses. In general, findings indicate that training may be a useful tool in terms of decreasing the use of excessive force, thereby reducing civilians’ injuries and citizens’ complaints. The results show that ethics training in the academy is significantly related to the use of excessive force. Further, it was found that community-oriented policing training in the academy was associated with the citizens’ complaints. A national (secondary data, collected from the law enforcement agencies in the United States are used to explore the research questions.

  4. Adaptive control of force microscope cantilever dynamics

    Science.gov (United States)

    Jensen, S. E.; Dougherty, W. M.; Garbini, J. L.; Sidles, J. A.

    2007-09-01

    Magnetic resonance force microscopy (MRFM) and other emerging scanning probe microscopies entail the detection of attonewton-scale forces. Requisite force sensitivities are achieved through the use of soft force microscope cantilevers as high resonant-Q micromechanical oscillators. In practice, the dynamics of these oscillators are greatly improved by the application of force feedback control computed in real time by a digital signal processor (DSP). Improvements include increased sensitive bandwidth, reduced oscillator ring up/down time, and reduced cantilever thermal vibration amplitude. However, when the cantilever tip and the sample are in close proximity, electrostatic and Casimir tip-sample force gradients can significantly alter the cantilever resonance frequency, foiling fixed-gain narrow-band control schemes. We report an improved, adaptive control algorithm that uses a Hilbert transform technique to continuously measure the vibration frequency of the thermally-excited cantilever and seamlessly adjust the DSP program coefficients. The closed-loop vibration amplitude is typically 0.05 nm. This adaptive algorithm enables narrow-band formally-optimal control over a wide range of resonance frequencies, and preserves the thermally-limited signal to noise ratio (SNR).

  5. Forced wave motion with internal and boundary damping.

    Science.gov (United States)

    Louw, Tobias; Whitney, Scott; Subramanian, Anu; Viljoen, Hendrik

    2012-01-01

    A d'Alembert-based solution of forced wave motion with internal and boundary damping is presented with the specific intention of investigating the transient response. The dynamic boundary condition is a convenient method to model the absorption and reflection effects of an interface without considering coupled PDE's. Problems with boundary condition of the form [Formula: see text] are not self-adjoint which greatly complicates solution by spectral analysis. However, exact solutions are found with d'Alembert's method. Solutions are also derived for a time-harmonically forced problem with internal damping and are used to investigate the effect of ultrasound in a bioreactor, particularly the amount of energy delivered to cultured cells. The concise form of the solution simplifies the analysis of acoustic field problems.

  6. Cutaneous mechanisms of isometric ankle force control

    DEFF Research Database (Denmark)

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

    2013-01-01

    output. We used repetitive electrical stimulation of the superficial peroneal (foot dorsum) and medial plantar nerves (foot sole) to disrupt cutaneous afferent input in 8 healthy subjects. We measured the effects of repetitive nerve stimulation on (1) tactile thresholds, (2) performance in an ankle force......-matching and (3) an ankle position-matching task. Additional force-matching experiments were done to compare the effects of transient versus continuous stimulation in 6 subjects and to determine the effects of foot anesthesia using lidocaine in another 6 subjects. The results showed that stimulation decreased...... 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...

  7. Control Strategies for Accurate Force Generation and Relaxation.

    Science.gov (United States)

    Ohtaka, Chiaki; Fujiwara, Motoko

    2016-10-01

    Characteristics and motor strategies for force generation and force relaxation were examined using graded tasks during isometric force control. Ten female college students (M age = 20.2 yr., SD = 1.1) were instructed to accurately control the force of isometric elbow flexion using their right arm to match a target force level as quickly as possible. They performed: (1) a generation task, wherein they increased their force from 0% maximum voluntary force to 20% maximum voluntary force (0%-20%), 40% maximum voluntary force (0%-40%), or 60% maximum voluntary force (0%-60%) and (2) and a relaxation task, in which they decreased their force from 60% maximum voluntary force to 40% maximum voluntary force (60%-40%), 20% maximum voluntary force (60%-20%), or to 0% maximum voluntary force (60%-0%). Produced force parameters of point of accuracy (force level, error), quickness (reaction time, adjustment time, rate of force development), and strategy (force wave, rate of force development) were analyzed. Errors of force relaxation were all greater, and reaction times shorter, than those of force generation. Adjustment time depended on the magnitude of force and peak rates of force development and force relaxation differed. Controlled relaxation of force is more difficult with low magnitude of force control.

  8. 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.

  9. 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.

  10. The Effect of Transmission Design on Force-Controlled Manipulator Performance.

    Science.gov (United States)

    1988-04-01

    Seering, W.P., "On Dynamic Models of Robot Force Control ," proc. 1986 IEEE International Conference on Robotics and Automation, San Francisco, b 9 ph...Measurement, and Control, vol. 99, no. 2, June 1977, pp. 91-97. Whitney, D.E., "Historical Perspective and State of the Art in Robot Force Control ," proc

  11. EXOS research on force-reflecting controllers

    Science.gov (United States)

    Eberman, Brian S.; An, Bin

    1993-03-01

    EXOS has developed two state of the art prototype master controllers for controlling robot hands and manipulators under the Small Business Innovation Research (SBIR) program with NASA. One such device is a two degree-of-freedom Sensing and Force Reflecting Exoskeleton (SAFiRE) worn on the operator's hand. The device measures the movement of the index finger and reflects the interaction forces between the slave robot and the environment to the human finger. The second device is a position sensing Exoskeleton ArmMaster (EAM) worn by a human operator. The device simultaneously tracks the motions of the operator's three DOF shoulder and two DOF elbow. Both of these devices are currently used to control robots at NASA. We are currently developing a full fingered SAFiRE and a position sensing and force reflecting EAM under two second phase SBIR grants with NASA. This paper will include discussions of: (1) the design of the current prototypes, (2) kinematics of the EAM and force control of the SAFiRE, (3) design issues that must be addressed in developing more advanced versions, and (4) our progress to date in addressing these issues.

  12. 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.

  13. International human rights law aspects of forced migrations, evictions and displacement: current issues and challenges

    OpenAIRE

    Scholten, Andrew

    2016-01-01

    The aim of this paper is an analysis of the categories of evictions, forced migrations and internal displacement in the context of international human rights law. Forced migrations and selected categories of internal displacement are important issues of international human rights law and international humanitarian law for more than forty years. The UDHR, adopted in 1948, does not contain any provisions related to forced human mobility and internal displacement. Despite this fact ...

  14. 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....... 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......-parameter approach and the actuating principle for control of forced vibration is investigated....

  15. 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.

  16. 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...

  17. 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...

  18. 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...

  19. Cutting Characteristics of Force Controllable Milling Head

    Institute of Scientific and Technical Information of China (English)

    Shirakashi; Takahiro; Shibuya; Wataru

    2002-01-01

    In order to control cutting force and its direction i n milling operation, a new milling head was developed. The head has two milling cutters, which are connected by a pair of gears and rotate in opposite direction respectively. Both up-cut and down-cut can be carried out simultaneously by t hese milling cutters. The each depth of cut, the ratio of up/down cutting depth , by these cutters can be also selected. The cutting force characteristics were experimentally discussed by changing the ratio. The cut...

  20. Remote Robot Control With High Force-Feedback Gain

    Science.gov (United States)

    Kim, Won S.

    1993-01-01

    Improved scheme for force-reflecting hand control of remote robotic manipulator provides unprecedently high force-reflection gain, even when dissimilar master and slave arms used. Three feedback loops contained in remote robot control system exerting position-error-based force feedback and compliance control. Outputs of force and torque sensors on robot not used directly for force reflection, but for compliance control, while errors in position used to generate reflected forces.

  1. Cogging force rejection method of linear motor based on internal model principle

    Science.gov (United States)

    Liu, Yang; Chen, Zhenyu; Yang, Tianbo

    2015-02-01

    The cogging force disturbance of linear motor is one of the main factors affecting the positioning accuracy of ultraprecision moving platform. And this drawback could not be completely overcome by improving the design of motor body, such as location modification of permanent magnet array, or optimization design of the shape of teeth-slot. So the active compensation algorithms become prevalent in cogging force rejection area. This paper proposed a control structure based on internal mode principle to attenuate the cogging force of linear motor which deteriorated the accuracy of position, and this structure could make tracking and anti-disturbing performance of close-loop designed respectively. In the first place, the cogging force was seen as the intrinsic property of linear motor and its model constituting controlled object with motor ontology model was obtained by data driven recursive identification method. Then, a control structure was designed to accommodate tracking and anti-interference ability separately by using internal model principle. Finally, the proposed method was verified in a long stroke moving platform driven by linear motor. The experiment results show that, by employing this control strategy, the positioning error caused by cogging force was decreased by 70%.

  2. ANALYSE OF LABOR FORCE MOBILITY PHENOMENOM ON ROMANIAN INTERNAL MARKET

    Directory of Open Access Journals (Sweden)

    LUCIAN-ION MEDAR

    2012-01-01

    Full Text Available Labor force mobility is an increasingly important component of contemporary society and equally adjustment tool imbalances in labor markets. The phenomenon of labor mobility is nowadays the most dynamic form of movement of potentially active population. Using cluster analysis this paper aims to highlight the relationship between economic and regional development of counties and the phenomenon of internal labor mobility. Labor mobility is both an explanatory factor of economic development and its effect or result, based on the natural desire of individuals to increase income and improve quality of life by changing jobs, which could contribute to GDP growth and economic growth.

  3. International Society for Bipolar Disorders Task Force on Suicide

    DEFF Research Database (Denmark)

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

    2015-01-01

    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...... 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...

  4. Robot force control for hazardous drilling operations

    Science.gov (United States)

    Alici, Gursel; Daniel, R. W.

    The use of robot manipulators for tasks which are inherently risky for human beings, specifically hazardous drilling operations, is investigated. Although drilling is one of the simplest and most basic metal cutting processes, robot drilling is problematic and has resulted in extreme operator fatigue and shorter drill life under telemanipulator control due to a number of possible causes such as dynamic and static effects. Both originate from differences between a robot and a drilling machine. A detailed study of the task highlighted the fact that it is necessary to regulate the distance dependent force by closed loop force control. How the robot type force could be controlled together with the robot position to allow fast drilling but without too much drill wear was considered. The answer was found in further exploration of the tasks which generated a set of specifications and problems that were addressed using novel strategies rather than those usually adopted for robots. The possible solutions are given in terms of a new control strategy and the correct choice of coordinate system to be used within that strategy.

  5. 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.

  6. 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.

  7. 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.

  8. Lorentz Force Based Satellite Attitude Control

    Science.gov (United States)

    Giri, Dipak Kumar; Sinha, Manoranjan

    2016-07-01

    Since the inception of attitude control of a satellite, various active and passive control strategies have been developed. These include using thrusters, momentum wheels, control moment gyros and magnetic torquers. In this present work, a new technique named Lorentz force based Coulombic actuators for the active control is proposed. This method uses electrostatic charged shells, which interact with the time varying earth's magnetic field to establish a full three axes control of the satellite. It is shown that the proposed actuation mechanism is similar to a satellite actuated by magnetic coils except that the resultant magnetic moment vanishes under two different conditions. The equation for the required charges on the the Coulomb shells attached to the satellite body axes is derived, which is in turn used to find the available control torque for actuating the satellite along the orbit. Stability of the proposed system for very high initial angular velocity and exponential stability about the origin are proved for a proportional-differential control input. Simulations are carried out to show the efficacy of the proposed system for the attitude control of the earth-pointing satellite.

  9. 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.

  10. Legal regulation of the governmental internal control in the Internal Affairs system of Ukraine

    OpenAIRE

    Борець, Л. В.

    2015-01-01

    This paper investigates the problems of organizational and legal providing of implementation of the governmental internal control in the system of Ministry of Internal Affairs of Ukraine, whose elements are internal control and internal audit.The basic principle of the governmental internal financial control is a clear distinction between internal control and internal audit.The internal audit should determine how to carry internal control.The basis of internal control is responsibility of hea...

  11. 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

  12. 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

  13. 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.

  14. 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.

  15. 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.

  16. INTERNAL AUDIT COMPARATIVE ANALYSIS - MANAGEMENT CONTROL CONCEPTS

    Directory of Open Access Journals (Sweden)

    MIHAI-DOREL JURCHESCU

    2010-01-01

    Full Text Available Given Romania's integration into the European Union we consider it appropriate to clarify some terms used in auditing activities of both public funds and European funds. International practice requires a clear separation of internal audit activities from other management control concepts and recommend to establish an internal controlling system as well as an internal audit structure under the coordination of the manager as being the only ways cap able to respond to current risks faced by public entities. Internal Audit, along its evolution - characterized by complex dynamics and adaptability - created confusion regarding the concept of control. The research presented in this paper is based on works published to date regarding the conceptual boundaries of this notion.

  17. 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.

  18. 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.

  19. 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

  20. [Quality control in the therapy of chronic pain. Results obtained by a task force of the German Section of the International Association for the Study of Pain on psychological assessment of chronic pain. XI. Assessment and multiaxial classification of pain].

    Science.gov (United States)

    Klinger, R; Denecke, H; Glier, B; Kröner-Herwig, B; Nilges, P; Redegeld, M; Weiss, L

    1997-12-12

    This paper reviews instruments in German language for the psychological assessment and classification of pain. Usually chronic pain syndromes are classified within the International Classification of Diseases (ICD). Instead of the psychiatric chapter of the ICD, it is possible to use the Diagnostic and Statistical Manual of Mental Disorders (DSM). The proposed classification system of the International Association of the Study of Pain (IASP) is based on a multiaxial solution. The numerous ways to classify chronic pain include many problems and limits, especially in the case of an interdisciplinary assessment. They provide no specific system for classifying pain syndromes. They are impractical to handle and restrict classifying pain as either somatogenic or psychogenic. It is not possible to describe both sides in one diagnosis without loss of information. As a result of this situation, a task force of the German Chapter of the International Association for the Study of Pain developed a Multiaxial Classification of Pain (Multiaxiale Schmerzklassifikation; MASK) as an advanced system of pain assessment and an alternative to the common classification systems. MASK embraces a somatic (MASK-S) and a psychological (MASK-P) part. Both parts constitute an 'interdisciplinary diagnosis'. MASK-S enables classifying a pain syndrome using hierarchical levels, with progredient specific degrees of differentiation. In addition there are 6 axes to describe pain syndromes qualitatively and quantitatively (e.g. localization, quality). The psychosocial part (MASK-P) embraces 5 main levels (1. behavioral, 2. emotional, 3. cognitive, 4. stress-related, 5. habitual personal factors) and 2 additional levels (6. functional coherence, 7. ICD/DSM-diagnosis additional). The MASK-P part of the diagnosis is composed of graduation on these levels. Differential axis of the pain syndromes are described phenomenologically and specifically. MASK provides the possibility of establishing an

  1. 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…

  2. 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.

  3. Exact internal controllability for shallow shells

    Institute of Scientific and Technical Information of China (English)

    FENG Shaoji; FENG Dexing

    2006-01-01

    The internal control problem is considered, based on the linear displacement equations of shallow shell. It is shown, with some checkable geometric conditions on control region, that the undergoing shallow shell is exactly controllable by using Hilbert uniqueness method (HUM), piecewise multiplier method and Riemannian geometry method. Then some examples are given to show the assumed geometric conditions.

  4. 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...

  5. Feedback control of inertial microfluidics using axial control forces

    CERN Document Server

    Prohm, Christopher

    2014-01-01

    Inertial microfluidics is a promising tool for many lab-on-a-chip applications. Particles in channel flows with Reynolds numbers above one undergo cross-streamline migration to a discrete set of equilibrium positions in square and rectangular channel cross sections. This effect has been used extensively for particle sorting and the analysis of particle properties. Using the lattice Boltzmann method, we determine equilibrium positions in square and rectangular cross sections and classify their types of stability for different Reynolds numbers, particle sizes, and channel aspect ratios. Our findings thereby help to design microfluidic channels for particle sorting. Furthermore, we demonstrate how an axial control force, which slows down the particles, shifts the stable equilibrium position towards the channel center. Ultimately, the particles then stay on the centerline for forces exceeding a threshold value. This effect is sensitive to particle size and channel Reynolds number and therefore suggests an efficie...

  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. 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...

  8. Quantum Internal Model Principle: Decoherence Control

    CERN Document Server

    Ganesan, Narayan; 10.1109/CDC.2007.4434706

    2010-01-01

    In this article, we study the problem of Decoherence Control for quantum systems by employing a novel construction termed "the bait" and with techniques from geometric control theory, in order to successfully and completely decouple an open quantum system from its environment. We re-formulate the problem of Decoherence Control as a disturbance rejection scheme which also leads us to the idea of Internal Model Principle for quantum control systems which is first of its kind in the literature. Classical internal model principle provides the guidelines for designing linear controllers for perfect tracking in the presence of external disturbances, with the help of the internal model of the disturbance generator. The theory of Disturbance Decoupling of the output from external noises is another problem that is well studied for classical systems. The two problems focus on different aspects viz. perfect output tracking and complete decoupling of output in the presence of the noise respectively. However for quantum s...

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

    African Journals Online (AJOL)

    Determinants of Effective Internal Control System in Nigerian Banks. ... Log in or Register to get access to full text downloads. ... management observance of control, good remuneration of internal control staff, cost of instituting internal control ...

  10. Quality Control Review of Air Force Audit Agency’s Special Access Program Audits

    Science.gov (United States)

    2014-12-09

    22350-1500 December 9, 2014 MEMORANDUM FOR AUDITOR GENERAL, DEPARTMENT OF THE AIR FORCE SUBJECT: Quality Control Review of Air Force Audit Agency’s...appropriate internal quality control system in place and undergo an external peer review at least once every three years by reviewers independent of the...in all matters relating to the audit work, the audit organization and the individual auditor whether government or public must be independent. AFAA

  11. Internal Force Analysis Due to the Supporting Translation in Statically Indeterminate Structures for Different Elastic Modulus

    Institute of Scientific and Technical Information of China (English)

    姚文娟; 叶志明

    2004-01-01

    For statically indeterminate structure, the internal force will be changed with the translation of the supports, because the internal force is related to the absolute value of the stiffness EI. When the tension is different with the compression modulus, EI is the function of internal force and is not constant any more that is different from classic mechanics. In the other words, it is a nonlinear problem to calculate the internal force. The expression for neutral axis of the statically indeterminate structure was derived in the paper. The iterative program for nonlinear internal force was compiled. One case study was presented to illustrate the difference between the results using the different modulus theory and the single modulus theory as in classical mechanics. Finally, some reasonable suggestions were made for the different modulus structures.

  12. Digital Control of Bonding Force for Gold Wire Bonding Machine

    Directory of Open Access Journals (Sweden)

    Xiaochu Wang

    2013-01-01

    Full Text Available In order to digitally control the bonding force of a wire bonder precisely, this paper uses a DC solenoid as a force source, and by controlling the solenoid’s current, which causes the electromagnetic force, we can control the bonding force that capillary applies. The bonding force control system in this paper is composed of PC (Personal Computer and hypogyny MCU (Micro Controller Unit, which communicate using a RS485 interface. The digital value of a given bonding force is given by the PC to the MCU. By comparing the sampling current of the solenoid, and through PID regulation, D/A converter of the digital potentiometer and the solenoid driver circuit, the half-closed loop control system of bonding force is accomplished. Tuning of the PID parameters is accomplished with fuzzy adaptive control theory and simulated by Matlab simulink. The control system is tested by comparing the desired bonding force and the force actually applied and examming the relationship between bonding quality and bonding force.

  13. Force control compensation method with variable load stiffness and damping of the hydraulic drive unit force control system

    Science.gov (United States)

    Kong, Xiangdong; Ba, Kaixian; Yu, Bin; Cao, Yuan; Zhu, Qixin; Zhao, Hualong

    2016-05-01

    Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit (HDU), and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this

  14. Improved internal control for molecular diagnosis assays.

    Science.gov (United States)

    Vinayagamoorthy, T; Maryanski, Danielle; Vinayagamoorthy, Dilanthi; Hay, Katie S L; Yo, Jacob; Carter, Mark; Wiegel, Joseph

    2015-01-01

    The two principal determining steps in molecular diagnosis are the amplification and the identification steps. Accuracy of DNA amplification is primarily determined by the annealing sequence of the PCR primer to the analyte DNA. Accuracy for identification is determined either by the annealing region of a labelled probe for the real time PCR analysis, or the annealing of a sequencing primer for DNA sequencing analysis, that binds to the respective analyte (amplicon). Presently, housekeeping genes (Beta globin, GAPDH) are used in molecular diagnosis to verify that the PCR conditions are optimum, and are thus known as amplification controls [1-4]. Although these genes have been useful as amplification controls, they lack the true definition of an internal control because the primers and annealing conditions are not identical to the analyte being assayed. This may result in a false negative report [5]. The IC-Code platform technology described here provides a true internal control where the internal control and analyte share identical PCR primers annealing sequences for the amplification step and identical sequencing primer annealing sequence for the identification step. •The analyte and internal control have the same PCR and sequencing annealing sequences.•This method assures for little or no false negatives and false positives due to the method's design of using identical annealing conditions for the internal control and analyte, and by using DNA sequencing analysis for the identification step of the analyte, respectively.•This method also allows for a set lower limit of detection to be used by varying the amount of internal control used in the assay.

  15. Internal Control of Enterprise Capital Turnover under the Integration Processes

    Directory of Open Access Journals (Sweden)

    Kaminska Tetiana H.

    2014-02-01

    Full Text Available The article tries to build methods of internal control of the capital turnover, which would meet modern integration processes in Ukraine and in the world. First of all it states that internal control should ensure realisation of interests of the enterprise owner. It marks out that despite the existing methods, the enterprise control should be started not with assets, but from the sources of their formation – own capital and obligations, and only then go to the enterprise property control. The author offers relevant methods of capital turnover control, which takes into account its stages – acquisition, production and sales – and gives practical recommendations on its use at enterprises. Special attention is paid to the capital turnover control at the stage of production, which should keep track of both quantitative and qualitative parameters. Acquisition and sales control, except for internal controllers, is carried out by marketing, logistics and other services. Generalisation of results of the control should be done in forms that, on the one hand, have evidential force and, on the other, accessible for comprehension and use in the process of making managerial decisions by managers of various levels.

  16. Computer-Controlled Force Generator Project

    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...

  17. Developing Security Force Assistance: Lessons from Foreign Internal Defense

    Science.gov (United States)

    2008-11-18

    compromising them by developing a more complete framework for Colombia. Major Jose Madera notes, “Our Armed Forces can only be partially successful if...74 Finlayson, “U.S. Forces,” 68. 75 Jose A. Madera , Civil Information Management in Support of Counterinsurgency...Studies, 2008. Madera , Jose M. “Civil information Management in Support of Counterinsurgency Operations: A Case for the Use of Geospatial Information

  18. DoD ADP Internal Control Guideline

    Science.gov (United States)

    1988-07-01

    D. Application Controls 6-33 E. Microcomputer Controls 6-51 APPENDIX - LIFE CYCLE MANAGEMENT -INTERNAL CONTROL TECNIQUES A. Need Justification (Phase 0...Defense is allocating about $8 billion annually on Automated Information Systems (AIS), is making AIS Life-Cycle Management (LCM) decision which involve...OFFICE OF THE ASSISTANT SECRETARY OF DEFENSE WASHINGTON, DC 20301-1100 COMPTROLLER Information Resources Management FOREWORD The DoD is allocating

  19. Reflections on a Seminal Force in International Accounting

    Science.gov (United States)

    Cascini, Karen T.

    2007-01-01

    Accounting is a manifestation of several important environmental factors within a country, including economic, educational and political, and, as such, is evolutionary in accordance with those changing social structures. Because of the major impact that international accounting has had on countries' internal accounting systems, it is important to…

  20. 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.

  1. Shape-Grinding by Direct Position/Force Control

    Science.gov (United States)

    Chen, Guanghua; Xu, Weiwei; Minami, Mamoru

    Based on the analysis of the interaction between a manipulator's hand and a working object, a model representing the constrained dynamics of the robot is first discussed. The constrained forces are expressed by an algebraic function of states, input generalized forces, and the constraint condition, and then a direct position/force controller without force sensor is proposed based on the algebraic relation. To give a grinding system the ability to adapt to any object shape being changed by the grinding, we add a function estimating the constraint condition in real time for the adaptive position/force control. Evaluations through simulations, by fitting the changing constraint surface with spline functions, indicate that reliable position/force control and shape-grinding can be achieved by the proposed controller.

  2. 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.

  3. An internal force solving method and its application in teaching of mechanics of materials

    Science.gov (United States)

    Zhu, Wei-Wei

    2017-09-01

    This paper presents an improved method of positive assumption for internal force solving, and the application process of this improved method is introduced by some examples, matters to be noted in teaching by this improved method are also analyzed. Teaching practice shows that using improved method of positive assumption to solve internal force, can effectively reduce the error rate, improve the students’ ability to analyze the internal force, increase the confidence in mechanics of materials learning, and can produce positive transfer effect for subsequent rated courses learning.

  4. Driving Force to Socialize the International Norms of Human Rights

    Institute of Scientific and Technical Information of China (English)

    LIU BO

    2011-01-01

    Human rights,as a great term and lofty goal,have unquestionably become a topic of mainstream talk in the present-day world.2 Such mainstream talk has been internalized into part of the social structure.The current international society is experiencing a profound reorganization and transition in values.All kinds of new interactions under the context of globalization have resulted in the development of the current norms of international human rights,which are constructed on the basis of law and ethics.Therefore,analyzing the dynamic factors of socialization that support the operation of human rights norms in international society has become increasingly important in today's mutually dependent society.

  5. Force-Control Algorithm for Surface Sampling

    Science.gov (United States)

    Acikmese, Behcet; Quadrelli, Marco B.; Phan, Linh

    2008-01-01

    A G-FCON algorithm is designed for small-body surface sampling. It has a linearization component and a feedback component to enhance performance. The algorithm regulates the contact force between the tip of a robotic arm attached to a spacecraft and a surface during sampling.

  6. The Educational Composition of the Labour Force: An International Comparison.

    Science.gov (United States)

    Psacharopoulos, George; Arriagada, Ana Maria

    1986-01-01

    Argues that although the school enrollment ratio among countries is an available statistic, it may not be the most important indicator for setting investment priorities in education. Offers statistics on the educational composition of the labor force as a more sensitive human capital index. (JOW)

  7. 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)

  8. Reinventing the Wheel: Structuring Air Forces for Foreign Internal Defense

    Science.gov (United States)

    1991-08-01

    150. of the SAWC was changed to place training third in 22 CADRE PAPER priority, behind development of COIN doctrine and 42. Samuel B. Griffith. ed...Washington, D.C.: Office of Air Force History, 1979. Special Operations in US Strategy. Edited by Frank R. Barnett, B. Hugh Tovar , and Richard H. Shultz...Edited by Peter Paret. Princeton, N.J.: Princeton University Press, 1986. Mao Tse-tung on Guerrilla Warfare. Edited and translated by Samuel B

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

    NARCIS (Netherlands)

    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; Gonzalez-Pinto, Ana; Goldberg, Joseph F.; Yildiz, Aysegul; 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.; Vazquez, Gustavo; Perlis, Roy H.; Ketter, Terence A.; Cassidy, Frederick; Akiskal, Hagop; Azorin, Jean-Michel; Valenti, Marc; Mazzei, Diego Hidalgo; Lafer, Beny; Kato, Tadafumi; Mazzarini, Lorenzo; Martinez-Aran, Anabel; Parker, Gordon; Souery, Daniel; Ozerdem, Aysegul; 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, Flavio; Vieta, Eduard

    2013-01-01

    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

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

    NARCIS (Netherlands)

    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; Gonzalez-Pinto, Ana; Goldberg, Joseph F.; Yildiz, Aysegul; 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.; Vazquez, Gustavo; Perlis, Roy H.; Ketter, Terence A.; Cassidy, Frederick; Akiskal, Hagop; Azorin, Jean-Michel; Valenti, Marc; Mazzei, Diego Hidalgo; Lafer, Beny; Kato, Tadafumi; Mazzarini, Lorenzo; Martinez-Aran, Anabel; Parker, Gordon; Souery, Daniel; Ozerdem, Aysegul; 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, Flavio; Vieta, Eduard

    2013-01-01

    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

  11. 14th International Congress on Antiphospholipid Antibodies: task force report on antiphospholipid syndrome treatment trends.

    Science.gov (United States)

    Erkan, Doruk; Aguiar, Cassyanne L; Andrade, Danieli; Cohen, Hannah; Cuadrado, Maria J; Danowski, Adriana; Levy, Roger A; Ortel, Thomas L; Rahman, Anisur; Salmon, Jane E; Tektonidou, Maria G; Willis, Rohan; Lockshin, Michael D

    2014-06-01

    Antiphospholipid Syndrome (APS) is characterized by vascular thrombosis and/or pregnancy morbidity occurring in patients with persistent antiphospholipid antibodies (aPL). The primary objective of the APS Treatment Trends Task Force, created as part of the 14th International Congress on aPL, was to systematically review the potential future treatment strategies for aPL-positive patients. The task force chose as future clinical research directions: a) determining the necessity for controlled clinical trials in venous thromboembolism with the new oral direct thrombin or anti-factor Xa inhibitors pending the results of the ongoing rivaroxaban in APS (RAPS) trial, and designing controlled clinical trials in other forms of thrombotic APS; b) systematically analyzing the literature as well as aPL/APS registries, and creating specific registries for non-warfarin/heparin anticoagulants; c) increasing recruitment for an ongoing primary thrombosis prevention trial, and designing secondary thrombosis and pregnancy morbidity prevention trials with hydroxychloroquine; d) determining surrogate markers to select patients for statin trials; e) designing controlled studies with rituximab and other anti-B-cell agents; f) designing mechanistic and clinical studies with eculizumab and other complement inhibitors; and g) chemically modifying peptide therapy to improve the half-life and minimize immunogenicity. The report also includes recommendations for clinicians who consider using these agents in difficult-to-manage aPL-positive patients.

  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. 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.

  14. 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

  15. Seasonality and Predictability of the Indian Ocean Dipole Mode: ENSO Forcing and Internal Variability

    Science.gov (United States)

    Yang, Y.

    2015-12-01

    This study evaluates the relative contributions to the Indian Ocean Dipole (IOD) mode of interannual variability from the El Niño-Southern Oscillation (ENSO) forcing and ocean-atmosphere feedbacks internal to the Indian Ocean. The ENSO forcing and internal variability is extracted by conducting a 10-member coupled simulation for 1950-2012 where sea surface temperature (SST) is restored to the observed anomalies over the tropical Pacific but interactive with the atmosphere over the rest of the world ocean. In these experiments, the ensemble mean is due to ENSO forcing and the inter-member difference arises from internal variability of the climate system independent of ENSO. These elements contribute one third and two thirds of the total IOD variance, respectively. Both types of IOD variability develop into an east-west dipole pattern due to Bjerknes feedback and peak in September-November. The ENSO forced and internal IOD modes differ in several important ways. The forced IOD mode develops in August with a broad meridional pattern, and eventually evolves into the Indian Ocean Basin mode; while the internal IOD mode grows earlier in June, is more confined to the equator and decays rapidly after October. The internal IOD mode is more skewed than the ENSO forced response. The destructive interference of ENSO forcing and internal variability can explain early-terminating IOD events, referred to IOD-like perturbations that fail to grow during boreal summer. Our results have implications for predictability. Internal variability, as represented by pre-season sea surface height anomalies off Sumatra, contributes to predictability considerably. Including this indicator of internal variability, together with ENSO, improves the predictability of IOD.

  16. Hybrid Force Motion Synchronization Control of Robot Manipulators

    OpenAIRE

    Fikkan, Kristoffer

    2010-01-01

    The main objective of this thesis was to combine the theory on synchronization of robot manipulators with the concept of hybrid force/motion control; resulting in a controller capable of following both the trajectory of another robot and a desired force trajectory at the same time. This report includes a short introduction to synchronization theory for robot manipulators, and a more thorough summary of existing hybrid control schemes. An intuitive method for describing constraints caused...

  17. A novel adaptive force control method for IPMC manipulation

    Science.gov (United States)

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

    2012-07-01

    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.

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

    Science.gov (United States)

    Lu, Ying; Bilaloglu, Seda; Aluru, Viswanath

    2015-01-01

    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. PMID:25878151

  19. High Precise Internal Friction Calculation for Force Vibration Mode

    Institute of Scientific and Technical Information of China (English)

    LIANG Li-Min; FEI Guang-Tao; SHUI Jia-Peng; CUI Ping; WU Bing; CHEN Xiao-Ming; LUI Ke-Tao

    2005-01-01

    @@ For the necessity of measuring the small phase difference of internal friction, a detailed comparison is carried out among the fast Fourier transformation (FFT), correlation function and three-parameter sine wave curve-fit methods. The comparison shows that the three-parameter sine wave curve-fit method can obtain more precise phase angle difference than correlation methods. Compared with the FFT algorithm, the three-parameter sine wave curve-fit method can obtain more precise frequency values.

  20. Control of Precision Grip Force in Lifting and Holding of Low-Mass Objects.

    Directory of Open Access Journals (Sweden)

    Yuichi Hiramatsu

    Full Text Available Few studies have investigated the control of grip force when manipulating an object with an extremely small mass using a precision grip, although some related information has been provided by studies conducted in an unusual microgravity environment. Grip-load force coordination was examined while healthy adults (N = 17 held a moveable instrumented apparatus with its mass changed between 6 g and 200 g in 14 steps, with its grip surface set as either sandpaper or rayon. Additional measurements of grip-force-dependent finger-surface contact area and finger skin indentation, as well as a test of weight discrimination, were also performed. For each surface condition, the static grip force was modulated in parallel with load force while holding the object of a mass above 30 g. For objects with mass smaller than 30 g, on the other hand, the parallel relationship was changed, resulting in a progressive increase in grip-to-load force (GF/LF ratio. The rayon had a higher GF/LF force ratio across all mass levels. The proportion of safety margin in the static grip force and normalized moment-to-moment variability of the static grip force were also elevated towards the lower end of the object mass for both surfaces. These findings indicate that the strategy of grip force control for holding objects with an extremely small mass differs from that with a mass above 30 g. The data for the contact area, skin indentation, and weight discrimination suggest that a decreased level of cutaneous feedback signals from the finger pads could have played some role in a cost function in efficient grip force control with low-mass objects. The elevated grip force variability associated with signal-dependent and internal noises, and anticipated inertial force on the held object due to acceleration of the arm and hand, could also have contributed to the cost function.

  1. Force Characteristics in Continuous Path Controlled Crankpin Grinding

    Institute of Scientific and Technical Information of China (English)

    ZHANG Manchao; YAO Zhenqiang

    2015-01-01

    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.

  2. 49 CFR 225.33 - Internal Control Plans.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Internal Control Plans. 225.33 Section 225.33....33 Internal Control Plans. (a) Each railroad shall adopt and comply with a written Internal Control... official business. Each railroad shall amend its Internal Control Plan, as necessary, to reflect...

  3. Internal Model Based Active Disturbance Rejection Control

    OpenAIRE

    Pan, Jinwen; Wang, Yong

    2016-01-01

    The basic active disturbance rejection control (BADRC) algorithm with only one order higher extended state observer (ESO) proves to be robust to both internal and external disturbances. An advantage of BADRC is that in many applications it can achieve high disturbance attenuation level without requiring a detailed model of the plant or disturbance. However, this can be regarded as a disadvantage when the disturbance characteristic is known since the BADRC algorithm cannot exploit such informa...

  4. 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).

  5. Force and Acceleration Sensor Fusion for Compliant Robot Motion Control

    OpenAIRE

    Gámez García, Javier; Robertsson, Anders; Gómez Ortega, Juan; Johansson, Rolf

    2005-01-01

    In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force exerted by the end-effector of the manipulator from those measured by a wrist force sensor, which are corrupted by the inertial forces on the end-effector. We propose a new control strategy based on multisensor fusion with three different sensors that is, encoders mounted at each joint of the robot wi...

  6. Sea Ice Trends in the AO-UMUKCA model: Interplay of Forcing and Internal Variability

    Science.gov (United States)

    Jrrar, Amna; Abraham, Luke; Holland, David; Pyle, John

    2016-04-01

    While Arctic Sea is showing a declining trend particularly in summer. Antarctic sea is showing a modest increase, a very controversial observation in a warming climate. Several studies have attributed these changes to internal variability. Hence in this paper we investigate sea ice trends in both hemispheres as simulated in a version of the Atmosphere-Ocean coupled chemistry climate model AO-UMUKCA under two different atmospheric forcing scenarios. One simulation is a pre-industrial control, where atmospheric forcing is fixed at 1850 level. The second simulation is also a time slice experiment but forced with the year 2000 atmospheric forcing (TS2000). The model simulates a significant reduction in NH Sea Ice Extent (SIE) under the TS2000 scenario, but shows negligible difference in SH SIE between the two scenarios. In agreement with observational studies, we find that NH SIE and distribution are connected to the Arctic Oscillation and the Dipole Anomaly in both simulations, particularly in summer time. While SH winter SIE shows a high correlation with zonal wave-3 pattern and the Pacific South American mode, particularly in TS2000. Connections between SIE and oceanic modes of variability in both hemispheres are also detected. Total NH SIE shows significant correlation with Atlantic Multidecadal Oscillation (AMO) on interannual and decadal timescales, but shows significant correlation with the Inter Pacific Decadal Oscillation (IPO) on multi-decadal timescale only. However, total SH SIE shows significant correlation only with IPO on decadal and multi-decadal scales. The SIE response to oceanic modes is comparable in both simulations.

  7. 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.

  8. Conjugated laminar forced convective heat transfer from internally finned tubes

    Energy Technology Data Exchange (ETDEWEB)

    Wen-Quan Tao (Xi' an Jiaotong Univ., Shaanxi (China))

    1987-08-01

    The use of internal fins is a very effective means of augmenting heat transfer in a tubular heat exchanger, especially for the laminar flow case. Several theoretical investigations have been undertaken to determine heat transfer performance under fully developed conditions. Results reported in the literature are derived for prescribed thermal boundary conditions, wither with axially uniform heat flux with peripherally uniform temperature, or with constant temperature axially as well as circumferentially. However, for double pipe heat exchangers, the thermal boundary condition of the separating wall can not be prescribed a priori; it is determined by the thermal interaction between the fluid inside the tube and that in the annular space. Mikhailov and Shishedjiev (1981), and Tao (1986) have shown that Nusselt number of the tube and that of the annular are strongly dependent upon the heat capacity ratio of the two fluids. In this investigation, a performance analysis is conducted numerically for an internally finned tube which serves as the inner tube of a double pipe heat exchanger.

  9. Conventional forces and arms control: Technology and strategy in a changing world

    Energy Technology Data Exchange (ETDEWEB)

    Pilat, J.F.; White, P.C.

    1990-06-01

    To address the implications of changes for future roles of conventional forces and to assess the technology implications of future strategies, force requirements, and conventional arms control agreements, the Center for National Security Studies in cooperation with the Defense Research and Applications Directorate of the Los Alamos National Laboratory held a conference on Conventional Forces and Arms Control: Technology and Strategy in a Changing World'' at Los Alamos from September 25--27, 1989. The distinguished participants from government, industry, and academia in the United States and Western Europe addressed such issues as: What are the implications of geopolitical and technological trends for international security and stability How will these global changes affect US and allied strategies and force structure, especially the requirements for conventional, nonnuclear forces What will be the role of and rationale for conventional forces in the context of current and prospective allied security requirements How can the West assure it will have the forces necessary for its security How will technological developments influence the structure of tomorrow's conventional forces What impacts will arms reductions have on future systems and force structures What are the prospects for the development and deployment in weapon systems of future conventional military technologies, in light of existing and potential political, economic, bureaucratic, and other impediments

  10. 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.

  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...

  12. Strengthen Business Management, Improve Internal Control System

    Institute of Scientific and Technical Information of China (English)

    He Yadong

    2011-01-01

    @@ Sarbanes-Oxley Act, is known as the strictest financial act enacted by US government since 1930s.Any enterprise that violates this act is to be severely punished with possible imprisonment of its top management, which will definitely put the company in the danger of losing reputation and refinancing ability as well as investors' trust.The development of the company will be inevitably jeopardized.As an enterprise listed in the US, starting from 2006, PetroChina shall be under the strict verification and assessment of the Sarbanes-Oxley act and construct a well-designed internal control system based on Section 404 in the act.An integrated internal

  13. 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.

  14. 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.

  15. Comparison of electromyography and force as interfaces for prosthetic control.

    Science.gov (United States)

    Corbett, Elaine A; Perreault, Eric J; Kuiken, Todd A

    2011-01-01

    The ease with which persons with upper-limb amputations can control their powered prostheses is largely determined by the efficacy of the user command interface. One needs to understand the abilities of the human operator regarding the different available options. Electromyography (EMG) is widely used to control powered upper-limb prostheses. It is an indirect estimator of muscle force and may be expected to limit the control capabilities of the prosthesis user. This study compared EMG control with force control, an interface that is used in everyday interactions with the environment. We used both methods to perform a position-tracking task. Direct-position control of the wrist provided an upper bound for human-operator capabilities. The results demonstrated that an EMG control interface is as effective as force control for the position-tracking task. We also examined the effects of gain and tracking frequency on EMG control to explore the limits of this control interface. We found that information transmission rates for myoelectric control were best at higher tracking frequencies than at the frequencies previously reported for position control. The results may be useful for the design of prostheses and prosthetic controllers.

  16. Model based control of dynamic atomic force microscope

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Chibum [Department of Mechanical System Design Engineering, Seoul National University of Science and Technology, Seoul 139-743 (Korea, Republic of); Salapaka, Srinivasa M., E-mail: salapaka@illinois.edu [Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801 (United States)

    2015-04-15

    A model-based robust control approach is proposed that significantly improves imaging bandwidth for the dynamic mode atomic force microscopy. A model for cantilever oscillation amplitude and phase dynamics is derived and used for the control design. In particular, the control design is based on a linearized model and robust H{sub ∞} control theory. This design yields a significant improvement when compared to the conventional proportional-integral designs and verified by experiments.

  17. Model based control of dynamic atomic force microscope.

    Science.gov (United States)

    Lee, Chibum; Salapaka, Srinivasa M

    2015-04-01

    A model-based robust control approach is proposed that significantly improves imaging bandwidth for the dynamic mode atomic force microscopy. A model for cantilever oscillation amplitude and phase dynamics is derived and used for the control design. In particular, the control design is based on a linearized model and robust H(∞) control theory. This design yields a significant improvement when compared to the conventional proportional-integral designs and verified by experiments.

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

    Science.gov (United States)

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

    2007-10-01

    Relations between various values of the internal friction (tgdelta, Q(-1), Q(-1*), and Lambda/pi) 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 omega(FD), displacement-resonant frequency of forced vibration omega(d), and velocity-resonant frequency of forced vibration omega(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.

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

    Indian Academy of Sciences (India)

    Erol Uzal; Banu Korbahti

    2010-04-01

    Vibration characteristics of an elastic plate in the shape of an infinite strip are changed by applying a lateral concentrated force to the plate. The homogeneous, isotropic, elastic plate is infinite in the -direction and the sides are simply supported. The size of the force is changed in proportion to the displacement measured at a certain point of the plate. The proportionality constant serves as the control parameter. The mathematical formulation of this distributed control problem and its analytical solution in terms of the vibration frequencies of the plate are given. The vibration frequencies are plotted as a function of the control parameter.

  20. 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.

  1. Forced dynamic position control of PMSM with DTC utilization

    Science.gov (United States)

    Malek, Michal

    2012-11-01

    Almost one and a half century after the publication of Maxwell’s On Governors, feedback theory with PID controllers in cascade structure is still an essential part of control structures of most controlled electric drives. There are a few control strategies which are “ready” to replace it but they usually miss one of the essential fundamentals of every successful approach - simplicity hand in hand with lucidity. But there is one close relative which is simple and powerful at the same time, is not excessively abstract and without complicated mathematics. The name of this technique is Forced Dynamic Control. In this paper forced dynamic control is presented together with direct torque controlled PMSM drive as unique combination of simple algorithms for inner and outer loop of cascade structure.

  2. 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—...

  3. 14th International Congress on Antiphospholipid Antibodies Task Force Report on Catastrophic Antiphospholipid Syndrome.

    Science.gov (United States)

    Cervera, Ricard; Rodríguez-Pintó, Ignasi; Colafrancesco, Serena; Conti, Fabrizio; Valesini, Guido; Rosário, Cristina; Agmon-Levin, Nancy; Shoenfeld, Yehuda; Ferrão, Claudia; Faria, Raquel; Vasconcelos, Carlos; Signorelli, Flavio; Espinosa, Gerard

    2014-07-01

    The 'Task Force on Catastrophic Antiphospholipid Syndrome (CAPS)' was developed on the occasion of the 14th International Congress on Antiphospholipid Antibodies. The objectives of this Task Force were to assess the current knowledge on pathogenesis, clinical and laboratory features, diagnosis and classification, precipitating factors and treatment of this condition in order to address recommendations for future research. This article summarizes the studies analyzed by the Task Force, its recommendations and the future research agenda. Copyright © 2014 Elsevier B.V. All rights reserved.

  4. 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.

  5. 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

  6. ROBUST INTERNAL MODEL CONTROL STRATEGY BASED PID CONTROLLER FOR BLDCM

    Directory of Open Access Journals (Sweden)

    A.PURNA CHANDRA RAO

    2010-11-01

    Full Text Available All the closed loop control system requires the controller for improvement of transient response of the error signal. Though the tuning of PID controller in real time is bit difficult and moreover it lacks the disturbance rejection capability. This paper presents a tuning of PID parameters based on internal model strategy. The advantageous of the proposed control strategy is well described in the paper. To test the validity of the proposed control, it is implemented in brushless dc motor drive. The mathematical model of brushless dc motor (BLDC is presented for control design. In addition the robustness of the control strategy is discussed. The proposed control strategy possesses good transient responses and good load disturbance response. In addition, the proposed control strategy possesses good tracking ability. To test the effectiveness of the proposed strategy, the BLDC is represented in transfer function model and later implemented in test system. The results are presented to validate the proposed control strategy for BLDC drive.

  7. 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...

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

    Science.gov (United States)

    1999-06-01

    that it has attained particular significance in the last decade. For instance, Hans Kelsen noted: There are two kinds of force not exercised by...reprisals. HANS KELSEN , COLLECTIVE SECURITY UNDER INTERNATIONAL LAW 57 n.5 (49 Naval War College International Law Studies 1954, 1956). Ian Brownlie...Nations, 41 AM. J. INT’L L. 872 (1947); Hans Kelsen , Collective Security and Collective Self-Defense under the Charter of the United Nations 42 AM. J

  9. 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.

  10. 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.

  11. Organisation of Internal Control in a Budget Institution: Applied Aspect

    OpenAIRE

    Dikan Larysa V.; Deyneko Yevgen V.

    2013-01-01

    The article proves urgency and necessity of organisation of internal control in budget institutions. It graphically depicts a general structure of the organisation of internal control in budget institutions. It offers and substantiates a model of organisation of internal control in budget institutions. It proves that the key principles of organisation of internal control in budget institutions are principles of effectiveness and efficiency. Moreover, the effectiveness principle is connected w...

  12. Co-robotic ultrasound imaging: a cooperative force control approach

    Science.gov (United States)

    Finocchi, Rodolfo; Aalamifar, Fereshteh; Fang, Ting Yun; Taylor, Russell H.; Boctor, Emad M.

    2017-03-01

    Ultrasound (US) imaging remains one of the most commonly used imaging modalities in medical practice. However, due to the physical effort required to perform US imaging tasks, 63-91% of ultrasonographers develop musculoskeletal disorders throughout their careers. The goal of this work is to provide ultrasonographers with a system that facilitates and reduces strain in US image acquisition. To this end, we propose a system for admittance force robot control that uses the six-degree-of-freedom UR5 industrial robot. A six-axis force sensor is used to measure the forces and torques applied by the sonographer on the probe. As the sonographer pushes against the US probe, the robot complies with these forces, following the user's desired path. A one-axis load cell is used to measure contact forces between the patient and the probe in real time. When imaging, the robot augments the axial forces applied by the user, lessening the physical effort required. User studies showed an overall decrease in hand tremor while imaging at high forces, improvements in image stability, and a decrease in difficulty and strenuousness.

  13. 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.

  14. Satellite cascade attitude control via fuzzy PD controller with active force control under momentum dumping

    Science.gov (United States)

    Ismail, Z.; Varatharajoo, R.

    2016-10-01

    In this paper, fuzzy proportional-derivative (PD) controller with active force control (AFC) scheme is studied and employed in the satellite attitude control system equipped with reaction wheels. The momentum dumping is enabled via proportional integral (PI) controller as the system is impractical without momentum dumping control. The attitude controllers are developed together with their governing equations and evaluated through numerical treatment with respect to a reference satellite mission. From the results, it is evident that the three axis attitudes accuracies can be improved up to ±0.001 degree through the fuzzy PD controller with AFC scheme for the attitude control. In addition, the three-axis wheel angular momentums are well maintained during the attitude control tasks.

  15. 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....

  16. 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...

  17. 12 CFR 917.6 - Internal control system.

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 7 2010-01-01 2010-01-01 false Internal control system. 917.6 Section 917.6... POWERS AND RESPONSIBILITIES OF BANK BOARDS OF DIRECTORS AND SENIOR MANAGEMENT § 917.6 Internal control... internal control system that addresses: (i) The efficiency and effectiveness of Bank activities; (ii)...

  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...

  19. Optimal Release Control of Companion Satellite System Using Electromagnetic Forces

    Institute of Scientific and Technical Information of China (English)

    Zengwen Xu,Peng Shi; Yushan Zhao∗

    2015-01-01

    Electromagnetic forces generated by the inter⁃action of component satellites can be used to release companion satellites. Optimal release trajectories for companion satellite system using inter⁃electromagnetic forces were investigated. Firstly, nonlinear relative motion dynamic equations of a two⁃craft electromagnetic companion satellite system were derived in spatial polar coordinates. Then principles of electromagnetic satellite formation flying were introduced. Secondly, the characteristics of the electromagnetic companion satellites release were analyzed and optimal release trajectories of companion satellites using electromagnetic forces were obtained using Gauss pseudospectral method. Three performance criteria were chosen as minimum time, minimum acceleration of the separation distance and minimum control acceleration. Finally, three release examples including expansion along separation distance, rotation in orbital plane and stable formation reconfiguration were given to demonstrate the feasibility of this method. Results indicated that the release trajectories can converge to optimal solutions effectively and the concept of release companion satellites using electromagnetic forces is practicable.

  20. Electromagnetic tweezers with independent force and torque control

    Science.gov (United States)

    Jiang, Chang; Lionberger, Troy A.; Wiener, Diane M.; Meyhofer, Edgar

    2016-08-01

    Magnetic tweezers are powerful tools to manipulate and study the mechanical properties of biological molecules and living cells. In this paper we present a novel, bona fide electromagnetic tweezer (EMT) setup that allows independent control of the force and torque applied via micrometer-sized magnetic beads to a molecule under study. We implemented this EMT by combining a single solenoid that generates force (f-EMT) with a set of four solenoids arranged into a symmetric quadrupole to generate torque (τ-EMT). To demonstrate the capability of the tweezers, we attached optically asymmetric Janus beads to single, tethered DNA molecules. We show that tension in the piconewton force range can be applied to single DNA molecules and the molecule can simultaneously be twisted with torques in the piconewton-nanometer range. Furthermore, the EMT allows the two components to be independently controlled. At various force levels applied to the Janus bead, the trap torsional stiffness can be continuously changed simply by varying the current magnitude applied to the τ-EMT. The flexible and independent control of force and torque by the EMT makes it an ideal tool for a range of measurements where tensional and torsional properties need to be studied simultaneously on a molecular or cellular level.

  1. Analysis of Korean Students' International Mobility by 2-D Model: Driving Force Factor and Directional Factor

    Science.gov (United States)

    Park, Elisa L.

    2009-01-01

    The purpose of this study is to understand the dynamics of Korean students' international mobility to study abroad by using the 2-D Model. The first D, "the driving force factor," explains how and what components of the dissatisfaction with domestic higher education perceived by Korean students drives students' outward mobility to seek…

  2. Nonlinear control techniques for an atomic force microscope system

    Institute of Scientific and Technical Information of China (English)

    Yongchun FANG; Matthew FEEMSTER; Darren DAWSON; Nader M.JALILI

    2005-01-01

    Two nonlinear control techniques are proposed for an atomic force microscope system.Initially,a learning-based control algorithm is developed for the microcantilever-sample system that achieves asymptotic cantilever tip tracking for periodic trajectories.Specifically,the control approach utilizes a learning-based feedforward term to compensate for periodic dynamics and high-gain terms to account for non-periodic dynamics.An adaptive control algorithm is then developed to achieve asymptotic cantilever tip tracking for bounded tip trajectories despite uncertainty throughout the system parameters.Simulation results are provided to illustrate the efficacy and performance of the control strategies.

  3. EQUIVALENCE BETWEEN EXACT INTERNAL CONTROLLABILITY OF THE KIRCHHOFF PLATE-LIKE EQUATION AND THE WAVE EQUATION

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    When the rotatory inertia is taken into account, vibrations of a linear plate can be described by the Kirchhoff plate equation. Consider this equation with locally distributed control forces and some boundary condition which is the simply supported boundary condition for a rectangular plate. In this paper, the authors establish exact controllability of the system in terms of the equivalence to exact internal controllability of the wave equation, by means of a frequency domain characterization of exact controllability introduced recently in [11].

  4. Magnetically controllable Casimir force based on a superparamagnetic metametamaterial

    Science.gov (United States)

    Ma, Junming; Zhao, Qian; Meng, Yonggang

    2014-02-01

    We theoretically investigate the magnetically controllable Casimir force between a parallel metal plate and a superparamagnetic metametamaterial (MMM) plate based on Mie scattering and effective medium theory. A type of MMM composed of superparamagnetic nanoparticles is proposed to fulfill the high frequency magnetic effect to gain Casimir repulsion when interacting with the metal plate. The permeability of such MMM depends on an external magnetic field, which makes it possible to adjust the magnitude of Casimir force. The effects of size, filling ratio, and magnetic property of the superparamagnetic particles on the tuning range are also investigated. Construction of such MMM using the micro/nanofabrication technology is promising to achieve magnetically controllable repulsive Casimir force.

  5. An Improved Force Feedback Control Algorithm for Active Tendons

    Directory of Open Access Journals (Sweden)

    Ligang Cai

    2012-08-01

    Full Text Available An active tendon, consisting of a displacement actuator and a co-located force sensor, has been adopted by many studies to suppress the vibration of large space flexible structures. The damping, provided by the force feedback control algorithm in these studies, is small and can increase, especially for tendons with low axial stiffness. This study introduces an improved force feedback algorithm, which is based on the idea of velocity feedback. The algorithm provides a large damping ratio for space flexible structures and does not require a structure model. The effectiveness of the algorithm is demonstrated on a structure similar to JPL-MPI. The results show that large damping can be achieved for the vibration control of large space structures.

  6. Tractor controls actuating force limits for Indian operators.

    Science.gov (United States)

    Mehta, C R; Pandey, M M; Tiwari, P S; Gite, L P; Khadatkar, Abhijit

    2011-01-01

    In four-wheel tractors, proper design of controls is important for comfortable and safe operation of the tractor. The design involves location and dimensions of controls as well as strength limits for operating these controls. The present study was aimed to quantify human strength for operation of tractor controls and to recommend the maximum control actuating forces for normal operation of tractors based on strength capability of 3,423 Indian male agricultural workers. The 5th percentile values of strength parameters i.e. leg strength sitting (left and right), foot strength sitting (right), torque strength (both hands) sitting, push strength (left hand and right hand) sitting and pull strength (left hand and right hand) sitting of agricultural workers collected using a strength measurement set-up were taken into consideration for the study. It was recommended that the maximum actuating forces for normal operation of frequently operated brake and clutch pedals of tractors should not exceed 260 N and 125 N based on 5th percentile values of right and left leg strength of male agricultural workers, respectively. The maximum actuating force required in steering wheel operation should not exceed 51 N based on 5th percentile value of torque strength (both hands) sitting of workers. The maximum actuating forces required for operating frequently operated levers viz. gear selection, speed selection, hydraulic control and hand throttle of Indian tractors should not exceed 46 N, 46 N, 25 N and 25 N, respectively. It may be concluded that the maximum actuating force limits as given in Bureau of Indian Standards IS 10703 are very high as compared to the findings of the study based on strength data of Indian male operators, which highlight the need to revise the standard.

  7. Generation of internal solitary waves by frontally forced intrusions in geophysical flows.

    Science.gov (United States)

    Bourgault, Daniel; Galbraith, Peter S; Chavanne, Cédric

    2016-12-06

    Internal solitary waves are hump-shaped, large-amplitude waves that are physically analogous to surface waves except that they propagate within the fluid, along density steps that typically characterize the layered vertical structure of lakes, oceans and the atmosphere. As do surface waves, internal solitary waves may overturn and break, and the process is thought to provide a globally significant source of turbulent mixing and energy dissipation. Although commonly observed in geophysical fluids, the origins of internal solitary waves remain unclear. Here we report a rarely observed natural case of the birth of internal solitary waves from a frontally forced interfacial gravity current intruding into a two-layer and vertically sheared background environment. The results of the analysis carried out suggest that fronts may represent additional and unexpected sources of internal solitary waves in regions of lakes, oceans and atmospheres that are dynamically similar to the situation examined here in the Saguenay Fjord, Canada.

  8. Generation of internal solitary waves by frontally forced intrusions in geophysical flows

    Science.gov (United States)

    Bourgault, Daniel; Galbraith, Peter S.; Chavanne, Cédric

    2016-12-01

    Internal solitary waves are hump-shaped, large-amplitude waves that are physically analogous to surface waves except that they propagate within the fluid, along density steps that typically characterize the layered vertical structure of lakes, oceans and the atmosphere. As do surface waves, internal solitary waves may overturn and break, and the process is thought to provide a globally significant source of turbulent mixing and energy dissipation. Although commonly observed in geophysical fluids, the origins of internal solitary waves remain unclear. Here we report a rarely observed natural case of the birth of internal solitary waves from a frontally forced interfacial gravity current intruding into a two-layer and vertically sheared background environment. The results of the analysis carried out suggest that fronts may represent additional and unexpected sources of internal solitary waves in regions of lakes, oceans and atmospheres that are dynamically similar to the situation examined here in the Saguenay Fjord, Canada.

  9. Past and ongoing researches for magnetic force control technology

    Energy Technology Data Exchange (ETDEWEB)

    Mori, T.; Nishijima, Shigehiro [Osaka University, Osaka (Japan)

    2016-03-15

    The technologies using magnetic force control have been investigated toward application in various fields. Some of them have been put into practical use as the results of technological development. This paper introduces our technical development in the field of water processing, scale removal, magnetic drug delivery system, decontamination of radioactive substances and resources recycling.

  10. 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

    2008-01-01

    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

  11. 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...

  12. Force Feedback Control of Robotic Forceps for Minimally Invasive Surgery

    Science.gov (United States)

    Ishii, Chiharu; Kamei, Yusuke

    2008-06-01

    Recently, the robotic surgical support systems are in clinical use for minimally invasive surgery. For improvement in operativity and safety of minimally invasive surgery, the development of haptic forceps manipulator is in demand to help surgeon's immersion and dexterity. We have developed a multi-DOF robotic forceps manipulator using a novel omni-directional bending mechanism, so far. In this paper, in order to control the developed robotic forceps as a slave manipulator, joy-stick type master manipulator with force feedback mechanism for remote control is designed and built, and force feedback bilateral control system was constructed for grasping and bending motions of the robotic forceps. Experimental works were carried out and experimental results showed the effectiveness of the proposed control system.

  13. Sensitivity and chaos control for the forced nonlinear oscillations

    Energy Technology Data Exchange (ETDEWEB)

    Bashkirtseva, Irina [Department of Mathematics, Ural State University, 620083 Ekaterinburg (Russian Federation); Ryashko, Lev [Department of Mathematics, Ural State University, 620083 Ekaterinburg (Russian Federation)] e-mail: lev.ryashko@usu.ru

    2005-12-01

    This paper is devoted to study the problem of controlling chaos for forced nonlinear dynamic systems. We suggest a new control technique based on sensitivity analysis. With the help of approximation of nonequilibrium quasipotential, stochastic sensitivity function (SSF) is constructed. This function is used as basic tool of a quantitative description for a system response on the random external disturbances. The possibilities of SSF to predict chaotic dynamics for the periodic and stochastic forced Brusselator are shown. The problem of chaos control based on SSF is considered. A design of attractors with the desired features by feedback regulator is discussed. Analysis of controllability and effective technique for regulator synthesis is presented. An example of suppressing chaos for Brusselator is considered.

  14. Duffing revisited: Phase-shift control and internal resonance in self-sustained oscillators

    CERN Document Server

    Arroyo, Sebastián I

    2014-01-01

    We address two aspects of the dynamics of the forced Duffing oscillator which are relevant to the technology of micromechanical devices and, at the same time, disclose new effects of nonlinearities on oscillating systems. First, we study the stability of periodic motion when the phase shift between the external force and the oscillation is controlled -contrary to the standard case, where the control parameter is the frequency of the force. Phase-shift control is the operational configuration under which self-sustained oscillators -and, in particular, micromechanical oscillators- provide a frequency reference useful for time keeping. We show that, contrary to the standard forced Duffing oscillator, under phase-shift control oscillations are stable over the whole resonance curve. Second, we analyze a model for the internal resonance between the main Duffing oscillation mode and a higher-harmonic mode of a vibrating solid bar clamped at its two ends. We focus on the stabilization of the oscillation frequency whe...

  15. Friction-controlled traction force in cell adhesion.

    Science.gov (United States)

    Pompe, Tilo; Kaufmann, Martin; Kasimir, Maria; Johne, Stephanie; Glorius, Stefan; Renner, Lars; Bobeth, Manfred; Pompe, Wolfgang; Werner, Carsten

    2011-10-19

    The force balance between the extracellular microenvironment and the intracellular cytoskeleton controls the cell fate. We report a new (to our knowledge) mechanism of receptor force control in cell adhesion originating from friction between cell adhesion ligands and the supporting substrate. Adherent human endothelial cells have been studied experimentally on polymer substrates noncovalently coated with fluorescent-labeled fibronectin (FN). The cellular traction force correlated with the mobility of FN during cell-driven FN fibrillogenesis. The experimental findings have been explained within a mechanistic two-dimensional model of the load transfer at focal adhesion sites. Myosin motor activity in conjunction with sliding of FN ligands noncovalently coupled to the surface of the polymer substrates is shown to result in a controlled traction force of adherent cells. We conclude that the friction of adhesion ligands on the supporting substrate is important for mechanotransduction and cell development of adherent cells in vitro and in vivo. Copyright © 2011 Biophysical Society. Published by Elsevier Inc. All rights reserved.

  16. 10 CFR 74.43 - Internal controls, inventory, and records.

    Science.gov (United States)

    2010-01-01

    ... 10 Energy 2 2010-01-01 2010-01-01 false Internal controls, inventory, and records. 74.43 Section... NUCLEAR MATERIAL Special Nuclear Material of Moderate Strategic Significance § 74.43 Internal controls, inventory, and records. (a) General. Licensees subject to § 74.41 shall maintain the internal...

  17. Attitude dynamics and control of spacecraft using geomagnetic Lorentz force

    CERN Document Server

    Abdel-Aziz, Yehia A

    2014-01-01

    The attitude stabilization of a charged rigid spacecraft in Low Earth Orbit (LEO) using torques due to Lorentz force in pitch and roll directions is considered. A spacecraft that generates an electrostatic charge on its surface in the Earth magnetic field will be subject to perturbations from Lorentz force. The Lorentz force acting on an electrostatically charged spacecraft may provide a useful thrust for controlling a spacecraft's orientation. We assume that the spacecraft is moving in the Earth's magnetic field in an elliptical orbit under the effects of the gravitational, geomagnetic and Lorentz torques. The magnetic field of the Earth is modeled as a non-tilted dipole. A model incorporating all Lorentz torques as a function of orbital elements has been developed on the basis of electric and magnetic fields. The stability of the spacecraft orientation is investigated both analytically and numerically. The existence and stability of equilibrium positions is investigated for different values of the charge to...

  18. Perturbation analysis of internal balancing for lightly damped mechanical systems with gyroscopic and circulatory forces

    Science.gov (United States)

    Blelloch, P. A.; Mingori, D. L.; Wei, J. D.

    1987-01-01

    Approximate expressions are developed for internally balanced singular values corresponding to the modes of mechanical systems with gyroscopic forces, light damping, and small circulatory forces. A brief overview is first given of the balanced realization model reduction method, including a discussion of recent work. The models considered are defined, and a perturbation analysis is used to show that the modal representation becomes asymptotically balanced as damping reduces to zero. The approximate balanced singular values are calculated, and a simple example of a flexible, dual-spin spacecraft is given as an illustration of the results.

  19. Controlled oscillations of a cylinder: forces and wake modes

    Science.gov (United States)

    Carberry, J.; Sheridan, J.; Rockwell, D.

    2005-08-01

    The wake states from a circular cylinder undergoing controlled sinusoidal oscillation transverse to the free stream are examined. As the frequency of oscillation passes through the natural Kármán frequency there is a transition between two distinctly different wake states: the low- and high-frequency states. The transition corresponds to a change in the structure of the near wake and is also characterized by a jump in the phase and amplitude of both the total and vortex lift. Over the range of flow and oscillation parameters studied the wake states exhibit a number of universal features. The phases of the vortex lift and drag forces have characteristic values for the low- and high-frequency states, which appear to be directly related to the phase of vortex shedding. A split force concept is employed, whereby instantaneous force traces and images allow discrimination between the actual loading and the physics, and their conventional time-averaged representations. The wake states for the forced oscillations show some remarkable similarities to the response branches of elastically mounted cylinders. The equivalence between forced and self-excited oscillations is addressed in detail using concepts of energy transfer.

  20. Fountain pen nanochemistry: Atomic force control of chrome etching

    Science.gov (United States)

    Lewis, Aaron; Kheifetz, Yuri; Shambrodt, Efim; Radko, Anna; Khatchatryan, Edward; Sukenik, Chaim

    1999-10-01

    In this report we demonstrate a general method for affecting chemical reactions with a high degree of spatial control that has potentially wide applicability in science and technology. Our technique is based on complexing the delivery of liquid or gaseous materials through a cantilevered micropipette with an atomic force microscope that is totally integrated into a conventional optical microscope. Controlled etching of chrome is demonstrated without detectable effects on the underlying glass substrate. This simple combination allows for the nanometric spatial control of the whole world of chemical reactions in defined regions of surfaces. Applications of the technique in critical areas such as mask repair are likely.

  1. 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.

  2. Mechanically implementable accommodation matrices for passive force control

    Energy Technology Data Exchange (ETDEWEB)

    Goswami, A. [Univ. of Pennsylvania, Philadelphia, PA (United States). Center for Human Modeling and Simulation; Peshkin, M. [Northwestern Univ., Evanston, IL (United States). Dept. of Mechanical Engineering

    1999-08-01

    Robot force control implemented by means of passive mechanical devices has inherent advantages over active implementations with regard to stability, response rapidity, and physical robustness. The class of devices considered in this paper consists of a Stewart platform-type mechanism interconnected with a network of adjustable mechanical elements such as springs and dampers. The control law repertoire of such a device, imagined as a robot wrist, is given by the range of admittance matrices that it may be programmed to possess. This paper focuses on wrists incorporating damper networks for which the admittance matrices reduce to accommodation or inverse-damping matrices. The authors show that a hydraulic network of fully adjustable damper elements may attain any diagonally dominant accommodation matrix. They describe the technique of selecting the individual damping coefficients to design a desired matrix. They identify the set of dominant matrices as a polyhedral convex cone in the space of matrix entries, and show that each dominant matrix can be composed of a positive linear combination of a fixed set of basis matrices. The overall wrist-accommodation matrix is obtained by projecting the accommodation matrix of the damper network through the wrist kinematics. The linear combination of the dominant basis matrices projected through the wrist kinematics generates the entire space of mechanically implementable force-control laws. The authors quantify the versatility of mechanically implementable force-control laws by comparing this space to the space of all matrices.

  3. Transmission and Reproduction of Force Sensation by Bilateral Control

    Science.gov (United States)

    Katsura, Seiichiro; Ohnishi, Kouhei

    Minimally invasive surgery (MIS) which thinks a great deal of patient’s quality of life (QOL) has attracted attention during about ten years. In this paper, it aims at development of the technology for transmitting force sensation required in medical treatment especially through surgical instruments, such as forceps. In bilateral control, it is a problem how master and slave robots realize the law of action and reaction to the environment. Mechanism of contact with environment and bilateral controller based on stiffness are shown. Master arm in contact with human and slave arm in contact with environment are given compliance, and stable contact with environment can be realized. The proposed method is applied to 3-link master-slave manipulators. As a result, transmission and reproduction of force sensation can be realized. The experimental results show viability of the proposed method.

  4. 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)

  5. Calculation and Analysis of Internal Force in Arch Structure of Frozen Soil

    Institute of Scientific and Technical Information of China (English)

    YUE Feng-tian; ZHANG Yong; SHI Rong-jian

    2005-01-01

    Aimed at the frozen soil arch reinforcement form of upside shed used for the shield machine launching in tunneling the internal force of the structure was calculated with the aid of the structural mechanics theory. Considering the space characteristics of the structure,this calculating method is suitable for practical engineering.Moreover,the behavior of the freezing arch reinforcement structure was analyzed combined with an engineering case.

  6. 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.

  7. 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

  8. 77 FR 43196 - Minimum Internal Control Standards and Technical Standards

    Science.gov (United States)

    2012-07-24

    ... COMMISSION 25 CFR Parts 543 and 547 Minimum Internal Control Standards and Technical Standards AGENCY... . SUPPLEMENTARY INFORMATION: Part 543 addresses minimum internal control standards (MICS) for Class II gaming operations. The regulations require tribes to establish controls and implement procedures at least...

  9. What causes periodic beating in sperm flagella: synchronized internal forcing or fluid-structure interaction?

    Science.gov (United States)

    Prabhakar, Ranganathan; Nandagiri, Ashwin; Jadhav, Sameer

    2016-11-01

    Eucaryotic cells such as sperm propel themselves using internally driven flagella. Two different models for the origin of the whip-like beating observed in such flagella are compared. The first model assumes that internal protein motors actuate synchronously to cause a traveling active-force wave within the filament. The forcing wave is chosen such that its resultant and the total torque on the filament are zero. In contrast, the second model assumes that forces and torques exerted by the motors locally sum to zero across the scale of the filament diameter. The only effect of the motor activity is to give rise to a stresslet distribution across the filament length. In either model, the slender filament is modeled as a bead-spring chain with hydrodynamic interactions. Flagellar waveforms and trajectory patterns obtained are compared systematically while keeping the dissipation rates the same for the two models. Periodic beating emerges in freely swimming filaments with the second model without any imposed periodicity in the stresslet distribution. This suggests that periodic waveforms in eucaryotic flagella can emerge by fluid-structure interactions alone without significant internal synchronization of protein motor activity.

  10. THE INTERNAL CONTROL SYSTEM OF THE CREDIT INSTITUTIONS

    OpenAIRE

    Mariana VLAD; Mihaela TULVINSCHI

    2010-01-01

    Effective internal controls are the foundation of safe and sound banking. A properly designed and consistently enforced system of operational and financial internal control helps a bank’s board of directors and management safeguard the bank’s resources, produce reliable financial reports, and comply with laws and regulations. Effective internal control also reduces the possibility of significant errors and irregularities and assists in their timely detection when they do occur. A bank’s board...

  11. 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.

  12. 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.

  13. Employee quality, monitoring environment and internal control

    National Research Council Canada - National Science Library

    Chunli Liu Bin Lin Wei Shu

    2017-01-01

    ... 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...

  14. Essence and Prospect of International Export Control Regimes

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    @@ International export control regimes are referring to the regimes and systems concerning limitation of export and transference of military-use and dual-use items and related parts as well as technologies. In the past couple of years, the control regimes have shown a strengthening posture. In addition, a new global export control regime is brewing. Hence export control has caught the attention of the international community, and particularly of the circles of armament control and commerce. The author would like to make some analyses of the posture and then try to predict the trend of international export control regimes.

  15. 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.

  16. [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.

  17. Force

    CERN Document Server

    Graybill, George

    2007-01-01

    Forces are at work all around us. Discover what a force is, and different kinds of forces that work on contact and at a distance. We use simple language and vocabulary to make this invisible world easy for students to ""see"" and understand. Examine how forces ""add up"" to create the total force on an object, and reinforce concepts and extend learning with sample problems.

  18. Controller Design for EMA in TVC Incorporating Force Feedback

    Science.gov (United States)

    Schinstock, Dale E.; Scott, Douglas A.

    1998-01-01

    The objective of this research was to develop control schemes and control design procedures for electromechanical actuators (EMA) in thrust vector control (TVC) applications. For a variety of reasons, there is a tendency within the aerospace community to use electromechanical actuators in applications where hydraulics have traditionally been employed. TVC of rocket engines is one such application. However, there is considerable research, development, and testing to be done before EMA will be accepted by the community at large for these types of applications. Besides the development of design procedures for the basic position controller, two major concerns are dealt with in this research by incorporating force feedback: 1) the effects of resonance on the performance of EMA-TVC-rocket-engine systems, and 2) the effects of engine start transients on EMA. This report only highlights the major contributions of this research.

  19. Muscle force generation and force control of finger movements in children with spastic hemiplegia during isometric tasks.

    NARCIS (Netherlands)

    Smits-Engelsman, B.C.M.; Rameckers, E.A.A.; Duysens, J.E.J.

    2005-01-01

    Force control ability was investigated in 10 males and 10 females, between 5 and 15 years old with spastic hemiplegia (mild and moderate hand dysfunction), and an aged-matched control group (eight males, 12 females). An isometric force production task at five different levels of maximum voluntary co

  20. An Analysis of the Internal Audit and Internal Control Systems of Banks in TRNC

    OpenAIRE

    Argun, Ali

    2016-01-01

    This research investigates the internal audit and internal control systems of banks in TRNC. Internal audit is one of the most important units of a bank. It includes checking and assessing overall accuracy and consistency of banks’ operations. During the last three decades the bank management and operations of banks have evolved due to financial liberalization, globalization and technological innovation which also increased operational risks. Banks are required to develop their internal contr...

  1. 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.

  2. Research on Robot Surface Tracking Motion Based on Force Control of Six-Axis Wrist Force Sensor

    Directory of Open Access Journals (Sweden)

    Zhijun Wang

    2015-01-01

    Full Text Available In order to reduce the environmental contact force and make the operation task completed successfully, the robot is frequently required with force perception and active compliance control. Based on the six-axis wrist force sensor measuring, a robot model of surface tracking motion is proposed, and its force control algorithm and experiment are studied. The measurement principle of the six-axis wrist force sensor and the inadequacy of the sensor measuring the six-dimensional force online are introduced firstly. The surface tracking motion model and its coordinate system are established. On this basis, the relationship between the pose adjustment of surface tracking motion and the measuring results of the six-axis wrist force sensor is deduced. At last, the experimental study of the surface tracking robot system that applied the force control algorithm is conducted. The experiment shows that the robot can adjust the current position and orientation in real time according to the six-axis wrist force sensor measuring, which demonstrates the feasibility of the surface tracking motion model and the correctness of the force control algorithm.

  3. Normal force controlled rheology applied to agar gelation

    Science.gov (United States)

    Mao, Bosi; Divoux, Thibaut; Snabre, Patrick

    2016-05-01

    A wide range of thermoreversible gels are prepared by cooling down to ambient temperature hot aqueous polymer solutions. During the sol-gel transition, such materials may experience a volume contraction which is traditionally overlooked as rheological measurements are usually performed in geometries of constant volume. In this article, we revisit the formation of 1.5\\% wt. agar gels through a series of benchmark rheological experiments performed with a plate-plate geometry. We demonstrate on that particular gel of polysaccharides that the contraction associated with the sol/gel transition cannot be neglected. Indeed, imposing a constant gap width during the gelation results in the strain hardening of the sample, as evidenced by the large negative normal force that develops. Such hardening leads to the slow drift in time of the gel elastic modulus $G'$ towards ever larger values, and thus to an erroneous estimate of $G'$. As an alternative, we show that imposing a constant normal force equals to zero during the gelation, instead of a constant gap width, suppresses the hardening as the decrease of the gap compensates for the sample contraction. Using normal force controlled rheology, we then investigate the impact of thermal history on 1.5\\% wt. agar gels. We show that neither the value of the cooling rate, nor the introduction of a constant temperature stage during the cooling process influence the gel elastic properties. Instead, $G'$ only depends on the terminal temperature reached at the end of the cooling ramp, as confirmed by direct imaging of the gel microstructure by cryoelectron microscopy. The present work offers an extensive review of the technical difficulties associated with the rheology of hydrogels and paves the way for a systematic use of normal force controlled rheology to monitor non-isochoric processes.

  4. Forced and internal modes of variability of the East Asian summer monsoon

    Directory of Open Access Journals (Sweden)

    J. Liu

    2008-05-01

    Full Text Available The modern instrumental record (1979–2006 is analyzed in an attempt to reveal the dynamical structure and origins of the major modes of interannual variability of East Asian summer monsoon (EASM and to elucidate their fundamental differences with the major modes of seasonal variability. These differences are instrumental in understanding of the forced (say orbital and internal (say interannual modes of variability in EASM. We show that the leading mode of interannual variation, which accounts for about 39% of the total variance, is primarily associated with decaying phases of major El Nino, whereas the second mode, which accounts for 11.3% of the total variance, is associated with the developing phase of El Nino/La Nina. The EASM responds to ENSO in a nonlinear fashion with regard to the developing and decay phases of El Nino. The two modes are determined by El Nino/La Nina forcing and monsoon-warm ocean interaction, or essentially driven by internal feedback processes within the coupled climate system. For this internal mode, the intertropical convergence zone (ITCZ and subtropical EASM precipitations exhibit an out-of-phase variations; further, the Meiyu in Yangtze River Valley is also out-of-phase with the precipitation in the central North China.

    In contrast, the slow and fast annual cycles forced by the solar radiation show an in-phase correlation between the ITCZ and subtropical EASM precipitation. Further, the seasonal march of precipitation displays a continental-scale northward advance of a rain band (that tilts in a southwest-northeastward direction over the entire Indian and East Asian summer monsoon from mid-May toward the end of July. This uniformity in seasonal advance suggests that the position of the northern edge of the summer monsoon or the precipitation over the central North China may be an adequate measure of the monsoon intensity for the forced mode, while the intensity of the internal mode of EASM variability

  5. Wastewater Characterization Survey, General Mitchell International Airport, Air Force Reserve Facility, Milwaukee, Wisconsin

    Science.gov (United States)

    1993-07-01

    W., Jr., Industrial Water Pollution Control, Second Edition, New York, McGraw-Hill, 1989. 4. Manahan , Stanley E., Environmental Chemistry , Fifth...FORCE RESERVE FACILITY, MILWAUKEE, WISCONSIN M S T Darrin L Curtis, Captain, USAF, BSC R OCCUPATIONAL AND ENVIRONMENTAL HEALTH DIRECTORATE 0...USAF, BSC Environmental Engineer Consultant Chief, Bioenvironmental Engineering Division .LAIMER NOTICE THIS DOCUMENT IS BEST QUALITY AVAILABLE. THE

  6. A GENERAL ASSESSMENT OF THE INTERNAL CONTROL IN MINING COMPANIES

    Directory of Open Access Journals (Sweden)

    BOGDAN RĂVAŞ

    2015-10-01

    Full Text Available The role of the internal auditor is to examine whether persons exercising internal control are able to carry out checks with ambition, with responsibility and be involved in some cases of fraud. To achieve the proper conditions, the side observant and constructive side of control is necessary to ensure the independence and authority or control bodies with responsibilities for control of the operation.

  7. 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.

  8. Quantifying internally generated and externally forced climate signals at regional scales in CMIP5 models

    Science.gov (United States)

    Lyu, Kewei; Zhang, Xuebin; Church, John A.; Hu, Jianyu

    2015-11-01

    The Earth's climate evolves because of both internal variability and external forcings. Using Coupled Model Intercomparison Project Phase 5 (CMIP5) models, here we quantify the ratio of externally forced variance to total variance on interannual and longer time scales for regional surface air temperature (SAT) and sea level, which depends on the relative strength of externally forced signal compared to internal variability. The highest ratios are found in tropical areas for SAT but at high latitudes for sea level over the historical period when ocean dynamics and global mean thermosteric contributions are considered. Averaged globally, the ratios over a fixed time interval (e.g., 30 years) are projected to increase during the 21st century under the business-as-usual scenario (RCP8.5). In contrast, under two mitigation scenarios (RCP2.6 and RCP4.5), the ratio declines sharply by the end of the 21st century for SAT, but only declines slightly or stabilizes for sea level, indicating a slower response of sea level to climate mitigation.

  9. 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.

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

    Science.gov (United States)

    Itik, Mehmet; Sabetghadam, Mohammadreza; Alici, Gursel

    2014-12-01

    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.

  11. Damping Force Tracking Control of MR Damper System Using a New Direct Adaptive Fuzzy Controller

    Directory of Open Access Journals (Sweden)

    Xuan Phu Do

    2015-01-01

    Full Text Available This paper presents a new direct adaptive fuzzy controller and its effectiveness is verified by investigating the damping force tracking control of magnetorheological (MR fluid based damper (MR damper in short system. In the formulation of the proposed controller, a model of interval type 2 fuzzy controller is combined with the direct adaptive control to achieve high performance in vibration control. In addition, H∞ (H infinity tracking technique is used in building a model of the direct adaptive fuzzy controller in which an enhanced iterative algorithm is combined with the fuzzy model. After establishing a closed-loop control structure to achieve high control performance, a cylindrical MR damper is adopted and damping force tracking results are obtained and discussed. In addition, in order to demonstrate the effectiveness of the proposed control strategy, two existing controllers are modified and tested for comparative work. It has been demonstrated from simulation and experiment that the proposed control scheme provides much better control performance in terms of damping force tracking error. This leads to excellent vibration control performance of the semiactive MR damper system associated with the proposed controller.

  12. 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.

  13. Regional synchrony of temperature variation and internal wave forcing along the Florida Keys reef tract

    Science.gov (United States)

    Leichter, James J.; Stokes, M. Dale; Vilchis, L. Ignacio; Fiechter, Jerome

    2014-01-01

    Analysis of 10 year temperature records collected along the Florida Keys reef tract (FLKRT) reveals strong, regional-scale synchrony in high-frequency temperature variation suggestive of internal wave forcing at predominately semidiurnal frequencies. In each year and at all sites, the amplitude of semidiurnal temperature variation was greatest from March to September, and markedly lower from October to February. Comparisons of the semidiurnal component of the temperature variation among sites suggest complex patterns in the arrival of internal waves, with highest cross correlation among closely spaced sites and synchrony in periods of enhanced internal wave activity across the length of the FLKRT, particularly in summer. The periods of enhanced semidiurnal temperature variation at the 20 and 30 m isobaths on the reef slopes appear to be associated with the dynamics of the Florida Current and the onshore movement of warm fronts preceding the passage of Florida Current frontal eddies. Regional-scale satellite altimetry observations suggest temporal linkages to sea surface height anomalies in the Loop Current (upstream of the Florida Current) and setup of the Tortugas Gyre. The synchronized forcing of cool water onto the reef slope sites across the FLKRT is likely to affect physiological responses to temperature variation in corals and other ectothermic organisms, as well as larval transport and nutrient dynamics with the potential for regionally coherent pulses of larvae and nutrients arriving on reef slopes across the FLKRT.

  14. Control of fracture reduction robot using force/torque measurement.

    Science.gov (United States)

    Douke, T; Nakajima, Y; Mori, Y; Onogi, S; Sugita, N; Mitsuishi, M; Bessho, M; Ohhashi, S; Tobita, K; Ohnishi, I; Sakuma, I; Dohi, T; Maeda, Y; Koyama, T; Sugano, N; Yonenobu, K; Matsumoto, Y; Nakamura, K

    2008-01-01

    We have developed a surgical robotic system for femoral fracture reduction employing indirect traction. Indirect traction in fracture reduction is a generally used surgical method for preventing complications such as bone splits caused by high stress on bones. For traction, a patient's foot is gripped by a jig and pulled to the distal side. Indirect traction has the advantage of distributing bone stress by utilizing a strong traction force; however, this procedure does not accurately control the proper positioning of fractured fragments when a surgical robot is used. The human leg has knee and an ankle joints, and thus robotic motion presents problems in not being able to directly propagate reduction motion to a fractured femoral fragment, rendering control of bone position difficult. We propose a control method for fracture reduction robots using external force/torque measurements of the human leg to achieve precise fracture reduction. Results showed that the proposed method reduced repositioning error from 6.8 mm and 15.9 degrees to 0.7 mm and 5.3 degrees, respectively.

  15. Subthalamic nucleus and internal globus pallidus scale with the rate of change of force production in humans.

    Science.gov (United States)

    Vaillancourt, David E; Mayka, Mary A; Thulborn, Keith R; Corcos, Daniel M

    2004-09-01

    The basal ganglia, motor cortex, and cerebellum have been implicated as a circuit that codes for movement velocity. Since movement velocity covaries with the magnitude of force exerted and previous studies have shown that similar regions scale in activation for velocity and force, the scaling of neuronal activity with movement velocity could be due to the force exerted. The present study implemented a parametric functional magnetic resonance imaging (fMRI) design to determine which brain regions directly scale with the rate of change of force production, independent of the magnitude of force exerted. Nine healthy adults produced force with their right middle finger and thumb at 25% of their maximal voluntary contraction across four conditions: (1) fast pulse, (2) fast hold, (3) medium hold, and (4) slow hold. There were three primary findings: (i) the activation volume in multiple regions increased with the duration of the force contraction, (ii) only the activation volume in the bilateral internal globus pallidus and left subthalamic nucleus parametrically scaled with the rate of change of force production, and (iii) there was an inverse relation between the activation volume in the subthalamic nucleus and internal globus pallidus with the rate of change of force production. The current findings are the first to have used neuroimaging techniques in humans to segregate the functional anatomy of the internal globus pallidus from external globus pallidus, distinguish functional activation in the globus pallidus from the putamen, and demonstrate task-dependent scaling in the subthalamic nucleus and internal globus pallidus. We conclude that fast, ballistic force production is preprogrammed, requiring a small metabolic demand from the basal ganglia. In contrast, movements that require the internal regulation of the rate of change of force are associated with increased metabolic demand from the subthalamic nucleus and internal segment of the globus pallidus.

  16. Attitude dynamics and control of spacecraft using geomagnetic Lorentz force

    Science.gov (United States)

    Abdel-Aziz, Yehia A.; Shoaib, Muhammad

    2015-01-01

    Attitude stabilization of a charged rigid spacecraft in Low Earth Orbit using torques due to Lorentz force in pitch and roll directions is considered. A spacecraft that generates an electrostatic charge on its surface in the Earth's magnetic field will be subject to perturbations from the Lorentz force. The Lorentz force acting on an electrostatically charged spacecraft may provide a useful thrust for controlling a spacecraft's orientation. We assume that the spacecraft is moving in the Earth's magnetic field in an elliptical orbit under the effects of gravitational, geomagnetic and Lorentz torques. The magnetic field of the Earth is modeled as a non-tilted dipole. A model incorporating all Lorentz torques as a function of orbital elements has been developed on the basis of electric and magnetic fields. The stability of the spacecraft orientation is investigated both analytically and numerically. The existence and stability of equilibrium positions is investigated for different values of the charge to mass ratio (α*). Stable orbits are identified for various values of α*. The main parameters for stabilization of the spacecraft are α* and the difference between the components of the moment of inertia for the spacecraft.

  17. MULTIPOINT BLANK HOLDER FORCE CONTROL IN HYDROFORMING OF FUEL TANK

    Institute of Scientific and Technical Information of China (English)

    WU Yousheng; WANG Xinyun; XIA Juchen; HU Guoan; SUN Yousong; YANG Lin

    2006-01-01

    The study of multipoint blank holder force(BHF) control is carried out for hydroforming a complicated shape motorcycle fuel tank. By finite element method (FEM) simulation, the configuration of multipoint blank holder cylinders and the setting of local BHF are optimized, and the influences of the multipoint BHF on the hydromechanical deep drawing and conventional hydroforming processes are studied. The desired fluid pressure and whole BHF are predicted for hydromechanical deep drawing process. Finally, simulation results are testified by forming experiment, and they are in agreement very well.

  18. Controlled manipulation of nanoparticles with an atomic force microscope

    Science.gov (United States)

    Junno, T.; Deppert, K.; Montelius, L.; Samuelson, L.

    1995-06-01

    We report on the application of the atomic force microscope (AFM) to manipulate and position nanometer-sized particles with nanometer precision. The technique, which can be regarded as a nanometer-scale analogy to atomic level manipulation with the scanning tunneling microscope, allowed us to form arbitrary nanostructures, under ambient conditions, by controlled manipulation of individual 30 nm GaAs particles. A whole new set of nanodevices can be fabricated particle-by-particle for studies of quantum effects and single electron tunneling. We also demonstrate a method, based on the AFM manipulation, to determine the true lateral dimensions of nano-objects, in spite of the tip-sample convolution.

  19. 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.

  20. 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.

  1. International PV QA Task Force's Proposed Comparative Rating System for PV Modules: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Wohlgemuth, J.; Kurtz, S.

    2014-10-01

    The International PV Quality Assurance Task Force is developing a rating system that provides comparative information about the relative durability of PV modules. Development of accelerated stress tests that can provide such comparative information is seen as a major step toward being able to predict PV module service life. This paper will provide details of the ongoing effort to determine the format of such an overall module rating system. The latest proposal is based on using three distinct climate zones as defined in IEC 60721-2-1 for two different mounting systems. Specific stresses beyond those used in the qualification tests are being developed for each of the selected climate zones.

  2. 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.

  3. A double-loop structure in the adaptive generalized predictive control algorithm for control of robot end-point contact force.

    Science.gov (United States)

    Wen, Shuhuan; Zhu, Jinghai; Li, Xiaoli; Chen, Shengyong

    2014-09-01

    Robot force control is an essential issue in robotic intelligence. There is much high uncertainty when robot end-effector contacts with the environment. Because of the environment stiffness effects on the system of the robot end-effector contact with environment, the adaptive generalized predictive control algorithm based on quantitative feedback theory is designed for robot end-point contact force system. The controller of the internal loop is designed on the foundation of QFT to control the uncertainty of the system. An adaptive GPC algorithm is used to design external loop controller to improve the performance and the robustness of the system. Two closed loops used in the design approach realize the system׳s performance and improve the robustness. The simulation results show that the algorithm of the robot end-effector contacting force control system is effective.

  4. 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

    Dogs with epilepsy are among the commonest neurological patients in veterinary practice and therefore have historically attracted much attention with regard to definitions, clinical approach and management. A number of classification proposals for canine epilepsy have been published during...... 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...... 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...

  5. THE INTERNAL CONTROL SYSTEM OF THE CREDIT INSTITUTIONS

    OpenAIRE

    Mariana VLAD; Mihaela TULVINSCHI

    2010-01-01

    Effective internal controls are the foundation of safe and sound banking. A properly designed and consistentlyenforced system of operational and financial internal control helps a bank’s board of directors and managementsafeguard the bank’s resources, produce reliable financial reports, and comply with laws and regulations. Effectiveinternal control also reduces the possibility of significant errors and irregularities and assists in their timely detectionwhen they do occur. A bank’s board of ...

  6. Noncontact manipulation of microflow by photothermal control of viscous force

    Energy Technology Data Exchange (ETDEWEB)

    Motosuke, Masahiro, E-mail: mot@rs.kagu.tus.ac.j [Department of Mechanical Engineering, Tokyo University of Science, 1-14-6 Kudankita, Chiyoda-ku, Tokyo (Japan); Shimakawa, Jun; Akutsu, Dai; Honami, Shinji [Department of Mechanical Engineering, Tokyo University of Science, 1-14-6 Kudankita, Chiyoda-ku, Tokyo (Japan)

    2010-12-15

    In this paper, we investigate a potential of local control of the viscous force in a microfluidic device for a noncontact microflow manipulation method. Photothermal effect and temperature dependence of the liquid viscosity play a key role to induce an inhomogeneous viscosity distribution in the flow field in a microchannel. Absorption of focused laser beam generates the local change in the viscosity of liquid corresponding to the temperature change. The velocity and temperature fields are measured by the micron-resolution particle image velocimetry and laser-induced fluorescence, respectively. Measurement results indicate that the local reduction of the fluid viscosity due to the temperature rise can cause the change of the flow structure in the microchannel. At the focused area of heating laser beam, namely high temperature area, the flow velocity was increased. The accompanying fluid behavior around the heated region was also recognized. In addition, the agreement between the experimental results and numerical simulation clarifies that the primary factor for the change of the microflow structure is the locally controlled viscous force.

  7. Selective use of visual information signaling objects' center of mass for anticipatory control of manipulative fingertip forces.

    Science.gov (United States)

    Salimi, Iran; Frazier, Wendy; Reilmann, Ralf; Gordon, Andrew M

    2003-05-01

    The present study examines whether visual information indicating the center of mass (CM) of an object can be used for the appropriate scaling of fingertip forces at each digit during precision grip. In separate experiments subjects lifted an object with various types of visual cues concerning the CM location several times and then rotated and lifted it again to determine whether the visual cues signaling the new location of the CM could be used to appropriately scale the fingertip forces. Specifically, subjects had either no visual cues, visual instructional cues (i.e., an indicator) or visual geometric cues where the longer axis of the object indicated the CM. When no visual cues were provided, subjects were unable to appropriately scale the load forces at each digit following rotation despite their knowledge of the new weight distribution. When visual cues regarding the CM location were provided, the nature of the visual cues determined their effectiveness in retrieval of internal representations underlying the anticipatory scaling of fingertip forces. Specifically, when subjects were provided with visual instructional information, they were unable to appropriately scale the forces. More appropriate scaling of the load forces occurred when the visual cues were ecologically meaningful, i.e., when the shape of the object indicated the CM location. We suggest that visual instructional cues do not have access to the implicit processes underlying dynamic force control, whereas visual geometric cues can be used for the retrieval of the internal representation related to CM for appropriate partitioning of the forces in each digit.

  8. 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.

  9. 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.

  10. 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

  11. 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.

  12. 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.

  13. Internal control system in health institutions

    OpenAIRE

    Beltrán, Luis Carlos

    2010-01-01

    Una herramienta fundamental para el desarrollo de las instituciones de salud es el sistema de control interno, cuyos componentes y procesos se presentan, haciendo énfasis en su necesidad, utilidad y viabilidad.

  14. Improved internal control for molecular diagnosis assays

    National Research Council Canada - National Science Library

    Vinayagamoorthy, T; Maryanski, Danielle; Vinayagamoorthy, Dilanthi; Hay, Katie S L; Yo, Jacob; Carter, Mark; Wiegel, Joseph

    2015-01-01

    ..., that binds to the respective analyte (amplicon). Presently, housekeeping genes (Beta globin, GAPDH) are used in molecular diagnosis to verify that the PCR conditions are optimum, and are thus known as amplification controls...

  15. Internal control system in health institutions

    OpenAIRE

    Beltrán, Luis Carlos

    2010-01-01

    Una herramienta fundamental para el desarrollo de las instituciones de salud es el sistema de control interno, cuyos componentes y procesos se presentan, haciendo énfasis en su necesidad, utilidad y viabilidad.

  16. Internal and forced climate variability during the last millennium: a model-data comparison using ensemble simulations

    Science.gov (United States)

    Goosse, Hugues; Renssen, Hans; Timmermann, Axel; Bradley, Raymond S.

    2005-07-01

    A three-dimensional climate model was used to perform 25 simulations over the last millennium, which are driven by the main natural and anthropogenic forcing. The results are compared to available reconstructions in order to evaluate the relative contribution of internal and forced variability during this period. At hemispheric and nearly hemispheric scale, the impact of the forcing is clear in all the simulations and knowing the forced response provides already a large amount of information about the behaviour of the climate system. Besides, at regional and local scales, the forcing has only a weak contribution to the simulated variability compared to internal variability. This result could be used to refine our conception of Medieval Warm Period and Little Ice Age (MWP and LIA). They were hemispheric-scale phenomena, since the temperature averaged over the Northern Hemisphere was, respectively generally higher/lower during those periods because of a stronger/weaker external forcing at that time. Nevertheless, at local-scale, the sign of the internal temperature variations determines to what extent the forced response will be actually visible or even masked by internal noise. Because of this role of internal variability, synchronous peak temperatures during the MWP or LIA between different locations are unlikely.

  17. 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.

  18. 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.

  19. DURIP: Piezoresponse Force Microscope (PFM) with Controlled Environment for Characterization of Flexoelectric Nanostructures

    Science.gov (United States)

    2015-04-21

    DURIP: Piezoresponse Force Microscope (PFM) with Controlled Environment for Characterization of Flexoelectric Nanostructures A piezo-force... microscope (PFM) system was acquired under this support for characterization of flexoelectric micro/nanostructures in a controlled environment. The system...published in non peer-reviewed journals: Final Report: DURIP: Piezoresponse Force Microscope (PFM) with Controlled Environment for Characterization of

  20. Force control is related to low-frequency oscillations in force and surface EMG.

    Directory of Open Access Journals (Sweden)

    Hwasil Moon

    Full Text Available Force variability during constant force tasks is directly related to oscillations below 0.5 Hz in force. However, it is unknown whether such oscillations exist in muscle activity. The purpose of this paper, therefore, was to determine whether oscillations below 0.5 Hz in force are evident in the activation of muscle. Fourteen young adults (21.07 ± 2.76 years, 7 women performed constant isometric force tasks at 5% and 30% MVC by abducting the left index finger. We recorded the force output from the index finger and surface EMG from the first dorsal interosseous (FDI muscle and quantified the following outcomes: 1 variability of force using the SD of force; 2 power spectrum of force below 2 Hz; 3 EMG bursts; 4 power spectrum of EMG bursts below 2 Hz; and 5 power spectrum of the interference EMG from 10-300 Hz. The SD of force increased significantly from 5 to 30% MVC and this increase was significantly related to the increase in force oscillations below 0.5 Hz (R(2 = 0.82. For both force levels, the power spectrum for force and EMG burst was similar and contained most of the power from 0-0.5 Hz. Force and EMG burst oscillations below 0.5 Hz were highly coherent (coherence = 0.68. The increase in force oscillations below 0.5 Hz from 5 to 30% MVC was related to an increase in EMG burst oscillations below 0.5 Hz (R(2 = 0.51. Finally, there was a strong association between the increase in EMG burst oscillations below 0.5 Hz and the interference EMG from 35-60 Hz (R(2 = 0.95. In conclusion, this finding demonstrates that bursting of the EMG signal contains low-frequency oscillations below 0.5 Hz, which are associated with oscillations in force below 0.5 Hz.

  1. 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.

  2. 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.

  3. Electrostatic Suspension System Nonlinear Character Analysis and Its Internal Model Control

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Nonlinearity is an important characteristic in electrostatic suspension system (ESS). This paper concludes the nonlinear parts in ESS, which generally result from the relationships between rotor displacement and capacitance, rotor displacement and electrostatic force, and control voltage and electrostatic force. In terms of the nonlinearities, a new control method with modified internal model control (IMC) was proposed to analyze the ESS, deduce the transfer function of the modified IMC controller in ESS, and simulate this new application in ESS. Comparing with proportional integral derivative (PID)control, IMC has only a parameter, and has better performance. As a result, IMC solves nonlinearity error well in ESS with only one uncertain parameter, and performs well when the rotor has large displacement.

  4. 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

  5. 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.

  6. Binaries traveling through a gaseous medium: Dynamical drag forces and internal torques

    CERN Document Server

    Sanchez-Salcedo, F J

    2014-01-01

    Using time-dependent linear theory, we investigate the morphology of the gravitational wake induced by a binary, whose center of mass moves at velocity Vcm against a uniform background of gas. For simplicity, we assume that the binary's components are on circular orbits about their common center of mass. The consequences of dynamical friction is twofold. First, gas dynamical friction may drag the binary's center of mass and cause the binary to migrate. Second, drag forces also induce a braking torque, which causes the orbits of the binary components 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 to decelerate the binary's center of mass 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 numbe...

  7. 78 FR 63873 - Minimum Internal Control Standards

    Science.gov (United States)

    2013-10-25

    ..., references to the drop and count team have been replaced with more general terminology (i.e., authorized... gaming regulatory authorities and operation management are in the best position to define the term and... Management and Budget as required by 44 U.S.C. 3501, et seq., and assigned OMB Control Number 3141-0009....

  8. 14th International Congress on Antiphospholipid Antibodies Task Force report on obstetric antiphospholipid syndrome.

    Science.gov (United States)

    de Jesus, Guilherme R; Agmon-Levin, Nancy; Andrade, Carlos A; Andreoli, Laura; Chighizola, Cecilia B; Porter, T Flint; Salmon, Jane; Silver, Robert M; Tincani, Angela; Branch, D Ware

    2014-08-01

    Pregnancy morbidity is one of the clinical manifestations used for classification criteria of antiphospholipid syndrome (APS). During the 14th International Congress on Antiphospholipid Antibodies (aPL), a Task Force with internationally-known experts was created to carry out a critical appraisal of the literature available regarding the association of aPL with obstetric manifestations present in actual classification criteria (recurrent early miscarriage, fetal death, preeclampsia and placental insufficiency) and the quality of the evidence that treatment(s) provide benefit in terms of avoiding recurrent adverse obstetric outcomes. The association of infertility with aPL and the effectiveness of the treatment of patients with infertility and positive aPL was also investigated. This report presents current knowledge and limitations of published studies regarding pregnancy morbidity, infertility and aPL, identifying areas that need better investigative efforts and proposing how critical flaws could be avoided in future studies, as suggested by participants of the Task Force. Except for fetal death, there are limitations in the quality of the data supporting the association of aPL with obstetric complications included in the current APS classification criteria. Recommended treatments for all pregnancy morbidity associated to APS also lack well-designed studies to confirm its efficacy. APL does not seem to be associated with infertility and treatment does not improve the outcomes in infertile patients with aPL. In another section of the Task Force, Dr. Jane Salmon reviewed complement-mediated inflammation in reproductive failure in APS, considering new therapeutic targets to obstetric APS (Ob APS).

  9. Forced response and internal variability of summer climate over western North America

    Science.gov (United States)

    Kamae, Youichi; Shiogama, Hideo; Imada, Yukiko; Mori, Masato; Arakawa, Osamu; Mizuta, Ryo; Yoshida, Kohei; Takahashi, Chiharu; Arai, Miki; Ishii, Masayoshi; Watanabe, Masahiro; Kimoto, Masahide; Xie, Shang-Ping; Ueda, Hiroaki

    2016-09-01

    Over the past decade, anomalously hot summers and persistent droughts frequented over the western United States (wUS), the condition similar to the 1950s and 1960s. While atmospheric internal variability is important for mid-latitude interannual climate variability, it has been suggested that anthropogenic external forcing and multidecadal modes of variability in sea surface temperature, namely, the Pacific Decadal Oscillation (PDO) and Atlantic Multidecadal Oscillation (AMO), also affect the occurrence of droughts and hot summers. In this study, 100-member ensemble simulations for 1951-2010 by an atmospheric general circulation model were used to explore relative contributions of anthropogenic warming, atmospheric internal variability, and atmospheric response to PDO and AMO to the decadal anomalies over the wUS. By comparing historical and sensitivity simulations driven by observed sea surface temperature, sea ice, historical forcing agents, and non-warming counterfactual climate forcing, we found that large portions of recent increases in mean temperature and frequency of hot summers (66 and 82 %) over the wUS can be attributed to the anthropogenic global warming. In contrast, multidecadal change in the wUS precipitation is explained by a combination of the negative PDO and the positive AMO after the 2000s. Diagnostics using a linear baroclinic model indicate that AMO- and PDO-related diabatic heating anomalies over the tropics contribute to the anomalous atmospheric circulation associated with the droughts and hot summers over wUS on multidecadal timescale. Those anomalies are not robust during the periods when PDO and AMO are in phase. The prolonged PDO-AMO antiphase period since the late twentieth century resulted in the substantial component of multidecadal anomalies in temperature and precipitation over the wUS.

  10. Traction Control of Electric Vehicles Using Sliding-Mode Controller with Tractive Force Observer

    Directory of Open Access Journals (Sweden)

    Suwat Kuntanapreeda

    2014-01-01

    Full Text Available Traction control is an important element in modern vehicles to enhance drive efficiency, safety, and stability. Traction is produced by friction between tire and road, which is a nonlinear function of wheel slip. In this paper, a sliding-mode control approach is used to design a robust traction controller. The control objective is to operate vehicles such that a desired wheel slip ratio is achieved. A nonlinearity observer is employed to estimate tire tractive forces, which are used in the control law. Simulation and experimental results have illustrated the success of the proposed observer-based controller.

  11. Reliability of forced internal rotation and active internal rotation to assess lateral instability of the biceps pulley

    Science.gov (United States)

    ARRIGONI, PAOLO; ROSE, GIACOMO DELLE; D’AMBROSI, RICCARDO; ROTUNDO, GIORGIO; CAMPAGNA, VINCENZO; PIRANI, PIERGIORGIO; PANASCÌ, MANLIO; PETRICCIOLI, DARIO; BERTONE, CELESTE; GRASSO, ANDREA; LATTE, CARMINE; COSTA, ALBERTO; VIOLA, GINO; DE GIORGI, SILVANA; PANELLA, ANTONELLO; PADUA, ROBERTO; BECCARINI, ALESSANDRO; SALCHER, BARBARA; OLIVIERI, MATTEO; MUGNAINI, MARCO; PANNONE, ANTONELLO; CEOLDO, CHIARA; LONGO, UMILE GIUSEPPE; DENARO, VINCENZO; CERCIELLO, SIMONE; PANNI, ALFREDO SCHIAVONE; AVANZI, PAOLO; ZORZI, CLAUDIO; RAGONE, VINCENZA; CASTAGNA, ALESSANDRO; RANDELLI, PIETRO

    2015-01-01

    Purpose the aim of this study was to investigate the relationship between positive painful forced internal rotation (FIR) and lateral pulley instability in the presence of a pre-diagnosed posterosuperior cuff tear. The same investigation was conducted for painful active internal rotation (AIR). Methods a multicenter prospective study was conducted in a series of patients scheduled to undergo arthroscopic posterosuperior cuff repair. Pain was assessed using a visual analog scale (VAS) and the Disabilities of the Arm, Shoulder and Hand questionnaire (DASH) was administered. The VAS score at rest, DASH score, and presence/absence of pain on FIR and AIR were recorded and their relationships with lesions of the lateral pulley, cuff tear patterns and shape of lesions were analyzed. Results the study population consisted of 115 patients (mean age: 55.1 years) recruited from 12 centers. The dominant arm was affected in 72 cases (62.6%). The average anteroposterior extension of the lesion was 1.61 cm. The mean preoperative VAS and DASH scores were 6.1 and 41.8, respectively. FIR and AIR were positive in 94 (81.7%) and 85 (73.9%) cases, respectively. The lateral pulley was compromised in 50 cases (43.4%). Cuff tears were partial articular in 35 patients (30.4%), complete in 61 (53%), and partial bursal in 19 (16.5%). No statistical correlation between positive FIR or AIR and lateral pulley lesions was detected. Positive FIR and AIR were statistically associated with complete lesions. Negative FIR was associated with the presence of partial articular tears. Conclusions painful FIR in the presence of a postero-superior cuff tear does not indicate lateral pulley instability. When a cuff tear is suspected, positive FIR and AIR are suggestive of full-thickness tear patterns while a negative FIR suggests a partial articular lesion. Level of evidence: level I, validating cohort study with good reference standards. PMID:26151035

  12. 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…

  13. Internal Control, Auditing, and the Automated Acquisitions System.

    Science.gov (United States)

    Hawks, Carol Pitts

    1990-01-01

    Discusses issues and procedures involved in auditing the automated acquisitions system at Ohio State University Libraries. The audit process is explained, internal controls within the system are identified, general control mechanisms such as limited electronic access are discussed, and application control mechanisms that relate to specific…

  14. 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. .

  15. Internal Control, Auditing, and the Automated Acquisitions System.

    Science.gov (United States)

    Hawks, Carol Pitts

    1990-01-01

    Discusses issues and procedures involved in auditing the automated acquisitions system at Ohio State University Libraries. The audit process is explained, internal controls within the system are identified, general control mechanisms such as limited electronic access are discussed, and application control mechanisms that relate to specific…

  16. Mechanoresponsive materials for drug delivery: Harnessing forces for controlled release.

    Science.gov (United States)

    Wang, Julia; Kaplan, Jonah A; Colson, Yolonda L; Grinstaff, Mark W

    2017-01-01

    Mechanically-activated delivery systems harness existing physiological and/or externally-applied forces to provide spatiotemporal control over the release of active agents. Current strategies to deliver therapeutic proteins and drugs use three types of mechanical stimuli: compression, tension, and shear. Based on the intended application, each stimulus requires specific material selection, in terms of substrate composition and size (e.g., macrostructured materials and nanomaterials), for optimal in vitro and in vivo performance. For example, compressive systems typically utilize hydrogels or elastomeric substrates that respond to and withstand cyclic compressive loading, whereas, tension-responsive systems use composites to compartmentalize payloads. Finally, shear-activated systems are based on nanoassemblies or microaggregates that respond to physiological or externally-applied shear stresses. In order to provide a comprehensive assessment of current research on mechanoresponsive drug delivery, the mechanical stimuli intrinsically present in the human body are first discussed, along with the mechanical forces typically applied during medical device interventions, followed by in-depth descriptions of compression, tension, and shear-mediated drug delivery devices. We conclude by summarizing the progress of current research aimed at integrating mechanoresponsive elements within these devices, identifying additional clinical opportunities for mechanically-activated systems, and discussing future prospects.

  17. 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.

  18. 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.

  19. Force rebalance control for a MEMS gyroscope using ascending frequency drive and generalized PI control

    Directory of Open Access Journals (Sweden)

    He Chun-Hua

    2016-01-01

    Full Text Available This paper has proposed a novel force rebalance control method for a MEMS gyroscope using ascending frequency drive and generalized PI control. Theoretical analyses of ascending frequency drive and force rebalance control methods are illustrated in detail. Experimental results demonstrate that the electrical anti-resonant peaks are located at the frequency responses in the RFD system, which seriously deteriorates the original response characteristics. However, they are eliminated in the AFD system, and the electrical coupling signal is also suppressed. Besides, as for the force rebalance control system, the phase margins approximate to 60deg, gain margins are larger than 13dB, and sensitivity margins are smaller than 3.2dB, which validates the control system is stable and robust. The bandwidth of the force rebalance control system is measured to be about 103.2Hz, which accords with the simulation result. The bias instability and angle random walk are evaluated to be 1.65deg/h and 0.06deg/√h, respectively, which achieves the tactical level.

  20. Determinants of human resource investment in internal controls

    National Research Council Canada - National Science Library

    Jong-Hag Choi Joonil Lee Catherine Heyjung Sonu

    2013-01-01

    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...

  1. The effect of aircraft control forces on pilot performance during instrument landings in a flight simulator.

    Science.gov (United States)

    Hewson, D J; McNair, P J; Marshall, R N

    2001-07-01

    Pilots may have difficulty controlling aircraft at both high and low force levels due to larger variability in force production at these force levels. The aim of this study was to measure the force variability and landing performance of pilots during an instrument landing in a flight simulator. There were 12 pilots who were tested while performing 5 instrument landings in a flight simulator, each of which required different control force inputs. Pilots can produce the least force when pushing the control column to the right, therefore the force levels for the landings were set relative to each pilot's maximum aileron-right force. The force levels for the landings were 90%, 60%, and 30% of maximal aileron-right force, normal force, and 25% of normal force. Variables recorded included electromyographic activity (EMG), aircraft control forces, aircraft attitude, perceived exertion and deviation from glide slope and heading. Multivariate analysis of variance was used to test for differences between landings. Pilots were least accurate in landing performance during the landing at 90% of maximal force (p < 0.05). There was also a trend toward decreased landing performance during the landing at 25% of normal force. Pilots were more variable in force production during the landings at 60% and 90% of maximal force (p < 0.05). Pilots are less accurate at performing instrument landings when control forces are high due to the increased variability of force production. The increase in variability at high force levels is most likely associated with motor unit recruitment, rather than rate coding. Aircraft designers need to consider the reduction in pilot performance at high force levels, as well as pilot strength limits when specifying new standards.

  2. 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

  3. Controlling internal parasites without anthelmintics (a review) OF0132

    OpenAIRE

    KEATINGE, Ray

    1996-01-01

    1.0 Executive summary 1. Internal parasites are a major source of economic loss in grazing ruminants. To a greater or lesser degree, most farms in the UK rely on anthelmintics for control. In most situations these products continue to be highly effective, but anthelmintic resistance is increasing to the limited range of products available, raising serious concerns over the future of worm control. 2. Internal parasites are also of concern on organic farms, where the prophylactic us...

  4. 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

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

    Institute of Scientific and Technical Information of China (English)

    张辉; 范宝春; 陈志华

    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.%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 Geld 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.

  6. 25 CFR 542.22 - What are the minimum internal control standards for internal audit for Tier A gaming operations?

    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... COMMISSION, DEPARTMENT OF THE INTERIOR HUMAN SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.22 What are the minimum internal control standards for internal audit for Tier A gaming operations? (a)...

  7. 25 CFR 542.32 - What are the minimum internal control standards for internal audit for Tier B gaming operations?

    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... COMMISSION, DEPARTMENT OF THE INTERIOR HUMAN SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.32 What are the minimum internal control standards for internal audit for Tier B gaming operations? (a)...

  8. 25 CFR 542.42 - What are the minimum internal control standards for internal audit for Tier C gaming operations?

    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... COMMISSION, DEPARTMENT OF THE INTERIOR HUMAN SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.42 What are the minimum internal control standards for internal audit for Tier C gaming operations? (a)...

  9. Determinants of human resource investment in internal controls

    Institute of Scientific and Technical Information of China (English)

    Jong-Hag; Choi; Joonil; Lee; Catherine; Heyjung; Sonu

    2013-01-01

    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 controlrelated 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.

  10. Board independence, internal information environment and voluntary disclosure of auditors’ reports on internal controls

    Institute of Scientific and Technical Information of China (English)

    Ye Sun; Yang Yi; Bin Lin

    2012-01-01

    When there is high information asymmetry between directors and managers,independent directors do not have enough information to perform their functions. Only when faced with a good internal information environment can such directors acquire enough information to provide advice and monitor managers,and only under these conditions can increasing their proportion on the board effectively reduce agency problems, such as driving managers to disclose information to investors. Using a sample of Chinese listed firms that voluntarily disclose their auditors’ reports on internal controls from 2007 to 2009, this study explores how the information acquisition costs of independent directors affect their monitoring effectiveness by investigating the disclosure decisions of their internal control audits. We find that when the information asymmetry between insiders and outside directors is low and the proportion of independent directors on a board is high, a firm is more likely to voluntarily disclose its internal control audit report.

  11. Board independence, internal information environment and voluntary disclosure of auditors’ reports on internal controls

    Directory of Open Access Journals (Sweden)

    Ye Sun

    2012-06-01

    Full Text Available When there is high information asymmetry between directors and managers, independent directors do not have enough information to perform their functions. Only when faced with a good internal information environment can such directors acquire enough information to provide advice and monitor managers, and only under these conditions can increasing their proportion on the board effectively reduce agency problems, such as driving managers to disclose information to investors. Using a sample of Chinese listed firms that voluntarily disclose their auditors’ reports on internal controls from 2007 to 2009, this study explores how the information acquisition costs of independent directors affect their monitoring effectiveness by investigating the disclosure decisions of their internal control audits. We find that when the information asymmetry between insiders and outside directors is low and the proportion of independent directors on a board is high, a firm is more likely to voluntarily disclose its internal control audit report.

  12. 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.

  13. 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...

  14. Relative contributions of external SST forcing and internal atmospheric variability to July-August heat waves over the Yangtze River valley

    Science.gov (United States)

    Chen, Xiaolong; Zhou, Tianjun

    2017-08-01

    The Yangtze River valley (YRV), located in central-eastern China, has witnessed increased numbers of heat waves in the summer since 1951. Knowing what factors control and affect the interannual variability of heat waves, especially distinguishing the contributions of anomalous sea surface temperature (SST) forcings and those of internal modes of variability, is important to improving heat wave prediction. After evaluating 70 members of the atmospheric model intercomparison project (AMIP) experiments from the 25 models that participated in the coupled model intercomparison project phase 5 (CMIP5), 13 high-skill members (HSMs) are selected to estimate the SST-forced variability. The results show that approximately 2/3 of the total variability of the July-August heat waves in the YRV during 1979-2008 can be attributed to anomalous SST forcings, whereas the other 1/3 are due to internal variability. Within the SST-forced component, one-half of the influence is from the impact of the El Niño-Southern Oscillation (ENSO) and the other half is from non-ENSO related SST forcings, specifically, the SST anomalies in the North Pacific and the North Atlantic. Both the decaying El Niño and developing La Niña accompanied by a warm Indian Ocean and cold central Pacific, respectively, are favorable to hotter summers in the YRV because these patterns strengthen and extend the western North Pacific Subtropical High (WNPSH) westwards, for which the decaying ENSO plays a dominant role. The internal variability shows a circumglobal teleconnection in which Rossby waves propagate southeastwards over the Eurasian Continent and strengthen the WNPSH. Atmospheric model sensitivity experiments confirm that non-ENSO SST forcings can modulate the WNPSH and heat wave variability by projecting their influences onto the internal mode.

  15. Forced circulation air coolers with internally finned tubes; Ventilator-Luftkuehler mit innenberippten Rohren

    Energy Technology Data Exchange (ETDEWEB)

    Arnemann, M. [Forschungszentrum fuer Kaelte- und Umwelttechnik GmbH (FKU), Berlin (Germany)

    1998-04-01

    Tubes with internal fins have a much higher heat transfer during evaporation as compared with unfinned tubes. The findings served as a basis for the new development of the ``FHV high-performance forced circulation air cooler`` by Walter Roller GmbH and Co. The new evaporator type was designed on the basis of DIN 8955 and ENV 328 for evaporation temperatures of 0 C to -31 C. (orig.) [Deutsch] Im Vergleich zu glatten Rohren laesst sich durch den Einsatz von innenberippten Rohren der innere Waermeuebergang bei der Verdampfung nachweislich deutlich verbessern. Die Ergebnisse bildeten die Grundlage fuer die Neuentwicklung `FHV Hochleistungs-Luftkuehler` im Hause Walter Roller GmbH and Co. Die energetische Bewertung des neuen Verdampfertyps erfolgte in Anlehnung an die Normen DIN 8955 bzw. ENV 328 fuer Verdampfungstemperaturen zwischen 0 C und -31 C. (orig.)

  16. Real Time Vibration Control of Active Suspension System with Active Force Control using Iterative Learning Algorithm

    Directory of Open Access Journals (Sweden)

    Kalaivani

    2013-09-01

    Full Text Available This paper presents concurrent vibration control of a laboratory scaled vibration isolator platform with Active Force Control (AFC using Iterative Learning Algorithm (ILA. The work investigates the performance of the traditional Proportional Integral Derivative Controller (PIDC with and without AFC using ILA for vibration suppression. The physical single degree of freedom quarter car has been interfaced with a personal computer using a National Instruments data acquisition card NI USB 6008. The controllers are designed and simulated using LabVIEW simulation software. The results infer that the PIDC with AFC using ILA works superior than the PIDC.

  17. Hybrid force-velocity sliding mode control of a prosthetic hand.

    Science.gov (United States)

    Engeberg, Erik D; Meek, Sanford G; Minor, Mark A

    2008-05-01

    Four different methods of hand prosthesis control are developed and examined experimentally. Open-loop control is shown to offer the least sensitivity when manipulating objects. Force feedback substantially improves upon open-loop control. However, it is shown that the inclusion of velocity and/or position feedback in a hybrid force-velocity control scheme can further improve the functionality of hand prostheses. Experimental results indicate that the sliding mode controller with force, position, and velocity feedback is less prone to unwanted force overshoot when initially grasping objects than the other controllers.

  18. 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.

  19. 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.

  20. Computation of the Nusselt number asymptotes for laminar forced convection flows in internally finned tubes

    Energy Technology Data Exchange (ETDEWEB)

    Ledezma, G.A. [Duke Univ., Durham, NC (United States). Mechanical Engineering Dept.; Campo, A. [Idaho State Univ., Pocatello, ID (United States). Coll. of Engineering

    1999-04-01

    The utilization of internal longitudinal finned tubes has received unparallel attention in the heat transfer literature over the years as a result of its imminent application in high performance compact heat exchangers to enhance the heat transfer between laminar streams of viscous fluids and tube walls. Here, the central goal of this paper is to report a simple approximate way for the prediction of the two asymptotes for the local Nusselt number in laminar forced convection flows inside internal longitudinal finned tubes. The computational attributes of the Method Of Lines (MOL) are propitious for the determination of asymptotic temperature solutions and corresponding heat transfer rates (one for Z {r_arrow} 0 and the other for z {r_arrow} {infinity}). The two local Nusselt number sub-distributions, namely Nu{sub z{r_arrow}0} and Nu{sub z{r_arrow}{infinity}}, blend themselves into an approximate Nusselt number distribution that covers the entire z-domain in a natural way.

  1. International veterinary epilepsy task force consensus report on epilepsy definition, classification and terminology in companion animals.

    Science.gov (United States)

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

    2015-08-28

    Dogs with epilepsy are among the commonest neurological patients in veterinary practice and therefore have historically attracted much attention with regard to definitions, clinical approach and management. A number of classification proposals for canine epilepsy have been published during 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 of epilepsy and epileptic seizures. We propose a classification system which reflects new thoughts from the human ILAE but also roots in former well accepted terminology. We think that this classification system can be used by all stakeholders.

  2. Internal models for interpreting neural population activity during sensorimotor control.

    Science.gov (United States)

    Golub, Matthew D; Yu, Byron M; Chase, Steven M

    2015-01-01

    To successfully guide limb movements, the brain takes in sensory information about the limb, internally tracks the state of the limb, and produces appropriate motor commands. It is widely believed that this process uses an internal model, which describes our prior beliefs about how the limb responds to motor commands. Here, we leveraged a brain-machine interface (BMI) paradigm in rhesus monkeys and novel statistical analyses of neural population activity to gain insight into moment-by-moment internal model computations. We discovered that a mismatch between subjects' internal models and the actual BMI explains roughly 65% of movement errors, as well as long-standing deficiencies in BMI speed control. We then used the internal models to characterize how the neural population activity changes during BMI learning. More broadly, this work provides an approach for interpreting neural population activity in the context of how prior beliefs guide the transformation of sensory input to motor output.

  3. 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.

  4. ADAPTIVE CONTROLLER AND ITS APPLICATION IN FORCE SYSTEM OF ASYMMETRIC CYLINDER CONTROLLED BY SYMMETRIC VALVE

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Partial pressure, system vibration and asymmetric system dynamic performance exit in asymmetric cylinder controller by symmetric valve hydraulic system. To solve this problem in the force control system, model reference adaptive controller is designed using equilibrium point stability theory and output error equation polynomial. The reference model is selected in such a way that it meets the system dynamic performance. Hardware configuration of asymmetric cylinder controlled by asymmetric valve hydraulic system is replaced by intelligent control algorithm, thus the cost is lowered and easy to application. Simulation results demonstrate that the proposed adaptive control sheme has good adaptive ability and well solves asymmetric dynamic performance problem. The designed adaptive controller is fairly robust to load disturbance and system parameter variation.

  5. Dynamic control of aerodynamic forces on a moving platform using active flow control

    Science.gov (United States)

    Brzozowski, Daniel P.

    The unsteady interaction between trailing edge aerodynamic flow control and airfoil motion in pitch and plunge is investigated in wind tunnel experiments using a two degree-of-freedom traverse which enables application of time-dependent external torque and forces by servo motors. The global aerodynamic forces and moments are regulated by controlling vorticity generation and accumulation near the trailing edge of the airfoil using hybrid synthetic jet actuators. The dynamic coupling between the actuation and the time-dependent flow field is characterized using simultaneous force and particle image velocimetry (PIV) measurements that are taken phase-locked to the commanded actuation waveform. The effect of the unsteady motion on the model-embedded flow control is assessed in both trajectory tracking and disturbance rejection maneuvers. The time-varying aerodynamic lift and pitching moment are estimated from a PIV wake survey using a reduced order model based on classical unsteady aerodynamic theory. These measurements suggest that the entire flow over the airfoil readjusts within 2--3 convective time scales, which is about two orders of magnitude shorter than the characteristic time associated with the controlled maneuver of the wind tunnel model. This illustrates that flow-control actuation can be typically effected on time scales that are commensurate with the flow's convective time scale, and that the maneuver response is primarily limited by the inertia of the platform.

  6. Impact Pseudostatic Load Equivalent Model and the Maximum Internal Force Solution for Underground Structure of Tunnel Lining

    Directory of Open Access Journals (Sweden)

    Xuan Guo

    2016-01-01

    Full Text Available The theoretical formula of the maximum internal forces for circular tunnel lining structure under impact loads of the underground is deduced in this paper. The internal force calculation formula under different equivalent forms of impact pseudostatic loads is obtained. Furthermore, by comparing the theoretical solution with the measured data of the top blasting model test of circular formula under different equivalent forms of impact pseudostatic loads are obtained. Furthermore, by comparing the theoretical solution with the measured data of the top blasting model test of circular tunnel, it is found that the proposed theoretical results accord with the experimental values well. The corresponding equivalent impact pseudostatic triangular load is the most realistic pattern of all test equivalent forms. The equivalent impact pseudostatic load model and maximum solution of the internal force for tunnel lining structure are partially verified.

  7. 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.

  8. Support vector regression-based internal model control

    Institute of Scientific and Technical Information of China (English)

    HUANG Yan-wei; PENG Tie-gen

    2007-01-01

    This paper proposes a design of internal model control systems for process with delay by using support vector regression (SVR). The proposed system fully uses the excellent nonlinear estimation performance of SVR with the structural risk minimization principle. Closed-system stability and steady error are analyzed for the existence of modeling errors. The simulations show that the proposed control systems have the better control performance than that by neural networks in the cases of the training samples with small size and noises.

  9. ADJUSTMENT ERRORS IN ASCENDING AND DESCENDING PHASES OF TARGET LEVEL IN CONTROLLED FORCE EXERTION.

    Science.gov (United States)

    Kubota, Hiroshi; Demura, Shinichi

    2015-10-01

    Hand grip force adjustment errors to ascending and descending phases of a sinusoidal target force in a controlled force exertion (CFE) test were measured and the laterality of responses evaluated. 75 men (M age = 19.6 yr., SD = 1.6) performed the CFE test after one practice trial by matching handgrip force to target level (5-25% of maximal grip force). The CFE errors in ascending and descending phases of the target force were calculated as the absolute differences between actual force and target force in each phase. There were significantly smaller CFE errors in the ascending phase for both dominant and non-dominant hands, but CFE error for the dominant hand was significantly smaller in both phases. Therefore, error in force exertion in the ascending and descending phases of the target force differed, and laterality influenced error in both phases.

  10. Duffing revisited: phase-shift control and internal resonance in self-sustained oscillators

    Science.gov (United States)

    Arroyo, Sebastián I.; Zanette, Damián H.

    2016-01-01

    We address two aspects of the dynamics of the forced Duffing oscillator which are relevant to the technology of micromechanical devices and, at the same time, have intrinsic significance to the field of nonlinear oscillating systems. First, we study the stability of periodic motion when the phase shift between the external force and the oscillation is controlled - contrary to the standard case, where the control parameter is the frequency of the force. Phase-shift control is the operational configuration under which self-sustained oscillators - and, in particular, micromechanical oscillators - provide a frequency reference useful for time keeping. We show that, contrary to the standard forced Duffing oscillator, under phase-shift control oscillations are stable over the whole resonance curve, and provide analytical approximate expressions for the time dependence of the oscillation amplitude and frequency during transients. Second, we analyze a model for the internal resonance between the main Duffing oscillation mode and a higher-harmonic mode of a vibrating solid bar clamped at its two ends. We focus on the stabilization of the oscillation frequency when the resonance takes place, and present preliminary experimental results that illustrate the phenomenon. This synchronization process has been proposed to counteract the undesirable frequency-amplitude interdependence in nonlinear time-keeping micromechanical devices. Supplementary material in the form of one pdf file and one gif file available from the Journal web page at http://dx.doi.org/10.1140/epjb/e2015-60517-3

  11. Contracting Processes, Internal Controls, and Procurement Fraud: A Knowledge Assessment

    Science.gov (United States)

    2015-04-30

    ååì~ä=^Åèìáëáíáçå= oÉëÉ~êÅÜ=póãéçëáìã= qÜìêëÇ~ó=pÉëëáçåë= sçäìãÉ=ff= = Contracting Processes, Internal Controls, and Procurement Fraud : A Knowledge...DATES COVERED 00-00-2015 to 00-00-2015 4. TITLE AND SUBTITLE Contracting Processes, Internal Controls, and Procurement Fraud : A Knowledge...capable processes, and effective internal controls result in the DoD having a higher level of vulnerability for procurement fraud (Rendon & Rendon, in

  12. THOUGHT FOR INTEGRATION OF ENTERPRISE'S INTERNAL CONTROL SYSTEM

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    @@ The introduction of the enterprise's internal control system is directly related to some well known exposures of finance and accounting scandals, such as Enron,WorldCom, and Xerox etc.. The U.S. President Bush signed Sarbanes-Oxley Act on July 30, 2002. The 404th term of the act claims that all corporations in the U.S.must establish an internal control system to avoid above mentioned financial and accounting risks. With respect to the requirements of Chinese Securities Supervisory Association and the National Capital Committee,PetroChina established its internal control system in February, 2004. CNPC has also established such a system,and has run very well until now.

  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. The Casimir force control in nano and micro electromechanical systems

    NARCIS (Netherlands)

    Sedighi Ghozotkhar, Mehdi

    2016-01-01

    In this thesis we deal with the analysis and measurement of dispersive surface forces, specifically the Casimir force. Applying Lifshitz theory makes it possible to take into account the material optical property and consequently the obtained results are more realistic. We used contact mode atomic f

  15. 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 t

  16. 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.

  17. 75 FR 77664 - Honeywell International, Inc., Automation and Control Solutions Division, Including On-Site...

    Science.gov (United States)

    2010-12-13

    ... Employment and Training Administration Honeywell International, Inc., Automation and Control Solutions... of Honeywell International, Inc., Automation and Control Solutions Division, Rock Island, Illinois... International, Inc., Automation and Control Solutions Division. The Department has determined that these...

  18. 76 FR 81986 - Honeywell International, Inc., Automation and Control Solutions Division, Including On-Site...

    Science.gov (United States)

    2011-12-29

    ... Employment and Training Administration Honeywell International, Inc., Automation and Control Solutions... Assistance on July 30, 2010, applicable to workers of Honeywell International, Inc., Automation and Control... location of Honeywell International, Inc., Automation and Control Solutions Division. The Department...

  19. Salinity changes relative to the response to anthropogenic forcing and internal variability in the North Atlantic

    Science.gov (United States)

    Vinogradova, Nadya; Buckley, Martha

    2017-04-01

    Over the past few decades, surface waters in the subpolar North Atlantic have experienced substantial fluctuations, including periods of rapid cooling and freshening alternating with the periods of enhanced warming, salinification, and decreased circulation of the gyre. Since these waters feed the North Atlantic thermohaline circulation, such changes have the potential to impact the global ocean circulation and future climate states. A number of potential causes for the observed changes have been suggested, including those related to the strength of the ocean circulation and heat transports, as well as other factors, such as anthropogenic aerosol forcing or changes in surface fluxes. Here we assess how the observed warming/salinification events fit into the long-term picture, focusing on variations in upper-ocean salinity. Salinification of the subpolar North Atlantic may seem counter-intuitive to the reported long-term increase in freshwater supply to the region from river discharge and ice melting, sparking debates about whether the freshening of the subpolar gyre has ceased, and whether the recent salinification, if continued, will be able to forestall the projected slowdown of the overturning circulation. Using a suite of in situ salinity observations spanning the last 60 years, modern satellite salinity observations from Aquarius and SMOS missions, and multi-decadal realizations from global climate models, we estimate the likelihood of such salinity changes in the context of the historical record, contemporary estimates, and future projections. Results are discussed in terms of the probability of occurrence of a decade-long salinification in the presence of the background freshening in response to anthropogenic forcing. In particular, computed probabilities suggest that such "unusual" salinification events are plausible under the strong influence of internal, decadal-to-interdecadal variability.

  20. Assessment of forced and internal variability in the AMO through analyses of SST data from CMIP5 historical simulations and observations

    Science.gov (United States)

    Steinman, B. A.; Mann, M. E.; Miller, S. K.; Emanuel, K.

    2013-12-01

    The Atlantic Multidecadal Oscillation (AMO) is a mode of North Atlantic sea surface temperature (SST) variability that has substantial impacts on Northern Hemisphere precipitation and temperature patterns, as well as Atlantic hurricane activity. Climate models and paleoclimate data suggest that the warm AMO phase can enhance drought in the American mid- and southwest, increase rainfall intensity and amounts in North Eastern Brazil and the African Sahel region, and increase the number of severe Atlantic hurricanes. While models and instrumental data provide some support for the AMO as an internal climate ';oscillation', questions remain regarding the proportion of AMO variability resulting from internal and external forcing, and more specifically, how much of the recent (i.e. late 20th century) north Atlantic warming is anthropogenically forced. Several studies have addressed these issues and proposed various methods for diagnosing the AMO using historical climate model simulations (e.g. from CMIP3) and instrumental data. Here we present results from analyses of the North Atlantic region in historical simulations from Climate Model Intercomparison Project 5 (CMIP5). Our approach involves (1) analyzing a grand ensemble mean based on averaging realizations of all available models, such that random, internal variability components cancel and only a forced component remains; (2) for all models with at least four realizations, estimating a forced component by averaging multiple realizations and estimating internal variability components from the residual series of individual realizations and (3) analyzing control simulations for the corresponding models to assess whether or not there is evidence of enhanced AMO-like internal variability.

  1. Digit forces bias sensorimotor transformations underlying control of fingertip position.

    Science.gov (United States)

    Shibata, Daisuke; Kappers, Astrid M L; Santello, Marco

    2014-01-01

    Humans are able to modulate digit forces as a function of position despite changes in digit placement that might occur from trial to trial or when changing grip type for object manipulation. Although this phenomenon is likely to rely on sensing the position of the digits relative to each other and the object, the underlying mechanisms remain unclear. To address this question, we asked subjects (n = 30) to match perceived vertical distance between the center of pressure (CoP) of the thumb and index finger pads (dy ) of the right hand ("reference" hand) using the same hand ("test" hand). The digits of reference hand were passively placed collinearly (dy = 0 mm). Subjects were then asked to exert different combinations of normal and tangential digit forces (Fn and Ftan , respectively) using the reference hand and then match the memorized dy using the test hand. The reference hand exerted Ftan of thumb and index finger in either same or opposite direction. We hypothesized that, when the tangential forces of the digits are produced in opposite directions, matching error (1) would be biased toward the directions of the tangential forces; and (2) would be greater when the remembered relative contact points are matched with negligible digit force production. For the test hand, digit forces were either negligible (0.5-1 N, 0 ± 0.25 N; Experiment 1) or the same as those exerted by the reference hand (Experiment 2).Matching error was biased towards the direction of digit tangential forces: thumb CoP was placed higher than the index finger CoP when thumb and index finger Ftan were directed upward and downward, respectively, and vice versa (p < 0.001). However, matching error was not dependent on whether the reference and test hand exerted similar or different forces. We propose that the expected sensory consequence of motor commands for tangential forces in opposite directions overrides estimation of fingertip position through haptic sensory feedback.

  2. Digit forces bias sensorimotor transformations underlying control of fingertip position

    Directory of Open Access Journals (Sweden)

    Daisuke eShibata

    2014-08-01

    Full Text Available Humans are able to modulate digit forces as a function of position despite changes in digit placement that might occur from trial to trial or when changing grip type for object manipulation. Although this phenomenon is likely to rely on sensing the position of the digits relative to each other and the object, the underlying mechanisms remain unclear. To address this question, we asked subjects (n = 30 to match perceived vertical distance between the center of pressure (CoP of the thumb and index finger pads (dy of the right hand (reference hand using the same hand (test hand. The digits of reference hand were passively placed collinearly (dy = 0 mm. Subjects were then asked to exert different combinations of normal and tangential digit forces (Fn and Ftan, respectively using the reference hand and then match the memorized dy using the test hand. The reference hand exerted Ftan of thumb and index finger in either same or opposite direction. We hypothesized that, when the tangential forces of the digits are produced in opposite directions, matching error (1 would be biased toward the directions of the tangential forces, and (2 would be greater when the remembered relative contact points are matched with negligible digit force production. For the test hand, digit forces were either negligible (0.5-1 N, 0 ± 0.25 N; Experiment 1 or the same as those exerted by the reference hand (Experiment 2. Matching error was biased towards the direction of digit tangential forces: thumb CoP was placed higher than the index finger CoP when thumb and index finger Ftan were directed upward and downward, respectively, and vice versa (p < 0.001. However, matching error was not dependent on whether the reference and test hand exerted similar or different forces. We propose that the expected sensory consequence of motor commands for tangential forces in opposite directions overrides estimation of fingertip position through haptic sensory feedback.

  3. Influence of Emotion on the Control of Low-Level Force Production

    Science.gov (United States)

    Naugle, Kelly M.; Coombes, Stephen A.; Cauraugh, James H.; Janelle, Christopher M.

    2012-01-01

    The accuracy and variability of a sustained low-level force contraction (2% of maximum voluntary contraction) was measured while participants viewed unpleasant, pleasant, and neutral images during a feedback occluded force control task. Exposure to pleasant and unpleasant images led to a relative increase in force production but did not alter the…

  4. 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

  5. Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

    Institute of Scientific and Technical Information of China (English)

    LIU Hongyi; WANG Lei; WANG Fei

    2007-01-01

    To precisely implement the force control of robot manipulators in an unknown environment,a control strategy based on fuzzy prediction of the reference trajectory in the impedance model is developed.The force tracking experiments are executed in an open-architecture control system with different tracking velocities,different desired forces,different contact stiffnesses and different surface figurations.The corresponding force control results are compared and analyzed.The influences of unknown parameters of the environment on the contact force are analyzed based on experimental data,and the tunings of predictive scale factors are illustrated.The experimental results show that the desired trajectory in the impedance model is predicted exactly and rapidly in the cases that the contact surface is unknown,the contact stiffness changes,and the fuzzy force control algorithm has high adaptability to the unknown environment.

  6. Characteristics of magnetic force control device with magnetostrictive and piezoelectric laminate composite

    Science.gov (United States)

    Ueno, Toshiyuki; Qiu, Jinhao; Tani, Junji

    2003-08-01

    A magnetic force control device with laminate composite of giant magnetostrictive material (GMM) and piezo-electric material (PZT) is proposed. This magnetic force control is based on inverse magnetostrictive effect of a magnetic material, whereby the variation of stress applied on the material is converted to that of magnetic force via magnetic circuits. For the purpose of realizing the method in practical applications, disks of GMM and PZT are laminated to control the stress of GMM by electric field on PZT. Due to the capacitive properties of PZT, the device requires little electric energy hence generates no heat to maintain constant force. Furthermore compared with conventional electromagnetics, the device can be fabricated easily and in small size to be suitable for microactuators. This paper presents the principle of the magnetic force control by the lamination of GMM and PZT and investigates the static and dynamic characteristics of several devices to demonstrate their capabilities of the magnetic force control.

  7. 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.

  8. 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.

  9. 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...

  10. CFO finance network centrality, errors and internal control material weaknessess

    NARCIS (Netherlands)

    Schabus, M.

    2015-01-01

    CFOs finance networks matter in determining certain accounting and reporting outcomes. Drawing on social network theory, this study shows that CFO centrality in a network of financial experts is inversely related to the occurrence of restatements due to errors and disclosure of internal control mate

  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. The International Arms Control and Disarmament Situation in 2015

    Institute of Scientific and Technical Information of China (English)

    He Yidan; Yu Xiaoling

    2016-01-01

    In 2015,the situation of the international arms control and disarmament was in the overall stability,the United States and Russia continued to promote the performance process of the Strategic Arms Reduction Treaty(New START),the final agreement on the Iran nuclear issue was signed.But the ninth Review

  13. 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.…

  14. CFO finance network centrality, errors and internal control material weaknessess

    NARCIS (Netherlands)

    Schabus, M.

    2015-01-01

    CFOs finance networks matter in determining certain accounting and reporting outcomes. Drawing on social network theory, this study shows that CFO centrality in a network of financial experts is inversely related to the occurrence of restatements due to errors and disclosure of internal control mate

  15. Nomenclature of genetic movement disorders: Recommendations of the international Parkinson and movement disorder society task force.

    Science.gov (United States)

    Marras, Connie; Lang, Anthony; van de Warrenburg, Bart P; Sue, Carolyn M; Tabrizi, Sarah J; Bertram, Lars; Mercimek-Mahmutoglu, Saadet; Ebrahimi-Fakhari, Darius; Warner, Thomas T; Durr, Alexandra; Assmann, Birgit; Lohmann, Katja; Kostic, Vladimir; Klein, Christine

    2016-04-01

    The system of assigning locus symbols to specify chromosomal regions that are associated with a familial disorder has a number of problems when used as a reference list of genetically determined disorders,including (I) erroneously assigned loci, (II) duplicated loci, (III) missing symbols or loci, (IV) unconfirmed loci and genes, (V) a combination of causative genes and risk factor genes in the same list, and (VI) discordance between phenotype and list assignment. In this article, we report on the recommendations of the International Parkinson and Movement Disorder Society Task Force for Nomenclature of Genetic Movement Disorders and present a system for naming genetically determined movement disorders that addresses these problems. We demonstrate how the system would be applied to currently known genetically determined parkinsonism, dystonia, dominantly inherited ataxia, spastic paraparesis, chorea, paroxysmal movement disorders, neurodegeneration with brain iron accumulation, and primary familial brain calcifications. This system provides a resource for clinicians and researchers that, unlike the previous system, can be considered an accurate and criterion-based list of confirmed genetically determined movement disorders at the time it was last updated.

  16. 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...

  17. 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...

  18. 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

    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...

  19. "Having It All" at Sleep's Expense: The Forced Choice of Participants in Advanced Placement Courses and International Baccalaureate Programs

    Science.gov (United States)

    Foust, Regan Clark; Hertberg-Davis, Holly; Callahan, Carolyn M.

    2008-01-01

    The gifted can suffer from too many demands on their time and attention. This qualitative study tested the theory that advanced placement (AP) and international baccalaureate (IB) participants may feel forced to choose between academic success and social acceptance. The results, however, did not support the theory. Not only did gifted students not…

  20. Robust Motion Control for Mobile Manipulator Using Resolved Acceleration and Proportional-Integral Active Force Control

    Directory of Open Access Journals (Sweden)

    Musa Mailah

    2005-06-01

    Full Text Available A resolved acceleration control (RAC and proportional-integral active force control (PIAFC is proposed as an approach for the robust motion control of a mobile manipulator (MM comprising a differentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform. The study emphasizes on the integrated kinematic and dynamic control strategy in which the RAC is used to manipulate the kinematic component while the PIAFC is implemented to compensate the dynamic effects including the bounded known/unknown disturbances and uncertainties. The effectivenss and robustness of the proposed scheme are investigated through a rigorous simulation study and later complemented with experimental results obtained through a number of experiments performed on a fully developed working prototype in a laboratory environment. A number of disturbances in the form of vibratory and impact forces are deliberately introduced into the system to evaluate the system performances. The investigation clearly demonstrates the extreme robustness feature of the proposed control scheme compared to other systems considered in the study.

  1. 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.

  2. 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...

  3. Atmospheric forcing controlling inter-annual nutrient dynamics in the open Gulf of Finland

    Science.gov (United States)

    Lehtoranta, Jouni; Savchuk, Oleg P.; Elken, Jüri; Dahlbo, Kim; Kuosa, Harri; Raateoja, Mika; Kauppila, Pirkko; Räike, Antti; Pitkänen, Heikki

    2017-07-01

    The loading of P into the Gulf of Finland has decreased markedly, but no overall trend in the concentration of P has been observed in the open Gulf, where the concentrations of both inorganic N and P still have a pronounced inter-annual variability. Our main aim was to study whether the internal processes driven by atmospheric forcing can explain the variation in the nutrient conditions in the Gulf during the period 1992-2014. We observed that the long-term salinity variation of the bottom water in the northern Baltic Proper controls that in the Gulf, and that the deep-water concentrations of oxygen and nutrients are significantly correlated between the basins. This imposes preconditions regarding how atmospheric forcing may influence deep water flows and stratification in the Gulf on a long-term scale. We found that over short timescales, winter winds in particular can control the in- and outflows of water and the vertical stratification and mixing, which to a large extent explained the inter-annual variation in the DIN and TP pools in the Gulf. We conclude that the inter-annual variation in the amounts, ratios, and spatial distribution of nutrients sets variable preconditions for the spring and potential blue-green algae blooms, and that internal processes were able to mask the effects of the P load reductions implemented across the whole Gulf. The transportation of P along the bottom from the northern Baltic Proper and its evident uplift in the Gulf highlights the fact that the nutrient reductions are also needed in the entire catchment of the Baltic Sea to improve the trophic status of the open Gulf.

  4. 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.

  5. Position versus force control: using the 2-DOF robotic ankle trainer to assess ankle's motor control.

    Science.gov (United States)

    Farjadian, Amir B; Nabian, Mohsen; Hartman, Amber; Corsino, Johnathan; Mavroidis, Constantinos; Holden, Maureen K

    2014-01-01

    An estimated of 2,000,000 acute ankle sprains occur annually in the United States. Furthermore, ankle disabilities are caused by neurological impairments such as traumatic brain injury, cerebral palsy and stroke. The virtually interfaced robotic ankle and balance trainer (vi-RABT) was introduced as a cost-effective platform-based rehabilitation robot to improve overall ankle/balance strength, mobility and control. The system is equipped with 2 degrees of freedom (2-DOF) controlled actuation along with complete means of angle and torque measurement mechanisms. Vi-RABT was used to assess ankle strength, flexibility and motor control in healthy human subjects, while playing interactive virtual reality games on the screen. The results suggest that in the task with 2-DOF, subjects have better control over ankle's position vs. force.

  6. 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...... of MCSs when analyzing internal consistency in the MCS package and how managers obtain internal consistency in the new MCS package when a MCS change occur. This study focuses specifically on changes to administrative controls, which are not internal consistent with the current cybernetic controls. As top......, to date we know little about how managers maintain internal consistency, when individual MCSs change and do not fit with the other MCSs. Based on a case study in a global Danish manufacturing company this study finds that it is necessary to distinguish between the design characteristics of MCS and use...

  7. High-resolution friction force microscopy under electrochemical control

    Science.gov (United States)

    Labuda, Aleksander; Paul, William; Pietrobon, Brendan; Lennox, R. Bruce; Grütter, Peter H.; Bennewitz, Roland

    2010-08-01

    We report the design and development of a friction force microscope for high-resolution studies in electrochemical environments. The design choices are motivated by the experimental requirements of atomic-scale friction measurements in liquids. The noise of the system is analyzed based on a methodology for the quantification of all the noise sources. The quantitative contribution of each noise source is analyzed in a series of lateral force measurements. Normal force detection is demonstrated in a study of the solvation potential in a confined liquid, octamethylcyclotetrasiloxane. The limitations of the timing resolution of the instrument are discussed in the context of an atomic stick-slip measurement. The instrument is capable of studying the atomic friction contrast between a bare Au(111) surface and a copper monolayer deposited at underpotential conditions in perchloric acid.

  8. Three Axis Force Override Rate Control of a PUMA 560 Manipulator

    Science.gov (United States)

    1993-03-01

    and Intelligence, p. 242, McGraw-Hill, New York, 1987. 8. Whitney, D.E., "Historical Perspective and State of the Art in Robot Force Control ," Proceedings... Force Control ," Proceedings of the IEEE Conference on Robotics and Automation, (1987), pp.904-909. 12. Syvertsen, J. M., Force Override Rate...the IEEE Conference on Robotics and Automation, (1989), p. 102. 110 11. Eppinger, S.D., and Seering, W.P., "Understanding Bandwidth Limitations in Robot

  9. THE ANALYSIS FOR THE AIRFLOW EXCITING-VIBRATION FORCE OF CONTROL STAGE OF STEAM TURBINE

    Institute of Scientific and Technical Information of China (English)

    柴山; 张耀明; 马浩; 曲庆文; 赵又群

    2001-01-01

    Based on the hydrodynamics, the airflow exciting-vibration force of control stage of steam turbine is studied by using the momentum theorem. A formulation for calculating the air exciting-vibration force of the control stage of steam turbine is deduced first by using theoretical analysis method and taking all the design factors of vane and nozzles into consideration. Moreover, the exciting-vibration forces in different load cases are discussed respectively.

  10. Report of a Workshop in Nuclear Forces and Nonproliferation held at the Woodrow Wilson International Center for Scholars, Washington, DC

    Energy Technology Data Exchange (ETDEWEB)

    Pilat, Joseph F [Los Alamos National Laboratory

    2009-01-01

    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 (NPR) Review and the 2010 Conference (RevCon) of the Parties to the Treaty on the Non-Proliferation of Nuclear Weapons (NPT). The issues discussed are at the heart of the debate on nuclear policy issues such asfuture nuclear weapons requirements and nonproliferation, but also the stockpile stewardship program and infrastructure modernization. The workshop discussions reflected the importance of the NPRfor defining the role of US nuclear forces in dealing with 21s1 century threats and providing guidance that will shape NNSA and DoD programs. They also highlighted its importancefor NPT diplomacy. The discussion noted the report of the bipartisan Congressional Commission on the Strategic Posture of the United States, and the expectation that the NPR would likely reflect its consensus to a large degree (although the Administration was not bound by the report). There was widespread support for developing thefoundationsfor a sustainable nuclear-weapon program that addresses nuclear weapons, infrastructure and expertise in the broader nonproliferation, disarmament and international security contexts. The discussion also revealed a convergence of views, but no consensus, on a number of important issues, including the diminished role but continued importance of nuclear weapons; the need to take action to ensure the sustainability of the stockpile, and the recapitalization of the infrastructure and expertise; and the need to take action to promote nonproliferation, arms control and disarmament objectives.

  11. 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.

  12. On nonlinear controllability and series expansions for Lagrangian systems with dissipative forces

    NARCIS (Netherlands)

    Cortes, J.; Martinez, S.; Bullo, F.

    2002-01-01

    This paper presents series expansions and nonlinear controllability results for Lagrangian systems subject to dissipative forces. The treatment relies on the assumption of dissipative forces of linear isotropic nature. The approach is based on the affine connection formalism for Lagrangian control s

  13. International Guidelines on Human Rights and Drug Control

    Science.gov (United States)

    Pol, Luciana

    2017-01-01

    Abstract Discrimination and inequality shape women’s experiences of drug use and in the drug trade and the impact of drug control efforts on them, with disproportionate burdens faced by poor and otherwise marginalized women. In recent years, UN member states and UN drug control and human rights entities have recognized this issue and made commitments to integrate a ‘gender perspective’ into drug control policies, with ‘gender’ limited to those conventionally deemed women. But the concept of gender in international law is broader, rooted in socially constructed and culturally determined norms and expectations around gender roles, sex, and sexuality. Also, drug control policies often fail to meaningfully address the specific needs and circumstances of women (inclusively defined), leaving them at risk of recurrent violations of their rights in the context of drugs. This article explores what it means to ‘mainstream’ this narrower version of gender into drug control efforts, using as examples various women’s experiences as people who use drugs, in the drug trade, and in the criminal justice system. It points to international guidelines on human rights and drug control as an important tool to ensure attention to women’s rights in drug control policy design and implementation. PMID:28630557

  14. High-speed Lissajous-scan atomic force microscopy: scan pattern planning and control design issues.

    Science.gov (United States)

    Bazaei, A; Yong, Yuen K; Moheimani, S O Reza

    2012-06-01

    Tracking of triangular or sawtooth waveforms is a major difficulty for achieving high-speed operation in many scanning applications such as scanning probe microscopy. Such non-smooth waveforms contain high order harmonics of the scan frequency that can excite mechanical resonant modes of the positioning system, limiting the scan range and bandwidth. Hence, fast raster scanning often leads to image distortion. This paper proposes analysis and design methodologies for a nonlinear and smooth closed curve, known as Lissajous pattern, which allows much faster operations compared to the ordinary scan patterns. A simple closed-form measure is formulated for the image resolution of the Lissajous pattern. This enables us to systematically determine the scan parameters. Using internal model controllers (IMC), this non-raster scan method is implemented on a commercial atomic force microscope driven by a low resonance frequency positioning stage. To reduce the tracking errors due to actuator nonlinearities, higher order harmonic oscillators are included in the IMC controllers. This results in significant improvement compared to the traditional IMC method. It is shown that the proposed IMC controller achieves much better tracking performances compared to integral controllers when the noise rejection performances is a concern.

  15. Building an internal model of a myoelectric prosthesis via closed-loop control for consistent and routine grasping.

    Science.gov (United States)

    Dosen, Strahinja; Markovic, Marko; Wille, Nicola; Henkel, Markus; Koppe, Mario; Ninu, Andrei; Frömmel, Cornelius; Farina, Dario

    2015-06-01

    Prosthesis users usually agree that myoelectric prostheses should be equipped with somatosensory feedback. However, the exact role of feedback and potential benefits are still elusive. The current study investigates the nature of human control processes within a specific context of routine grasping. Although the latter includes a fast feedforward control of the grasping force, the assumption was that the feedback would still be useful; it would communicate the outcome of the grasping trial, which the subjects could use to learn an internal model of feedforward control. Nine able-bodied subjects produced repeatedly a desired level of grasping force using different control configurations: feedback versus no-feedback, virtual versus real prosthetic hand, and joystick versus myocontrol. The outcome measures were the median and dispersion of the relative force errors. The results demonstrated that the feedback was successful in limiting the variability of the routine grasping due to uncertainties in the system and/or the command interface. The internal models of feedforward control could be employed by the subjects to control the prosthesis without the loss of performance even after the force feedback was removed. The models were, however, unstable over time, especially with myocontrol. Overall, the study demonstrates that the prosthesis system can be learned by the subjects using feedback. The feedback is also essential to maintain the model, and it could be delivered intermittently. This approach has practical advantages, but the level to which this mechanism can be truly exploited in practice depends directly on the consistency of the prosthesis control interface.

  16. Numerical investigation on feedback control of flow around an oscillating hydrofoil by Lorentz force

    Energy Technology Data Exchange (ETDEWEB)

    Liu Zongkai; Zhou Benmou; Liu Huixing; Ji Yanliang; Huang Yadong, E-mail: kfliukai@126.com [Science and Technology on Transient Physics Laboratory, Nanjing University of Science and Technology, Nanjing 210094 (China)

    2013-06-15

    In order to improve the hydrodynamic characteristics of a hydrofoil (NACA0012), this paper investigates an oscillating hydrofoil immersed in seawater (an electrically poorly conducting fluid) with feedback control of electromagnetic force (Lorentz force). This method is used in the iterative process, by forecasting the location of boundary layer separation points and attack angle at the next time step and figuring out the optimal force distribution function based on these parameters, then returns to the current time step and applies the optimal force onto the leeside to control the flow separation. Based on the basic flow governing equations, the flow field structures, lift evolutions and energy consumptions (the input impulse of Lorentz force) have been numerically investigated. Numerical results show that with this control, the flow separation could be fully suppressed. Meanwhile, the lift increases dramatically and oscillation is suppressed successfully. Furthermore, under similar lift improvement and control effects, the feedback control optimal ratio is 72.58%. (paper)

  17. 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.

  18. Numerical investigation on feedback control of flow around an oscillating hydrofoil by Lorentz force

    Science.gov (United States)

    Liu, Zong-Kai; Zhou, Ben-Mou; Liu, Hui-Xing; Ji, Yan-Liang; Huang, Ya-Dong

    2013-06-01

    In order to improve the hydrodynamic characteristics of a hydrofoil (NACA0012), this paper investigates an oscillating hydrofoil immersed in seawater (an electrically poorly conducting fluid) with feedback control of electromagnetic force (Lorentz force). This method is used in the iterative process, by forecasting the location of boundary layer separation points and attack angle at the next time step and figuring out the optimal force distribution function based on these parameters, then returns to the current time step and applies the optimal force onto the leeside to control the flow separation. Based on the basic flow governing equations, the flow field structures, lift evolutions and energy consumptions (the input impulse of Lorentz force) have been numerically investigated. Numerical results show that with this control, the flow separation could be fully suppressed. Meanwhile, the lift increases dramatically and oscillation is suppressed successfully. Furthermore, under similar lift improvement and control effects, the feedback control optimal ratio is 72.58%.

  19. 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.

  20. Modeling and Application of Series Elastic Actuators for Force Control Multi Legged Robots

    CERN Document Server

    S, Arumugom; V, Ponselvan

    2009-01-01

    Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better". A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke's Law (F=Kx). A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance amplification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Ac...

  1. 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.

  2. An analytical model of the knee for estimation of internal forces during exercise.

    Science.gov (United States)

    Zheng, N; Fleisig, G S; Escamilla, R F; Barrentine, S W

    1998-10-01

    An analytical model of the knee joint was developed to estimate the forces at the knee during exercise. Muscle forces were estimated based upon electromyographic activities during exercise and during maximum voluntary isometric contraction (MVIC), physiological cross-sectional area (PCSA), muscle fiber length at contraction and the maximum force produced by an unit PCSA under MVIC. Tibiofemoral compressive force and cruciate ligaments' tension were determined by using resultant force and torque at the knee, muscle forces, and orientations and moment arms of the muscles and ligaments. An optimization program was used to minimize the errors caused by the estimation of the muscle forces. The model was used in a ten-subject study of open kinetic chain exercise (seated knee extension) and closed kinetic chain exercises (leg press and squat). Results calculated with this model were compared to those from a previous study which did not consider muscle length and optimization. Peak tibiofemoral compressive forces were 3134 +/- 1040 N during squat, 3155 +/- 755 N during leg press and 3285 +/- 1927 N during knee extension. Peak posterior cruciate ligament tensions were 1868 +/- 878 N during squat, 1866 +/- 383 N during leg press and 959 +/- 300 N for seated knee extension. No significant anterior cruciate ligament (ACL) tension was found during leg press and squat. Peak ACL tension was 142 +/- 257 N during seated knee extension. It is demonstrated that the current model provided better estimation of knee forces during exercises, by preventing significant overestimates of tibiofemoral compressive forces and cruciate ligament tensions.

  3. 25 CFR 542.19 - What are the minimum internal control standards for accounting?

    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... SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.19 What are the minimum internal control standards for... part and by the Tribal internal control standards; (6) Journal entries prepared by the gaming...

  4. 25 CFR 542.16 - What are the minimum internal control standards for information technology?

    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... INTERIOR HUMAN SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.16 What are the minimum internal control... to adhere to tribal internal control standards applicable to the goods and services the vendor...

  5. Force/position control of a robot manipulator for human-robot interaction

    Directory of Open Access Journals (Sweden)

    Neranon Paramin

    2016-01-01

    Full Text Available With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure its reliably and timely operational characteristics, in which appropriate proportional integral gains were experimentally adopted using a set of virtual crank-turning tests. The designed robotic system is made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque sensor and a real-time external PC based control system. A proportional integral controller has been developed to provide stable and robust force control on unknown environmental stiffness and motion. To quantify its effectiveness, the robotic system has been verified through a comprehensive set of experiments, in which force measurement and ALTER real-time path control systems were evaluated. In summary, the results indicated satisfactorily stable performance of the robot force/position control system. The gain tuning for proportional plus integral control algorithm was successfully implemented. It can be reported that the best performance as specified by the error root mean square method of the radial force is observed with proportional and integral gains of 0.10 and 0.005 respectively.

  6. 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.

  7. Profit Centres and Internal Controls as Drivers of Business Efficiency

    Directory of Open Access Journals (Sweden)

    Ivana Drožđek

    2013-07-01

    Full Text Available Understanding the current and future needs of the market, and knowing how to fulfil them, is the task of any successful economy. Companies wanting to be in step with the development of modern economy are trying to reorient their business regarding its organization, technology and information processes in order to increase their business efficiency. Thus, an adequately established and organized system of internal control, as well as a properly designed and highly efficient organizational structure also represents one of the challenges of a modern enterprise. Therefore, the combination of the internal control system and profit centres is the system which reduces the probability of errors and possible fraud to a minimum and is a prerequisite of efficient business.

  8. An experimental study of force control of an IPMC actuated two-link manipulator using time-delay control

    Science.gov (United States)

    Hyeok Kim, Min; Kim, Kwan Young; Lee, Joon Hwan; Jho, Jae Young; Kim, Dong Min; Rhee, Kyehan; Lee, Soo Jin

    2016-11-01

    This study focuses on the force control of an ionic polymer metal composite (IPMC) actuator and a two-link manipulator actuated by the IPMC. As a polymer actuator that transforms electric energy into mechanical energy, IPMC has been applied to various mechanical devices. The time-varying property of IPMC makes it difficult to control the tip force of an IPMC actuator with a strip form, which requires a force control scheme with considerable robustness. In this study, time-delay control (TDC), which has shown exceptional robustness in various control systems, was applied to the force control of an IPMC actuator and a two-link manipulator actuated by IPMC strips. The experiments demonstrated that TDC could control the tip force of an IPMC strip so that, in spite of its time-varying characteristics, it closely follows the designed reference force with exceptional robustness. Moreover, the contact force of a two-link manipulator actuated by IPMC strips could be successfully controlled with the TDC law including the kinematic relation of the manipulator.

  9. Current Situation of International Nuclear Arms Control and Nuclear Disarmament

    Institute of Scientific and Technical Information of China (English)

    Gong; Xianfu

    2014-01-01

    <正>Currently,international nuclear arms control and nuclear disarmament process is showing both encouraging and frustrating signs,with a stress on the latter.The following is a general picture:First,the new U.S.-Russian nuclear disarmament process faces challenges and prospect of a new round of nuclear disarmament negotiation is grim.As a result of implementing the New START signed in February 2011,as of March 1,2014,the United States has 1585

  10. Fundamental study of phosphor separation by controlling magnetic force

    Energy Technology Data Exchange (ETDEWEB)

    Wada, Kohei, E-mail: kohei@qb.see.eng.osaka-u.ac.jp; Mishima, Fumihito; Akiyama, Yoko, E-mail: yoko-ak@qb.see.eng.osaka-u.ac.jp; Nishijima, Shigehiro

    2013-11-15

    Highlights: •We tried to separate the phosphor using the magnetic Archimedes separation method. •In this method, vertical and radial components of the magnetic force were used. •We succeeded to separate HP and developed the continuous separation system. •The separation system enables successive separation and recovery of HP. -- Abstract: The phosphor wastes consist of phosphors with different emission colors, green (LAP), red (YOX), blue (BAM) and white (HP). It is required to recover and reuse the rare earth phosphors with high market value. In this study, we tried to separate the phosphor using the magnetic separation by HTS bulk magnet utilizing the differences of magnetic susceptibility by the type of phosphors. We succeeded in the successive separation of HP with low market value from YOX and BAM including the rare earth using the magnetic Archimedes method. In this method, vertical and radial components of the magnetic force were used.

  11. Osmotic Force-Controlled Microrheometry of Entangled Actin Networks

    Science.gov (United States)

    Uhde, Jorg; Feneberg, Wolfgang; Ter-Oganessian, N.; Sackmann, Erich; Boulbitch, Alexei

    2005-05-01

    In studying a magnetic bead’s creep response to force pulses in an entangled actin network we have found a novel regime where the bead motion obeys a power law x(t)˜t1/2 over two decades in time. It is flanked by a short-time regime with x(t)˜t3/4 and a viscous with x(t)˜t. In the intermediate regime the creep compliance depends on the actin concentration c as c-β with β≈1.1±0.3. We explain this behavior in terms of osmotic restoring force generated by the piling up of filaments in front of the moving bead. A model based on this concept predicts intermediate x(t)˜t1/2 and long-time regimes x(t)˜t in which the compliance varies as c-4/3, in agreement with experiment.

  12. Synthetical Control of AGC/LPC System Based on Neural Networks Internal Model Control

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    One synthetical control method of AGC/LPC system based on intelligence control theory-neural networks internal model control method is presented. Genetic algorithm (GA) is applied to optimize the parameters of the neural networks. Simulation results prove that this method is effective.

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

    Science.gov (United States)

    Eslami, Sohrab; Jalili, Nader

    2012-12-01

    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 boundary

  14. Force encoding in stick insect legs delineates a reference frame for motor control.

    Science.gov (United States)

    Zill, Sasha N; Schmitz, Josef; Chaudhry, Sumaiya; Büschges, Ansgar

    2012-09-01

    The regulation of forces is integral to motor control. However, it is unclear how information from sense organs that detect forces at individual muscles or joints is incorporated into a frame of reference for motor control. Campaniform sensilla are receptors that monitor forces by cuticular strains. We studied how loads and muscle forces are encoded by trochanteral campaniform sensilla in stick insects. Forces were applied to the middle leg to emulate loading and/or muscle contractions. Selective sensory ablations limited activities recorded in the main leg nerve to specific receptor groups. The trochanteral campaniform sensilla consist of four discrete groups. We found that the dorsal groups (Groups 3 and 4) encoded force increases and decreases in the plane of movement of the coxo-trochanteral joint. Group 3 receptors discharged to increases in dorsal loading and decreases in ventral load. Group 4 showed the reverse directional sensitivities. Vigorous, directional responses also occurred to contractions of the trochanteral depressor muscle and to forces applied at the muscle insertion. All sensory discharges encoded the amplitude and rate of loading or muscle force. Stimulation of the receptors produced reflex effects in the depressor motoneurons that could reverse in sign during active movements. These data, in conjunction with findings of previous studies, support a model in which the trochanteral receptors function as an array that can detect forces in all directions relative to the intrinsic plane of leg movement. The array could provide requisite information about forces and simplify the control and adaptation of posture and walking.

  15. 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.

  16. RISK ASSESSMENT ACTIVITIES IN COSO INTERNAL CONTROL MODEL

    Directory of Open Access Journals (Sweden)

    Hasan TÜREDİ

    2016-08-01

    Full Text Available The companies pursue their goals and operate their activities in an environment full of risks and uncertainties. One of the major principles in accounting is that the companies to continue indefinitely, which is called “the going concern assumption”. Any company, surrounded by many risks must adapt to the rapidly changing conditions of the business environment, realize and manage those risks and build some core competencies to continue as a going concern. COSO internal control, having practical application tools for companies is one of the generally accepted frameworks that aims enabling the companies to build, manage and develop an internal control structure as a tool to reach sustainable success. One of the five COSO components is “risk assessment” covering the recognition and assessment of the potential risks that the company faces and manage those risk considering their materiality. This study aims to explain the COSO internal control model with its five components as well as stressing the assessment of risks component supported by some examples.

  17. Force controller design and evaluation for robot-assisted die and mould polishing

    Science.gov (United States)

    Güvenç, Levent; Srinivasan, Krishnaswamy

    1995-01-01

    A significant portion of the total manufacturing time for a die or a mould, both used extensively in producing complex shaped parts, is spent on surface finishing operations following the primary machining of the die or mould cavity. Hence, there is considerable incentive in pursuing even partial automation of die or mould surface finishing operations. This paper concentrates on the control issues that arise during automation of die and mould surface finishing using industrial robot held tools, with particular attention being devoted to the design and evaluation of force controllers to maintain the desired tool-workpiece interaction. Simplified models of the polishing process including the effect of robot structural compliance are presented first, for analysing and designing controllers. A through-the-arm robot force control implementation using off-the-shelf tooling is discussed next. However, the major focus of this paper is on active end effector force control since there are limitations in the performance of the through-the-arm force control loop. Active end effector force controller design requirements and a simple robust stability test in the face of model uncertainty are given and applied to several design examples. Results of force controller analysis and design are verified by experiments where force regulation during polishing and trajectory tracking are demonstrated.

  18. 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.

    1992-01-01

    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-M robot and have measured a dramatic reduction in error (more than a factor of 20) compared to rations without force control.

  19. 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.

    1992-11-01

    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-M robot and have measured a dramatic reduction in error (more than a factor of 20) compared to rations without force control.

  20. 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.

  1. A comprehensive gaze stabilization controller based on cerebellar internal models

    DEFF Research Database (Denmark)

    Vannucci, Lorenzo; Falotico, Egidio; Tolu, Silvia

    2017-01-01

    based on the coordination of VCR and VOR and OKR. The model, inspired by neuroscientific cerebellar theories, is provided with learning and adaptation capabilities based on internal models. We present the results for the gaze stabilization model on three sets of experiments conducted on the SABIAN robot...... and on the iCub simulator, validating the robustness of the proposed control method. The first set of experiments focused on the controller response to a set of disturbance frequencies along the vertical plane. The second shows the performances of the system under three-dimensional disturbances. The last set...

  2. Visual information gain and task asymmetry interact in bimanual force coordination and control.

    Science.gov (United States)

    Hu, Xiaogang; Newell, Karl M

    2011-08-01

    This study examined the question of whether and how the influence of visual information on force coordination patterns is dependent on the settings of a task asymmetry constraint. In a bimanual isometric force experiment, the task asymmetry was manipulated via imposing different coefficients on the index finger forces such that the weighted sum of the finger forces matched the target force. The environmental constraint was quantified by the visual performance error and was manipulated through the change of visual gain (number of pixels on the screen representing the unit of force). The constraint arising from the individual was quantified by the bilateral coupling effect (i.e., symmetric force production) between hands. The results revealed improved performance in terms of lower variability and performance error and more complex total force structure with higher visual gain. The influence of visual gain on the force coordination pattern, however, was found to be dependent on the task coefficients imposed on the finger forces. Namely, the force sharing between hands became more symmetric with high visual gain only when the right finger force had the higher coefficient, and an error-compensatory strategy was evident with high gain only when symmetric coefficients were imposed on the two fingers. The findings support the proposition that the motor coordination and control patterns are organized by the interactive influence of different categories of constraints where the functional influence of the information provided is dependent on the motor output.

  3. 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.

  4. Improving Air Force Command and Control Through Enhanced Agile Combat Support Planning, Execution, Monitoring, and Control Processes

    Science.gov (United States)

    2012-01-01

    assess, plan, execute [ MAPE ] model) are an integral part of Air Force enterprise and joint command and control capability. In the revised copy of Air...operations. 2 Similar in construct, the Air Force uses the MAPE model when discussing ACS processes. 3 In the revised copy of AFDD 1, dated November 12, 2010...MAJCOM major command xliv Improving Air Force C2 Through Enhanced Agile Combat Support Processes MAJCOM/CC commander, major command MAPE monitor, assess

  5. Los sistemas de control de la fuerza de ventas (the sales force control systems

    Directory of Open Access Journals (Sweden)

    María de Miguel Molina

    2012-04-01

    Full Text Available El objetivo de este análisis es estudiar qué sistemas son utilizados para controlar a la fuerza de ventas y cuáles son más adecuados, si aquellos basados en el resultado o los basados en el comportamiento. Los directores de ventas deben combinar una cantidad elevada de diferentes elementos de control que podrán afectar al comportamiento de los vendedores de forma diferente. La combinación individual en un sistema integrado de supervisión es un ejercicio de gran complejidad que debe indicar a los vendedores cómo se supone que deben realizar su trabajo (Oliver y Anderson, 1994. La selección de herramientas y procesos depende de los objetivos que se quieran conseguir. Para analizar las ventajas e inconvenientes de cada uno de estos sistemas se ha realizado una revisión de la literatura. Tras este análisis se deduce que lo más aconsejable, en el caso de la fuerza de ventas, es utilizar un sistema híbrido. En un trabajo posterior, se podrían identificar las variables más adecuadas en función de los objetivos que quiera lograr cada empresa, lo que en concreto puede ser de gran utilidad para las pymes que carecen de sistemas de control. Su aplicación podrá permitir valorar la eficacia de las variables seleccionadas.(The objective of this paper is to analyze the suitability of the systems used to control the sales force: those that use the results as a reference and those that take into account aspects related to the behavior of sellers, to determine if they meet the objectives established by the company. It is therefore a complex issue that should guide the vendors in terms of how they are supposed to do their work (Oliver and Anderson, 1994. The literature review indicates that in most cases, hybrid systems are used with a predominance of one or another component, depending on the type of company, product and purpose. This study aims to facilitate the managers how to identify the variables that best suit the goals each company wants

  6. BITE-FORCE ENDURANCE IN PATIENTS WITH TEMPOROMANDIBULAR-JOINT OSTEOARTHROSIS AND INTERNAL DERANGEMENT

    NARCIS (Netherlands)

    STEGENGA, B; BROEKHUIJSEN, ML; DEBONT, LGM; VANWILLIGEN, JD

    1992-01-01

    The aim of this study was to investigate the potential clinical relevance of testing bite force endurance in patients with articular temporomandibular disorders. The endurance of a 50 N bite force was measured in 51 patients with painful temporomandibular joint disorders. The results were compared t

  7. 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.

  8. Nanoparticle hardness controls the internalization pathway for drug delivery.

    Science.gov (United States)

    Li, Ye; Zhang, Xianren; Cao, Dapeng

    2015-02-14

    Nanoparticle (NP)-based drug delivery systems offer fundamental advantages over current therapeutic agents that commonly display a longer circulation time, lower toxicity, specific targeted release, and greater bioavailability. For successful NP-based drug delivery it is essential that the drug-carrying nanocarriers can be internalized by the target cells and transported to specific sites, and the inefficient internalization of nanocarriers is often one of the major sources for drug resistance. In this work, we use the dissipative particle dynamics simulation to investigate the effect of NP hardness on their internalization efficiency. Three simplified models of NP platforms for drug delivery, including polymeric NP, liposome and solid NP, are designed here to represent increasing nanocarrier hardness. Simulation results indicate that NP hardness controls the internalization pathway for drug delivery. Rigid NPs can enter the cell by a pathway of endocytosis, whereas for soft NPs the endocytosis process can be inhibited or frustrated due to wrapping-induced shape deformation and non-uniform ligand distribution. Instead, soft NPs tend to find one of three penetration pathways to enter the cell membrane via rearranging their hydrophobic and hydrophilic segments. Finally, we show that the interaction between nanocarriers and drug molecules is also essential for effective drug delivery.

  9. 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.

  10. Criteria for the Minimum Operation Length of Internal Forces as a Function of the Development of an Optimum Structure of Machinery Structural Components

    Directory of Open Access Journals (Sweden)

    Fligiel M.

    2016-12-01

    Full Text Available The present study analyzes the operation length of internal forces (DDSW understood as the length of the flow of internal forces along the shortest possible internal routes. The operation length of internal forces is determined on the basis of stresses and the given volume in the constructional space. The minimum DDSW of the structure satisfies the criterial conditions of the most rigid structure, where the potential energy of deformation and the deformation energy potential is the same in the whole volume and thus the potential gradient is zero.

  11. An Approach to Simultaneous Force/Position Control of Robot Manipulators

    OpenAIRE

    Vladimir Filaretov; Alexander Zuev

    2013-01-01

    In this article, the new approach to high-quality simultaneous force/position control for robot manipulators is proposed based on the division of actuator's total torque of manipulator for each degree of freedom onto two components: position (which provides the position and orientation of the end-effector) and force (which provides the force and moment from end-effector on environment), and on the further simultaneous minimization of the errors of this two component with the help of the quadr...

  12. 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.

  13. 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.

  14. Development of internal controls for PCR detection of Bacillus anthracis.

    Science.gov (United States)

    Brightwell, G; Pearce, M; Leslie, D

    1998-12-01

    This work describes the development and evaluation of a multiplex polymerase chain reaction (PCR) for the detection of Bacillus anthracis strains harbouring plasmid pX02. The multiplex also incorporated an internal control (IC) to avoid false negative reactions. Internal controls consisted of plasmids containing modified PCR target sequences, corresponding to the capC and BA813 genes of B. anthracis, which were then co-amplified with the original target sequences using the same set of amplimers. The initial IC construct comprised of an internally deleted form of the genomic target sequence cloned into pUC19. A series of nested DNA fragments corresponding to the 23S rRNA sequences of Bacillus cereus were then subcloned into the point of deletion, producing a number of IC constructs with similar sequences but increasing product size on PCR amplification. Neither the presence of IC DNA template or IC PCR product size affected the specificity or non-specific cross-reactivity of the original PCR assay. The concentration of IC was critical, too much IC DNA template would out compete the genomic DNA template, thus giving a false negative result. However, when the concentration of IC was optimal assay sensitivity was not compromised.

  15. High refractive index silicone gels for simultaneous total internal reflection fluorescence and traction force microscopy of adherent cells.

    Directory of Open Access Journals (Sweden)

    Edgar Gutierrez

    Full Text Available Substrate rigidity profoundly impacts cellular behaviors such as migration, gene expression, and cell fate. Total Internal Reflection Fluorescence (TIRF microscopy enables selective visualization of the dynamics of substrate adhesions, vesicle trafficking, and biochemical signaling at the cell-substrate interface. Here we apply high-refractive-index silicone gels to perform TIRF microscopy on substrates with a wide range of physiological elastic moduli and simultaneously measure traction forces exerted by cells on the substrate.

  16. Remote Control of an Assistive Robot using Force Feedback

    OpenAIRE

    Nadrag, Paul; Temzi, Lounis; Arioui, Hichem; Hoppenot, Philippe

    2011-01-01

    International audience; In this paper, we consider the haptic teleoperation of an assistive mobile robot, used for exploring a domestic environment. The goal of the paper is to help the remote operator to pilot the robot by giving him not only video feedback but also haptic feedback. They are both complementary as they do not require the same kind of attention from the user. The proposed haptic architecture was found to improve operator perception of the remote environment under time delay co...

  17. 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....

  18. 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....

  19. 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.

  20. 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.

  1. 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.

  2. Flow pattern and lift evolution of hydrofoil with control of electro-magnetic forces

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    The initial responses and evolutions of the flow pattern and lift coefficient of a hydrofoil under the action of electro-magnetic (Lorentz) force have been studied experimentally and numerically, and trace particle methods are employed for them. With the introduction of BVF (boundary vortex flux), the quantitative relation among Lorentz forces, BVF and lifts is deduced. The influences of flow patterns on the hydrofoil lift coefficient have been discussed based on the BVF distribution, and the flow control mechanism of Lorentz force for a hydrofoil has been elucidated. Our results show that the flow pattern and lift of the hydrofoil vary periodically without any force. However, with the action of streamwise Lorentz forces, the separation point on the hydrofoil surface moves backward with a certain velocity, which makes the flow field steady finally. The streamwise Lorentz force raises the foil lift due to the increase of BVF intensity. On the other hand, Lorentz force also increases the hydrofoil surface pressure, which makes the lift decrease. However, the factor leading to the lift enhancement is determinant, therefore, the Lorentz force on the suction side can increase the lift, and the stronger the Lorentz force, the larger the lift enhancement. Our results also show that the localized Lorentz force can also both suppress the flow separation and increase the hydrofoil lift coefficient, furthermore, the Lorentz force located on the tail acts better than that located on the front.

  3. Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators

    Institute of Scientific and Technical Information of China (English)

    李元春; 丁贵彬; 赵博

    2016-01-01

    A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.

  4. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

    Fukushima, Edwardo F.; Hirose, Shigeo [Tokyo Inst. of Tech. (Japan)

    2000-05-01

    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)

  6. 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.

  7. 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...

  8. 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...

  9. 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

  10. Controlling chaos with localized heterogeneous forces in oscillator chains.

    Science.gov (United States)

    Chacón, Ricardo

    2006-10-01

    The effects of decreasing the impulse transmitted by localized periodic pulses on the chaotic behavior of homogeneous chains of coupled nonlinear oscillators are studied. It is assumed that when the oscillators are driven synchronously, i.e., all driving pulses transmit the same impulse, the chains display chaotic dynamics. It is shown that decreasing the impulse transmitted by the pulses of the two free end oscillators results in regularization with the whole array exhibiting frequency synchronization, irrespective of the chain size. A maximum level of amplitude desynchrony as the pulses of the two end oscillators narrow is typically found, which is explained as the result of two competing universal mechanisms: desynchronization induced by localized heterogeneous pulses and oscillation death of the complete chain induced by drastic decreasing of the impulse transmitted by such localized pulses. These findings demonstrate that decreasing the impulse transmitted by localized external forces can suppress chaos and lead to frequency-locked states in networks of dissipative systems.

  11. Impaired anticipatory control of force sharing patterns during whole-hand grasping in Parkinson's disease.

    Science.gov (United States)

    Muratori, Lisa M; McIsaac, Tara L; Gordon, Andrew M; Santello, Marco

    2008-02-01

    We examined the coordination of multi-digit grasping forces as they developed during object grasping and lifting. Ten subjects with Parkinson's disease (PD; OFF and ON medication) and ten healthy age-matched control subjects lifted a manipulandum that measured normal forces at each digit and the manipulandum's position. The center of mass (CM) was changed from trial to trial in either a predictable (blocked) or unpredictable (random) order. All subjects modulated individual fingertip forces to counterbalance forces exerted by the thumb and minimize object tilt after lift-off. However, subjects with PD OFF exhibited an impaired ability to use anticipatory mechanisms resulting in less differentiated scaling of individual finger forces to the object CM location. Remarkably, these between-group differences in force modulation dissipated as subjects reached peak grip forces during object lift, although these occurred significantly later in subjects with PD OFF than controls and PD ON. Analysis of the tilt of the object during lift revealed all subjects had similar deviations of the object from the vertical, the direction of which depended on CM location. Thus these findings in subjects with PD indicate that: (a) PD-induced impairments in anticipatory force mechanisms appear to be greatly increased in multi-digit grasping as opposed to previous reports from two-digit grasping; (b) inaccurate scaling of fingertip force amplitude and sharing patterns before object lift is recovered during object lift; (c) the implementation of appropriate force amplitude and sharing among the digits during the lift occurs significantly later than for controls; (d) medication improves the temporal recovery of multi-digit force coordination. These results are discussed within the framework of PD-related deficits in sensorimotor integration and control of multi-degrees of freedom movement.

  12. THE RULES OF INTERNATIONAL LAW THAT REGULATE THE USE OF INTERSTATE FORCE

    Directory of Open Access Journals (Sweden)

    G. Conradie

    2012-02-01

    Full Text Available Just as the most important norms governing the behaviour of individuals are embodied in domestic law, some norms governing the behaviour of states are embodied in "international law. International law, however, operates in quite a different social context. The foundations of an overwhelming social concensus and of a central authority which endows its rules with sanction, are lacking. States are not subject to law; international law is not a law, above states but one between them. This situation is so anomalous for a legal system that some professional lawyers deny the legal character of international law completely, claiming that it lacks the distinctive characteristic of effective sanctions.

  13. Vehicle active steering control research based on two-DOF robust internal model control

    Science.gov (United States)

    Wu, Jian; Liu, Yahui; Wang, Fengbo; Bao, Chunjiang; Sun, Qun; Zhao, Youqun

    2016-07-01

    Because of vehicle's external disturbances and model uncertainties, robust control algorithms have obtained popularity in vehicle stability control. The robust control usually gives up performance in order to guarantee the robustness of the control algorithm, therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness. The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties. In order to separate the design process of model tracking from the robustness design process, the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization. Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm, on the basis of a nonlinear vehicle simulation model with a magic tyre model. Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance, which can enhance the vehicle stability and handling, regardless of variations of the vehicle model parameters and the external crosswind interferences. Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.

  14. 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,…

  15. 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,…

  16. Controlling pandemic flu: the value of international air travel restrictions.

    Directory of Open Access Journals (Sweden)

    Joshua M Epstein

    Full Text Available BACKGROUND: 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. METHODS AND FINDINGS: 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. CONCLUSIONS: 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

  17. Zero forcing, linear and quantum controllability for systems evolving on networks

    CERN Document Server

    Burgarth, Daniel; Hogben, Leslie; Severini, Simone; Young, Michael

    2011-01-01

    We study the dynamics of systems on networks from a linear algebraic perspective. The control theoretic concept of controllability describes the set of states that can be reached for these systems. Under appropriate conditions, there is a connection between the quantum (Lie theoretic) property of controllability and the linear systems (Kalman) controllability condition. We investigate how the graph theoretic concept of a zero forcing set impacts the controllability property. In particular, we prove that if a set of vertices is a zero forcing set, the associated dynamical system is controllable. The results open up the possibility of further exploiting the analogy between networks, linear control systems theory, and quantum systems Lie algebraic theory. This study is motivated by several quantum systems currently under study, including continuous quantum walks modeling transport phenomena. Additionally, it proposes zero forcing as a new notion in the analysis of complex networks.

  18. 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.

  19. A Selected Operational History of the Internal Thermal Control System (ITCS) for International Space Station (ISS)

    Science.gov (United States)

    Patel, Vipul P.; Winton, Dale; Ibarra, Thomas H.

    2004-01-01

    The Internal Thermal Control System (ITCS) has been developed jointly by Boeing Corporation, Huntsville, Alabama and Honeywell Engines & Systems, Torrance, California to meet the internal thermal control needs for the International Space Station (ISS). The ITCS provides heat removal for the critical life support systems and thermal conditioning for numerous experiment racks. The ITCS will be fitted on a number of modules on the ISS. The first US Element containing the ITCS, Node 1, was launched in December 1998. Since Node 1 does not contain a pump to circulate the fluid it was not filled with ITCS fluid until after the US Laboratory Module was installed. The second US Element module, US Laboratory Module, which contains the pumps and all the major ITCS control hardware, was launched in February 2001. The third US Element containing the ITCS, the US Airlock, was launched in July 2001. The dual loop system of the ITCS is comprised of a lowtemperature loop (LTL) and a moderate-temperature loop (MTL). Each loop has a pump package assembly (PPA), a system flow control assembly (SFCA), a threeway mixing valve (TWMV), several rack flow control assemblies (RFCA), cold plates, pressure sensors, temperature sensors, pump bypass assembly (PBA) and a heat exchanger. In addition, the MTL has an additional TWMV, a payload regeneration heat exchanger (P/RHE) and a manual flow control valve (MFCV). The LTL has a service performance and checkout unit (SPCU) heat exchanger. The two loops are linked via one loop crossover assembly (LCA) providing cross loop capabilities and a single PPA, two-loop functionality. One important parameter monitored by the ground stations and on-orbit is the amount of fluid leakage from the ITCS. ISS fluid leakage is of importance since ITCS fluid is costly to re-supply, may be difficult to clean up in zero-g, and if uncontained could lead to equipment failures and potential hazards. This paper examines the nominal leakage observed over period of a year

  20. Damping force control of a vehicle MR damper using a Preisach hysteretic compensator

    Science.gov (United States)

    Seong, Min-Sang; Choi, Seung-Bok; Han, Young-Min

    2009-07-01

    This paper presents damping force control performances of a magnetorheological (MR) damper via a new control strategy considering hysteretic behavior of the field-dependent damping force. In order to achieve this goal, a commercial MR damper, Delphi Magneride™ which is applicable to a high-class passenger vehicle is adopted and its field-dependent damping force is experimentally evaluated. The MR damper has two types of damping force hysteretic behavior. The first is velocity-dependent hysteresis and the other is field-dependent hysteresis. Since the magnetic field is directly connected with control input, the field-dependent hysteresis largely affects the control performances of the MR damper system. To consider the field-dependent hysteretic behavior of the MR damper, a Preisach hysteresis model is established and its first-order descending (FOD) curves are experimentally identified. Subsequently, a feedforward hysteretic compensator associated with the biviscous model and inverse Bingham model is formulated to achieve the desired damping force. The control algorithm is experimentally implemented and damping force controllability for sinusoidal and arbitrary trajectories is evaluated in terms of accuracy and input magnitude. In addition, vibration control performances of the MR suspension system are experimentally evaluated with a quarter-vehicle test facility.

  1. 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.

  2. PRESSURE FORCE CONTROL FOR FABRICATION OF PLASTIC MICROFLUIDIC CHIPS WITH HOT EMBOSSING METHOD

    Institute of Scientific and Technical Information of China (English)

    LIU Chong; LIAO Junfeng; WANG Xiaodong; WANG Liding

    2007-01-01

    A pressure force control system for hot embossing of microfluidic chips is designed with a moment motor and a ball bearing lead screw. Based on the numeric PID technique, the algorithm of pulsant integral accelerated PID control is presented and the negative effects of nonlinearity from friction, clearance and saturation are eliminated. In order to improve the quick-response characteristic, independent thread technique is adopted. The method of pressure force control based on pulsant integral accelerated PID control and independent thread technique is applied with satisfactory control performance.

  3. 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.

  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. Hybrid internal model control and proportional control of chaotic dynamical systems

    Institute of Scientific and Technical Information of China (English)

    齐冬莲; 姚良宾

    2004-01-01

    A new chaos control method is proposed to take advantage of chaos or avoid it. The hybrid Internal Model Control and Proportional Control learning scheme are introduced. In order to gain the desired robust performance and ensure the system's stability, Adaptive Momentum Algorithms are also developed. Through properly designing the neural network plant model and neural network controller, the chaotic dynamical systems are controlled while the parameters of the BP neural network are modified. Taking the Lorenz chaotic system as example, the results show that chaotic dynamical systems can be stabilized at the desired orbits by this control strategy.

  6. Hybrid internal model control and proportional control of chaotic dynamical systems.

    Science.gov (United States)

    Qi, Dong-lian; Yao, Liang-bin

    2004-01-01

    A new chaos control method is proposed to take advantage of chaos or avoid it. The hybrid Internal Model Control and Proportional Control learning scheme are introduced. In order to gain the desired robust performance and ensure the system's stability, Adaptive Momentum Algorithms are also developed. Through properly designing the neural network plant model and neural network controller, the chaotic dynamical systems are controlled while the parameters of the BP neural network are modified. Taking the Lorenz chaotic system as example, the results show that chaotic dynamical systems can be stabilized at the desired orbits by this control strategy.

  7. Development and Applications for the Remote Controllable Atomic Force Microscope

    Science.gov (United States)

    Fornaro, P.; Guggisberg, M.; Gyalog, T.; Wattinger, Ch.; Meyer, E.; Güntherodt, H.-J.

    2003-12-01

    We present a fully remote controllable AFM, featuring a motorized four-axis sample stage. The low cost robotics allows a fast and accurate change of pre-defined positions. Due to the software interface the instrument can be programmed to perform sequences of measurements. This allows the automated acquisition of large scale high resolution images. The instrument can be controlled and monitored from various locations using a standard network interface.

  8. Trajectory and Force Control of a Direct Drive Arm.

    Science.gov (United States)

    1986-09-01

    fixed-point arithmetic. Written in the C lan- guage, the controller, including the full computation of the robot dynamics , runs at a 133 Hz sampling...Featherstone, R, 1984, Robot Dynamics Algorithms, Ph.D. Thesis, University of Edinburgh. Franklin, G.F. and Powel, J.D., 1980, Digital Control of Dynamic...Proceedings, 64, pp. 1198-1208. Neuman, C.P., and Khosla, P.K., 1985, "Identification of robot dynamics : an ap- plication of recursive estimation

  9. 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.

  10. Knee Muscle Forces during Walking and Running in Patellofemoral Pain Patients and Pain-Free Controls

    Science.gov (United States)

    Besier, Thor F.; Fredericson, Michael; Gold, Garry E.; Beaupré, Gary S.; Delp, Scott L.

    2009-01-01

    One proposed mechanism of patellofemoral pain, increased stress in the joint, is dependent on forces generated by the quadriceps muscles. Describing causal relationships between muscle forces, tissue stresses, and pain is difficult due to the inability to directly measure these variables in vivo. The purpose of this study was to estimate quadriceps forces during walking and running in a group of male and female patients with patellofemoral pain (n=27, 16 female; 11 male) and compare these to pain-free controls (n=16, 8 female; 8 male). Subjects walked and ran at self-selected speeds in a gait laboratory. Lower limb kinematics and electromyography (EMG) data were input to an EMG-driven musculoskeletal model of the knee, which was scaled and calibrated to each individual to estimate forces in 10 muscles surrounding the joint. Compared to controls, the patellofemoral pain group had greater co-contraction of quadriceps and hamstrings (p=0.025) and greater normalized muscle forces during walking, even though the net knee moment was similar between groups. Muscle forces during running were similar between groups, but the net knee extension moment was less in the patellofemoral pain group compared to controls. Females displayed 30-50% greater normalized hamstring and gastrocnemius muscle forces during both walking and running compared to males (pjoint contact forces and joint stresses than pain-free subjects. PMID:19268945

  11. Forced and internal variability in temperature simulations and reconstructions of the Common Era

    Science.gov (United States)

    Fernández-Donado, Laura; Fidel González-Rouco, J.; Garcia-Bustamante, Elena; Smerdon, Jason S.; Luterbacher, Juerg; Raible, Christoph C.

    2016-04-01

    The relatively short ranges of external forcing variability within the CE represent a challenge in as much as the consistency between simulations and reconstructions can be affected by the large uncertainties in their respective responses to the external forcings. One of the core questions within this work relates therefore the extent to which a straight response to the external forcing can be identified during the period under study and whether this signal is common to simulated and reconstructed temperature. This study is based on an exhaustive compilation, analysis and intercomparison of the available hemispherical and global temperature reconstructions as well as a complete ensemble of simulations including both PMIP3/CMIP5 and non-PMIP3 model experiments. In addition, the various external forcing configurations applied to the models are characterized and a Total External Forcing, including all the individual forcing contributors, is developed for each experiment. Based on the linear relationship found at multidecadal and longer timescales during the last millennium between the temperature and the total external forcing, a quantitative metric of the ratio of response, the so-called Last Millennium Transient Climate Response (LMTCR), is obtained and compared for simulations and reconstructions. Within the LMTCR context, a significant quantitative consistency between the simulations and reconstructions is addressed. This work also offers a discussion about the impact that a range of generally accepted methodological approaches might have on the reconstructed ensemble uncertainties and their influences on model-data comparison exercises. A segregation among the various existing spatial targets within the NH, based on the different level of temperatura variability observed in the series, suggests a lower level of model-data consistency during the MCA than previously reported.

  12. Compliant landing of a trotting quadruped robot based on hybrid motion/force robust control

    Institute of Scientific and Technical Information of China (English)

    郎琳; 王剑; 韦庆; 马宏绪

    2016-01-01

    A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming (QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities (LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.

  13. The Civil Democratic Control on the Army Forces in Romania 1989-2007

    OpenAIRE

    Octavian SOFRONEA

    2016-01-01

    The end of the Cold War meant for the South-Eastern European countries an increased effort for establishing a market based economy and democratic institutions. One raised issue regarding democratization was the reform of the army forces and the democratization of the relationship between the military and the civil society. The civil control on the army forces and the creation of a democratic control system represents key indicators for the process of democratization and stabilizing and legiti...

  14. 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.

  15. Joint Task Force Command, Control, and Communications: Have We Improved

    Science.gov (United States)

    1989-05-05

    Mi i tary -ujm. -;r.] Ce ,J r r’s e =t C.5:12 that c- M - aig ,_’- had bee’r, ...fired on, boarded, and seized in international waters at about 21... Tanq .. Once the crew ha d bee-r located, heiicopte-s woulco he cal led P 4lv them andj the-ir rescuete tca ev Tie po~: tcn robl em with" the plan ,As...Voih Tanq . These striO:es were o-:.sed by° t e N., r b - l’ f3’,r 1vi : : L ,=. . It is .,’ncle..r h the wiole plan was put toget-at-. V ar-io 0- r

  16. 25 CFR 542.9 - What are the minimum internal control standards for card games?

    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 card... SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.9 What are the minimum internal control standards for... and/or procedures that provide at least the level of control described by the standards in...

  17. 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...

  18. 25 CFR 542.15 - What are the minimum internal control standards for credit?

    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... SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.15 What are the minimum internal control standards for... procedures that provide at least the level of control described by the standards in this section, as...

  19. 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...

  20. 25 CFR 542.12 - What are the minimum internal control standards for table games?

    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 table... SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.12 What are the minimum internal control standards for... and/or procedures that provide at least the level of control described by the standards in...

  1. 25 CFR 542.10 - What are the minimum internal control standards for keno?

    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 keno... SERVICES MINIMUM INTERNAL CONTROL STANDARDS § 542.10 What are the minimum internal control standards for... procedures that provide at least the level of control described by the standards in this section, as...

  2. International Space Station (ISS) Internal Active Thermal Control System (IATCS) New Biocide Selection, Qualification and Implementation

    Science.gov (United States)

    Wilson, Mark E.; Cole, Harold E.; Rector, Tony; Steele, John; Varsik, Jerry

    2011-01-01

    The Internal Active Thermal Control System (IATCS) aboard the International Space Station (ISS) is primarily responsible for the removal of heat loads from payload and system racks. The IATCS is a water based system which works in conjunction with the EATCS (External ATCS), an ammonia based system, which are interfaced through a heat exchanger to facilitate heat transfer. On-orbit issues associated with the aqueous coolant chemistry began to occur with unexpected increases in CO2 levels in the cabin. This caused an increase in total inorganic carbon (TIC), a reduction in coolant pH, increased corrosion, and precipitation of nickel phosphate. These chemical changes were also accompanied by the growth of heterotrophic bacteria that increased risk to the system and could potentially impact crew health and safety. Studies were conducted to select a biocide to control microbial growth in the system based on requirements for disinfection at low chemical concentration (effectiveness), solubility and stability, material compatibility, low toxicity to humans, compatibility with vehicle environmental control and life support systems (ECLSS), ease of application, rapid on-orbit measurement, and removal capability. Based on these requirements, ortho-phthalaldehyde (OPA), an aromatic dialdehyde compound, was selected for qualification testing. This paper presents the OPA qualification test results, development of hardware and methodology to safely apply OPA to the system, development of a means to remove OPA, development of a rapid colorimetric test for measurement of OPA, and the OPA on-orbit performance for controlling the growth of microorganisms in the ISS IATCS since November 3, 2007.

  3. International Symposium on Monitoring Behavior and Supervisory Control

    CERN Document Server

    Johannsen, Gunnar

    1976-01-01

    This book includes all papers presented at the International Symposium on Monitoring Behavior and Supervisory Control held at Berchtesgaden, Federal Republic of Germany, March 8-12, 1976. The Symposium was sponsored by the Scientific Affairs Division of the North Atlantic Treaty Organization, Brussels, and the government of the Federal Republic of Germany, Bonn. We believe the book constitutes an important and timely status report on monitoring behavior and supervisory control by human operators of complex man-machine systems in which the computer is sharing key functions with the man. These systems include aircraft and other vehicles, nuclear and more conventional power plants, and processes for the manu­ facture of chemicals, petroleum, and discrete parts. By "monitoring" we mean the systematic observation by a human operator of mul tiple sources of information, e. g. , ranging from integrated display consoles to disparate "live situations". The monitor's purpose is to determine whether operations are norm...

  4. 1st International Conference on Intelligent Communication, Control and Devices

    CERN Document Server

    Choudhury, Sushabhan

    2017-01-01

    The book presents high-quality research papers presented at the first international conference, ICICCD 2016, organised by the Department of Electronics, Instrumentation and Control Engineering of University of Petroleum and Energy Studies, Dehradun on 2nd and 3rd April, 2016. The book is broadly divided into three sections: Intelligent Communication, Intelligent Control and Intelligent Devices. The areas covered under these sections are wireless communication and radio technologies, optical communication, communication hardware evolution, machine-to-machine communication networks, routing techniques, network analytics, network applications and services, satellite and space communications, technologies for e-communication, wireless Ad-Hoc and sensor networks, communications and information security, signal processing for communications, communication software, microwave informatics, robotics and automation, optimization techniques and algorithms, intelligent transport, mechatronics system, guidance and navigat...

  5. Collision avoidance for a mobile robot based on radial basis function hybrid force control technique

    Institute of Scientific and Technical Information of China (English)

    Wen Shu-Huan

    2009-01-01

    Collision avoidance is always difficult in the planning path for a mobile robot. In this paper, the virtual force field between a mobile robot and an obstacle is formed and regulated to maintain a desired distance by hybrid force control algorithm. Since uncertainties from robot dynamics and obstacle degrade the performance of a collision avoidance task, intelligent control is used to compensate for the uncertainties. A radial basis function (RBF) neural network is used to regulate the force field of an accurate distance between a robot and an obstacle in this paper and then simulation studies are conducted to confirm that the proposed algorithm is effective.

  6. GENERAL: Collision avoidance for a mobile robot based on radial basis function hybrid force control technique

    Science.gov (United States)

    Wen, Shu-Huan

    2009-10-01

    Collision avoidance is always difficult in the planning path for a mobile robot. In this paper, the virtual force field between a mobile robot and an obstacle is formed and regulated to maintain a desired distance by hybrid force control algorithm. Since uncertainties from robot dynamics and obstacle degrade the performance of a collision avoidance task, intelligent control is used to compensate for the uncertainties. A radial basis function (RBF) neural network is used to regulate the force field of an accurate distance between a robot and an obstacle in this paper and then simulation studies are conducted to confirm that the proposed algorithm is effective.

  7. 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.

  8. Stability of Hand Force Production: I. Hand Level Control Variables and Multi-Finger Synergies.

    Science.gov (United States)

    Reschechtko, Sasha; Latash, Mark L

    2017-09-13

    We combined the theory of neural control of movement with referent coordinates and the uncontrolled manifold hypothesis to explore synergies stabilizing the hand action in accurate four-finger pressing tasks. In particular, we tested a hypothesis on two classes of synergies - those among the four fingers and those within a pair of control variables - stabilizing hand action under visual feedback and disappearing without visual feedback. Subjects performed four-finger total force and moment production tasks under visual feedback; the feedback was later partially or completely removed. The "inverse piano" device was used to lift and lower the fingers smoothly at the beginning and at the end of each trial. These data were used to compute pairs of hypothetical control variables. Inter-trial analysis of variance within the finger force space was used to quantify multi-finger synergies stabilizing both force and moment. A data permutation method was used to quantify synergies among control variables. Under visual feedback, synergies in the spaces of finger forces and hypothetical control variables were found to stabilize total force. Without visual feedback, the subjects showed a force drift to lower magnitudes and a moment drift toward pronation. This was accompanied by disappearance of the four-finger synergies and strong attenuation of the control-variable synergies. The indices of the two types of synergies correlated with each other. The findings are interpreted within the scheme with multiple levels of abundant variables. Copyright © 2017, Journal of Neurophysiology.

  9. Control of grip force and vertical posture while holding an object and being perturbed.

    Science.gov (United States)

    Chen, Bing; Lee, Yun-Ju; Aruin, Alexander S

    2016-11-01

    We investigated motor control perspectives of coordinating maintenance of posture and application of grip force when holding an object and being perturbed. Ten subjects stood on the force platform holding an instrumented object in their dominant hand and were exposed to an external perturbation applied to their shoulders. Task demands were manipulated by positioning a slippery cap on top of the instrumented object. Grip force applied to the object, the object acceleration and the center of pressure (COP) were recorded and analyzed during the time intervals typical for the anticipatory (APA) and compensatory (CPA) components of postural control. Onsets of grip force were seen before the onsets of the COP displacement and initiation of movements of the handheld object during the APA phase of postural control, while the onsets of maximum grip force preceded the maximum COP displacement during the CPA phase. When the task demands increased by holding a handheld object with the slippery cap, subjects tended to generate grip force earlier and of a smaller magnitude; also, the COP displacement in the APA phase was smaller as compared to holding a handheld object only. The outcome provides a foundation for future studies of maintenance of vertical posture in people with impairments of balance and grip force control when holding an object and being perturbed.

  10. Hybrid-mode Impedance Control for Position/force Tracking in Motor-system Rehabilitation

    Directory of Open Access Journals (Sweden)

    Youngwoo Kim

    2015-06-01

    Full Text Available This paper proposes a new robot controller for motor-system rehabilitation. The proposed controller simultaneously realizes rehabilitation motion tracking and force generation, as predefined through a musculoskeletal model-based optimization process. We introduce control parameters of weighted control action priorities for the motion-tracking and force generation tasks, based on the position-tracking error. With the weighted control action priorities, the robot accords higher priority to motion tracking at the robot end point when the position-tracking error is larger than a threshold value, and to force generation when the position-tracking error is smaller than a threshold value. Smooth motion trajectory has to be designed and applied in robot-based rehabilitation. Through simulations and experimental results, we show the usefulness of the proposed control method.

  11. 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.

  12. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an ass

  13. Combined Position & Force Control for a robotic manipulator

    NARCIS (Netherlands)

    Sijs, J.; Liefhebber, F.; Römer, G.W.R.B.E.

    2007-01-01

    The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an

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

    Science.gov (United States)

    2012-07-01

    nally, the establishing authority must stay involved and, when necessary, arbitrate and resolve conflicting understanding of priorities or revise...unintended cascading effects is one area that could help decentralize control over their use. An ethical cyberweapon could (1) encrypt vital

  15. Unexpected Control Structure Interaction on International Space Station

    Science.gov (United States)

    Gomez, Susan F.; Platonov, Valery; Medina, Elizabeth A.; Borisenko, Alexander; Bogachev, Alexey

    2017-01-01

    On June 23, 2011, the International Space Station (ISS) was performing a routine 180 degree yaw maneuver in support of a Russian vehicle docking when the on board Russian Segment (RS) software unexpectedly declared two attitude thrusters failed and switched thruster configurations in response to unanticipated ISS dynamic motion. Flight data analysis after the maneuver indicated that higher than predicted structural loads had been induced at various locations on the United States (U.S.) segment of the ISS. Further analysis revealed that the attitude control system was firing thrusters in response to both structural flex and rigid body rates, which resonated the structure and caused high loads and fatigue cycles. It was later determined that the thruster themselves were healthy. The RS software logic, which was intended to react to thruster failures, had instead been heavily influenced by interaction between the control system and structural flex. This paper will discuss the technical aspects of the control structure interaction problem that led to the RS control system firing thrusters in response to structural flex, the factors that led to insufficient preflight analysis of the thruster firings, and the ramifications the event had on the ISS. An immediate consequence included limiting which thrusters could be used for attitude control. This complicated the planning of on-orbit thruster events and necessitated the use of suboptimal thruster configurations that increased propellant usage and caused thruster lifetime usage concerns. In addition to the technical aspects of the problem, the team dynamics and communication shortcomings that led to such an event happening in an environment where extensive analysis is performed in support of human space flight will also be examined. Finally, the technical solution will be presented, which required a multidisciplinary effort between the U.S. and Russian control system engineers and loads and dynamics structural engineers to

  16. Use of force-measuring transducers in manipulator control. I - Theory. II - Implementation

    Science.gov (United States)

    Jansen, John; Kress, Reid

    Two types of control structures for teleoperated manipulators are investigated using force-measuring transducers with each type targeting specific properties of the manipulator. One approach is to measure torque in the drive train of the manipulator to increase backdriveability, sensitivity, and stiffness. The second is to measure the forces and torques at the wrist of the manipulator. This force/torque vector is then employed in a stiffness control algorithm which resolves dissimilar kinematics and increases sensitivity. It is shown that torque feedback can be used to reduce the apparent friction in a manipulator drive train caused by gear boxes, bearings, and transmissions. For teleoperated systems, drive-train torque feedback yields improved backdriveability, better sensitivity, and improved stiffness. Cartesian stiffness control allows the operator to specify the relationship between force and displacement in any direction at the manipulator end effector.

  17. Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics"

    OpenAIRE

    Del Prete, Andrea; Nori, Francesco; Metta, Giorgio; Natale, Lorenzo

    2014-01-01

    We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they do not find the optimal solution for the secondary tasks. Other frameworks are optimal, but they tackle the control problem at kinematic level, hence they neglect the robot dynamics and they do not allow for force control. Still other frameworks are optimal...

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

    Science.gov (United States)

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

    2014-06-01

    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}^{\\infty }} 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.

  19. Controlling cell-matrix traction forces by extracellular geometry

    Science.gov (United States)

    Banerjee, Shiladitya; Marchetti, M. Cristina

    2013-03-01

    We present a minimal continuum model of strongly adhering cells as active contractile isotropic media and use the model for studying the effect of the geometry of the adhesion patch in controlling the spatial distribution of traction and cellular stresses. Activity is introduced as a contractile, hence negative, spatially homogeneous contribution to the pressure. The model shows that patterning of adhesion regions can be used to control traction stress distribution and yields several results consistent with experimental observations. Specifically, the cell spread area is found to increase with substrate stiffness and an analytic expression of the dependence is obtained for circular cells. The correlation between the magnitude of traction stresses and cell boundary curvature is also demonstrated and analyzed.

  20. International education: a force for peace and cross-cultural understanding?

    OpenAIRE

    Brown, Lorraine

    2009-01-01

    This paper discusses the notion that the international sojourn has the potential to transform sojourners into cultural mediators who carry the power to improve global relations. A year-long ethnographic study of the adjustment experiences of international postgraduate students in England revealed a universal early enthusiasm for cross-cultural contact that was matched by a widespread adoption of segregated patterns of interacting. The most common friendship networks were described by bonds wi...

  1. Heat transfer in a gray tube with forced convection, internal radiation and axial wall conduction

    Science.gov (United States)

    Chung, B. T. F.; Thompson, J. E.

    1983-01-01

    A method of successive approximations is employed to solve the problem of heat transfer to a transparent gas flowing through a radiating-conducting tube with turbulent forced convection between the tube wall and the gas, and with energy generation in the wall. Emphasis is given to the effect of emissivity of the wall to the tube and gas temperature profiles.

  2. Nonlinear control of multiple spacecraft formation flying using the constraint forces in Lagrangian systems

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    Getting inspiration from the constraint forces in the classical mechanics, we presented the nonlinear control method of multiple spacecraft formation flying to accurately keep the desired formation arrays. Considering nonlinearity and perturbation, we changed the question of the formation array control to the Lagrange equations with the holonomic constraints and the differential algebraic equations (DAE), and developed the nonlinear control for design of the follower spacecraft tracking control laws by solving the DAE. Because of using the idea of the constraint forces, this approach can adequately utilize the characteristic of the dynamic equations, i.e., the space natural forces, and accurately keep the arbitrary formation array. Simulation results of the circular formation keeping with the linear and nonlinear dynamical equations were included to illuminate the control performance.

  3. Wireless control and selection of forces and torques - towards wireless engines

    Science.gov (United States)

    Boyvat, M.; Hafner, C.; Leuthold, J.

    2014-07-01

    Powering and manipulating translational and rotational motions of objects wirelessly, and controlling several objects independently is of significant importance in numerous fields such as robotics, medicine, biology, fluid dynamics, optics. We propose a method based on coupled LC resonators, to control objects selectively by steering the frequency of an external magnetic field. This concept does not need any magnetic materials and it brings a rich variety of features concerning forces and torques. We theoretically and experimentally show that the forces can be enhanced by the interaction of resonators and that both direction and magnitude of forces can be controlled by the frequency of the applied external magnetic field. Moreover, we demonstrate interesting rotational effects, such as bi-directionally controllable torques, controllable stable orientations, and spinning, which leads to a wirelessly powered motor.

  4. The Role of Accounting and Internal Control in Reducing Bureaucracy in the Public Sector

    National Research Council Canada - National Science Library

    Luminita Ionescu

    2016-01-01

      The aim of this paper is to present the relation between efficient internal control and accounting procedures and how the internal control system could play an important role in reducing bureaucracy...

  5. Late Pliocene to Pleistocene sensitivity of the Greenland Ice Sheet in response to external forcing and internal feedbacks

    Energy Technology Data Exchange (ETDEWEB)

    Koenig, Sebastian J.; DeConto, Robert M. [University of Massachusetts, Department of Geosciences, Amherst, MA (United States); Pollard, David [Pennsylvania State University, Earth and Environmental Systems Institute, College of Earth and Mineral Sciences, University Park, PA (United States)

    2011-09-15

    The timing and nature of ice sheet variations on Greenland over the last {proportional_to}5 million years remain largely uncertain. Here, we use a coupled climate-vegetation-ice sheet model to determine the climatic sensitivity of Greenland to combined sets of external forcings and internal feedbacks operating on glacial-interglacial timescales. In particular, we assess the role of atmospheric pCO{sub 2}, orbital forcing, and vegetation dynamics in modifying thresholds for the onset of glaciation in late Pliocene and Pleistocene. The response of circum-Arctic vegetation to declining levels of pCO{sub 2} (from 400 to 200 ppmv) and decreasing summer insolation includes a shift from boreal forest to tundra biomes, with implications for the surface energy balance. The expansion of tundra amplifies summer surface cooling and heat loss from the ground, leading to an expanded summer snow cover over Greenland. Atmospheric and land surface fields respond to forcing most prominently in late spring-summer and are more sensitive at lower Pleistocene-like levels of pCO{sub 2}. We find cold boreal summer orbits produce favorable conditions for ice sheet growth, however simulated ice sheet extents are highly dependent on both background pCO{sub 2} levels and land-surface characteristics. As a result, late Pliocene ice sheet configurations on Greenland differ considerably from late Pleistocene, with smaller ice caps on high elevations of southern and eastern Greenland, even when orbital forcing is favorable for ice sheet growth. (orig.)

  6. Method and apparatus for adaptive force and position control of manipulators

    Science.gov (United States)

    Seraji, Homayoun (Inventor)

    1995-01-01

    The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

  7. Modeling Robot Dynamic Performance for Endpoint Force Control

    Science.gov (United States)

    1988-08-01

    Task Dynamics 55 2.5.1 The Dynamic Workpiece Model 55 2.5.2 Adding Robot Dynamics 56 2.5.3 Adding Actuator Dynamics 56 Tabie I o iiau 6 2.6 Grip...motion control system. Robot dynamics couple with the task dynamics in a very complex way. When the robot makes contact with the environment, the impact...robot flexibility or actuator dynamics. 2.5.2 Adding Robot Dynamics Figure 2.29 shows the robot now represented by two lumped masses, as in the robot

  8. Microbiological Characterization and Concerns of the International Space Station Internal Active Thermal Control System

    Science.gov (United States)

    Roman, Monsi C.; Wieland, Paul O.

    2005-01-01

    Since January 1999, the chemical the International Space Station Thermal Control System (IATCS) and microbial state of (ISS) Internal Active fluid has been monitored by analysis of samples returned to Earth. Key chemical parameters have changed over time, including a drop in pH from the specified 9.5 +/- 0.5 ta = 58.4, an increase in the level of total inorganic carbon (TIC), total organic carbon (TOC) and dissolved nickel (Ni) in the fluid, and a decrease in the phosphate (PO,) level. In addition, silver (AS) ion levels in the fluid decreased rapidly as Ag deposited on internal metallic surfaces of the system. The lack of available Ag ions coupled with changes in the fluid chemistry has resulted in a favorable environment for microbial growth. Counts of heterotrophic bacteria have increased from less than 10 colony-forming units (CFUs)/l00 mL to l0(exp 6) to l0(exp 7) CFUs/100 mL. The increase of the microbial population is of concern because uncontrolled microbiological growth in the IATCS can contribute to deterioration in the performance of critical components within the system and potentially impact human health if opportunistic pathogens become established and escape into the cabin atmosphere. Micro-organisms can potentially degrade the coolant chemistry; attach to surfaces and form biofilms; lead to biofouling of filters, tubing, and pumps; decrease flow rates; reduce heat transfer; initiate and accelerate corrosion; and enhance mineral scale formation. The micro- biological data from the ISS IATCS fluid, and approaches to addressing the concerns, are summarized in this paper.

  9. Linear servo-controlled pressure generator for forced oscillation measurements.

    Science.gov (United States)

    de Melo, P L; Werneck, M M; Giannella-Neto, A

    1998-01-01

    In respiratory input impedance measurements, the low-frequency range contains important clinical and physiological information. However, the patient's spontaneous ventilation can contaminate the data in this range, leading to unreliable results. Unbiased estimators are a good alternative to overcome this problem, provided that the generator is considered linear. This condition is not fulfilled by most existing generators as they are based on loudspeakers, which have strong nonlinearities. The present work aims to contribute to the solution of this problem, and describes a pressure generator that minimises the nonlinearities by an optical sensor placed in a position feedback loop. The static evaluation shows a high linearity for the optical system. The well known frequency response of pressure transducers is used in the dynamic evaluation of the instrument. The analysis of the generator shows that the use of position feedback improved the frequency response. The total harmonic distortion (THD) measurement shows that closed loop resulted in an effective decrease in the nonlinearities. The reduction of THD achieved by the servo-controlled generator can contribute to the practical implementation of the unbiased estimators, increasing the reliability of the impedance data, especially in the low-frequency range. This system is compared with conventional generators and with another servo-controlled system.

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

    Science.gov (United States)

    Miskowiak, K W; Burdick, K E; Martinez-Aran, A; Bonnin, C M; Bowie, C R; Carvalho, A F; Gallagher, P; Lafer, B; López-Jaramillo, C; Sumiyoshi, T; McIntyre, R S; Schaffer, A; Porter, R J; Torres, I J; Yatham, L N; Young, A H; Kessing, L V; Vieta, E

    2017-09-12

    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. The task force was launched in September 2016, consisting of 18 international experts from nine countries. A series of methodological issues were identified based on literature review and expert opinion. The issues were discussed and expanded upon in an initial face-to-face meeting, telephone conference call and email exchanges. Based upon these exchanges, recommendations were achieved. Key methodological challenges are: lack of consensus on how to screen for entry into cognitive treatment trials, define cognitive impairment, track efficacy, assess functional implications, and manage mood 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 or partly remitted patients. It is strongly encouraged that trials exclude patients with current substance or alcohol use disorders, neurological disease or unstable medical illness, and keep non-study medications stable. Additional methodological considerations include neuroimaging assessments, targeting of treatments to illness stage and using a multimodal approach. 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 in future trials and increase comparability between studies. © 2017 The Authors Bipolar Disorders Published by John Wiley & Sons Ltd.

  11. The national and international regulatory environment in tobacco control.

    Science.gov (United States)

    Warner, Kenneth E

    2015-07-09

    Despite their lethality, cigarettes are subject to little regulation that directly restricts their contents or their legality. This may change in the near future with the Framework Convention on Tobacco Control (FCTC), the world's first global health treaty, now in force, as well as developments in a few individual countries. Cigarettes are subject to a substantial number of country-specific regulations regarding their conditions of sale: their price (mostly through taxation), the places where they can be consumed (clean indoor air laws), who can smoke them (prohibitions on their use by or sales to minors), how they can be advertised or promoted (if at all), and how they must be packaged (minimum pack sizes, warning labels, plain packaging). Such policies constitute the core of successful tobacco control. The FCTC has been ratified by 180 countries representing 90% of the world's population. The FCTC requires compliance with numerous provisions relating to the kinds of regulations noted above. The treaty also mandates explicit attention to direct product regulation. Several countries have such authority, at least in limited forms. In the US, for example, the Food and Drug Administration (FDA) now has the legal authority to regulate tobacco products, including their contents. The possibility exists that, in the foreseeable future, a country will mandate product standards that will substantially reduce the appeal of cigarettes and other combusted tobacco products, which are by far the leading sources of the death and disease associated with tobacco.

  12. 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.

  13. 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.

  14. Force-controlled balance perturbations associated with falls in older people: a prospective cohort study.

    Directory of Open Access Journals (Sweden)

    Daina L Sturnieks

    Full Text Available Balance recovery from an unpredictable postural perturbation can be a challenging task for many older people and poor recovery could contribute to their risk of falls. This study examined associations between responses to unpredictable perturbations and fall risk in older people. 242 older adults (80.0 ± 4.4 years underwent assessments of stepping responses to multi-directional force-controlled waist-pull perturbations. Participants returned monthly falls calendars for the subsequent 12 months. Future falls were associated with lower force thresholds for stepping in the posterior and lateral but not anterior directions. Those with lower posterior force thresholds for stepping were 68% more likely to fall at home than those with higher force thresholds for stepping. These results suggest that amount of force that can be withstood following an unpredictable balance perturbation predicts future falls in community-dwelling older adults. Perturbations in the posterior direction best discriminated between future fallers and non-fallers.

  15. Multi-digit force control during unconstrained grasping in response to object perturbations.

    Science.gov (United States)

    Naceri, Abdeldjallil; Moscatelli, Alessandro; Haschke, Robert; Ritter, Helge; Santello, Marco; Ernst, Marc O

    2017-02-22

    Because of the complex anatomy of the human hand, in the absence of external constraints a large number of postures and force combinations can be used to attain a stable grasp. Motor synergies provide a viable strategy to solve this problem of motor redundancy. In this study, we exploited the technical advantages of an innovative sensorized object to study unconstrained hand grasping within the theoretical framework of motor synergies. Participants were required to grasp, lift, and hold the sensorized object. During the holding phase, we repetitively applied external disturbance forces and torques and recorded the spatiotemporal distribution of grip forces produced by each digit. We found that the time to reach the maximum grip force during each perturbation was roughly equal across fingers, consistently with a synchronous, synergistic stiffening across digits. We further evaluated this hypothesis by comparing the force distribution of human grasping versus robotic grasping, where the control strategy was set by the experimenter. We controlled the global hand stiffness of the robotic hand and we found that this control algorithm produced a force pattern qualitatively similar to human grasping performance. Our results suggest that the nervous system uses a default whole-hand synergistic control to maintain a stable grasp regardless of the number of digits involved in the task, their position on the objects, and the type and frequency of external perturbations.

  16. 32 CFR Appendix B to Part 327 - Internal Management Control Review Checklist

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 2 2010-07-01 2010-07-01 false Internal Management Control Review Checklist B... B to Part 327—Internal Management Control Review Checklist (a) Task: Personnel and/or Organization... See footnote 2 to this Appendix B. (1) I attest that the above listed internal controls...

  17. 17 CFR 229.308T - (Item 308T) Internal control over financial reporting.

    Science.gov (United States)

    2010-04-01

    ... 17 Commodity and Securities Exchanges 2 2010-04-01 2010-04-01 false (Item 308T) Internal control... § 229.308T (Item 308T) Internal control over financial reporting. Note to Item 308T: This is a special... internal control over financial reporting. Provide a report of management on the registrant's...

  18. 17 CFR 240.17Ad-13 - Annual study and evaluation of internal accounting control.

    Science.gov (United States)

    2010-04-01

    ... internal accounting control. 240.17Ad-13 Section 240.17Ad-13 Commodity and Securities Exchanges SECURITIES... Company Rules § 240.17Ad-13 Annual study and evaluation of internal accounting control. (a) Accountant's... accountant concerning the transfer agent's system of internal accounting control and related procedures...

  19. 7 CFR 1773.32 - Report on compliance and on internal control over financial reporting.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 12 2010-01-01 2010-01-01 false Report on compliance and on internal control over... RUS Reporting Requirements § 1773.32 Report on compliance and on internal control over financial... compliance with applicable laws, regulations, contracts, and grants, and on internal control over...

  20. 78 FR 22263 - Advisory Council on the Standards for Internal Control in the Federal Government; Meeting

    Science.gov (United States)

    2013-04-15

    ... OFFICE Advisory Council on the Standards for Internal Control in the Federal Government; Meeting AGENCY... (GAO) is initiating efforts to revise the Standards for Internal Control in the Federal Government... Internal Control in the Federal Government please contact Kristen Kociolek, Assistant Director,...

  1. 75 FR 55269 - Minimum Internal Control Standards for Class II Gaming

    Science.gov (United States)

    2010-09-10

    ... National Indian Gaming Commission 25 CFR Parts 542 and 543 RIN 3141-AA-37 Minimum Internal Control... the extension of the effective date on the final rule for Minimum Internal Control Standards for Class... internal controls found in Sec. 543.3(c)(3) to October 13, 2011, in order to extend the transition...

  2. 78 FR 40740 - Advisory Council on the Standards for Internal Control in the Federal Government

    Science.gov (United States)

    2013-07-08

    ... OFFICE Advisory Council on the Standards for Internal Control in the Federal Government AGENCY... Accountability Office (GAO) is preparing to revise the Standards for Internal Control in the Federal Government... and the Standards for Internal Control in the Federal Government please contact Kristen...

  3. 77 FR 60625 - Minimum Internal Control Standards for Class II Gaming

    Science.gov (United States)

    2012-10-04

    ... National Indian Gaming Commission 25 CFR Parts 542 and 543 RIN 3141-AA-37 Minimum Internal Control... while tribes and operations transition to the new Class II Minimum Internal Control Standards that were... part 543, Minimum Internal Control Standards Class II Gaming, with comprehensive and updated...

  4. 76 FR 53817 - Minimum Internal Control Standards for Class II Gaming

    Science.gov (United States)

    2011-08-30

    ... National Indian Gaming Commission 25 CFR Parts 542 and 543 Minimum Internal Control Standards for Class II... delay of the effective date on the final rule for Minimum Internal Control Standards for Class II Gaming... sections of established Minimum Internal Control Standards and replaced them with a new part titled...

  5. 49 CFR 192.476 - Internal corrosion control: Design and construction of transmission line.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 3 2010-10-01 2010-10-01 false Internal corrosion control: Design and... STANDARDS Requirements for Corrosion Control § 192.476 Internal corrosion control: Design and construction... the risk of internal corrosion. At a minimum, unless it is impracticable or unnecessary to do so,...

  6. 17 CFR 229.308 - (Item 308) Internal control over financial reporting.

    Science.gov (United States)

    2010-04-01

    ... 17 Commodity and Securities Exchanges 2 2010-04-01 2010-04-01 false (Item 308) Internal control... § 229.308 (Item 308) Internal control over financial reporting. (a) Management's annual report on internal control over financial reporting. Provide a report of management on the registrant's...

  7. 12 CFR 630.5 - Accuracy of reports and assessment of internal control over financial reporting.

    Science.gov (United States)

    2010-01-01

    ... CREDIT SYSTEM General § 630.5 Accuracy of reports and assessment of internal control over financial... assessment of internal control over financial reporting. (1) Annual reports must include a report by the Funding Corporation's management assessing the effectiveness of the internal control over...

  8. 78 FR 68447 - Exposure Draft-Standards for Internal Control in the Federal Government

    Science.gov (United States)

    2013-11-14

    ... OFFICE Exposure Draft--Standards for Internal Control in the Federal Government AGENCY: U.S. Government... 2013 Exposure Draft update to the Standards for Internal Control in the Federal Government reflect... Internal Control in the Federal Government, 2013 Exposure Draft, is available and can be downloaded...

  9. 78 FR 52532 - Exposure Draft-Standards for Internal Control in the Federal Government

    Science.gov (United States)

    2013-08-23

    ... OFFICE Exposure Draft--Standards for Internal Control in the Federal Government AGENCY: U.S. Government... Office (GAO) is seeking public comments on the proposed revisions to the Standards for Internal Control... Internal Control in the Federal Government reflect major developments in the accountability and...

  10. Controlled Vocabularies Boost International Participation and Normalization of Searches

    Science.gov (United States)

    Olsen, Lola M.

    2006-01-01

    The Global Change Master Directory's (GCMD) science staff set out to document Earth science data and provide a mechanism for it's discovery in fulfillment of a commitment to NASA's Earth Science progam and to the Committee on Earth Observation Satellites' (CEOS) International Directory Network (IDN.) At the time, whether to offer a controlled vocabulary search or a free-text search was resolved with a decision to support both. The feedback from the user community indicated that being asked to independently determine the appropriate 'English" words through a free-text search would be very difficult. The preference was to be 'prompted' for relevant keywords through the use of a hierarchy of well-designed science keywords. The controlled keywords serve to 'normalize' the search through knowledgeable input by metadata providers. Earth science keyword taxonomies were developed, rules for additions, deletions, and modifications were created. Secondary sets of controlled vocabularies for related descriptors such as projects, data centers, instruments, platforms, related data set link types, and locations, along with free-text searches assist users in further refining their search results. Through this robust 'search and refine' capability in the GCMD users are directed to the data and services they seek. The next step in guiding users more directly to the resources they desire is to build a 'reasoning' capability for search through the use of ontologies. Incorporating twelve sets of Earth science keyword taxonomies has boosted the GCMD S ability to help users define and more directly retrieve data of choice.

  11. 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.

  12. An Analysis of Retaining or Replacing Air Force Command and Control Aircraft

    Science.gov (United States)

    2007-12-01

    control aircraft perform, as well as the importance of maintaining the capability. Current command and control aircraft , as well as potential aircraft that...can replace the existing command and control aircraft , were researched to determine the cost and performance specifications. The current and...completed product identifies if the Air Force should retain or replace command and control aircraft . Additional areas for further research were listed

  13. 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.

  14. Chilean Armed Forces and Their Capacity in the Context of the International Crises

    Science.gov (United States)

    2006-03-15

    operations. Proposing the measures that spread to develop a force for the execution of these missions. The idea is to define the characteristics of the...analyzing the Defense Policy, is necessary to know the most important characteristic and ideas about them, and which considers the following: Chile Focus...ably defended. Endnotes 1 Coser, Lewis A., "Las Funciones del Conflicto Social", (México-Buenos Aires: Fondo de Cultura Económica, 1961) p. 174 2 Fraga

  15. An Examination of the External and Internal Forces that have Shaped the Department of Veterans Affairs

    Science.gov (United States)

    2014-05-22

    vacation to the West coast.65 However, before his death, and in another of his interesting management choices , he selected a highly qualified...of the bonus.98 Congress was more forgiving and recognized the public perception of the Army’s use of force on veterans. They voted to provide a per...Hoover to head the review. Mr. Hoover, a Republican, may have seemed an unusual choice for a Democratic President, but he was a respected organizer

  16. Magnetic force microscopy/current contrast imaging: A new technique for internal current probing of ICs

    Energy Technology Data Exchange (ETDEWEB)

    Campbell, A.N.; Cole, E.I. Jr.; Dodd, B.A.; Anderson, R.E.

    1993-09-01

    This invited paper describes recently reported work on the application of magnetic force microscopy (MFM) to image currents in IC conductors [1]. A computer model for MFM imaging of IC currents and experimental results demonstrating the ability to determine current direction and magnitude with a resolution of {approximately} 1 mA dc and {approximately} 1 {mu}A ac are presented. The physics of MFM signal generation and applications to current imaging and measurement are described.

  17. Preliminary design of the Space Station internal thermal control system

    Science.gov (United States)

    Herrin, Mark T.; Patterson, David W.; Turner, Larry D.

    1987-01-01

    The baseline preliminary design configuration of the Internal Thermal Control system (ITCS) of the U.S. Space Station pressurized elements (i.e., the Habitation and U.S. Laboratory modules, pressurized logistics carrier, and resources nodes) is defined. The ITCS is composed of both active and passive components. The subsystems which comprise the ITCS are identified and their functional descriptions are provided. The significant trades and analyses, which were performed during Phase B (i.e., the preliminary design phase) that resulted in the design described herein, are discussed. The ITCS interfaces with the station's central Heat Rejection and Transport System (HRTS), other systems, and externally attached pressurized payloads are described. Requirements on the ITCS with regard to redundancy and experiment support are also addressed.

  18. Coordination between digit forces and positions: interactions between anticipatory and feedback control.

    Science.gov (United States)

    Fu, Qiushi; Santello, Marco

    2014-04-01

    Humans adjust digit forces to compensate for trial-to-trial variability in digit placement during object manipulation, but the underlying control mechanisms remain to be determined. We hypothesized that such digit position/force coordination was achieved by both visually guided feed-forward planning and haptic-based feedback control. The question arises about the time course of the interaction between these two mechanisms. This was tested with a task in which subjects generated torque (± 70 N·mm) on a virtual object to control a cursor moving to target positions to catch a falling ball, using a virtual reality environment and haptic devices. The width of the virtual object was varied between large (L) and small (S). These object widths result in significantly different horizontal digit relative positions and require different digit forces to exert the same task torque. After training, subjects were tested with random sequences of L and S widths with or without visual information about object width. We found that visual cues allowed subjects to plan manipulation forces before contact. In contrast, when visual cues were not available to predict digit positions, subjects implemented a "default" digit force plan that was corrected after digit contact to eventually accomplish the task. The time course of digit forces revealed that force development was delayed in the absence of visual cues. Specifically, the appropriate digit force adjustments were made 250-300 ms after initial object contact. This result supports our hypothesis and further reveals that haptic feedback alone is sufficient to implement digit force-position coordination.

  19. Flow pattern and lift evolution of hydrofoil with control of electro-magnetic forces

    Institute of Scientific and Technical Information of China (English)

    CHEN YaoHui; FAN BaoChun; CHEN ZhiHua; LI HongZhi

    2009-01-01

    The Initial responses and evolutions of the flow pattern and lift coefficient of a hydrofoil under the ac-tion of electro-magnetic (Lorentz) force have been studied experimentally and numerically,and trace particle methods are employed for them.With the introduction of BVF (boundary vortex flux),the quantitative relation among Lorentz forces,BVF and lifts is deduced.The influences of flow patterns on the hydrofoil lift coefficient have been discussed based on the BVF distribution,and the flow control mechanism of Lorentz force for a hydrofoil has been elucidated.Our results show that the flow pattern and lift of the hydrofoil vary periodically without any force.However,with the action of streamwise Lorentz forces,the separation point on the hydrofoil surface moves backward with a certain velocity,which makes the flow field steady finally.The streamwise Lorentz force raises the foil lift due to the Increase of BVF intensity.On the other hand,Lorentz force also increases the hydrofoil surface pres-sure,which makes the lift decrease.However,the factor leading to the lift enhancement is determinant,therefore,the Lorentz force on the suction side can increase the lift,and the stronger the Lorentz force,the larger the lift enhancement.Our results also show that the localized Lorentz force can also both suppress the flow separation and increase the hydrofoil lift coefficient,furthermore,the Lorentz force located on the tail acts better than that located on the front.

  20. Optimal control of an influenza model with seasonal forcing and age-dependent transmission rates.

    Science.gov (United States)

    Lee, Jeehyun; Kim, Jungeun; Kwon, Hee-Dae

    2013-01-21

    This study considers an optimal intervention strategy for influenza outbreaks. Variations in the SEIAR model are considered to include seasonal forcing and age structure, and control strategies include vaccination, antiviral treatment, and social distancing such as school closures. We formulate an optimal control problem by minimizing the incidence of influenza outbreaks while considering intervention costs. We examine the effects of delays in vaccine production, seasonal forcing, and age-dependent transmission rates on the optimal control and suggest some optimal strategies through numerical simulations.

  1. Performance optimization of force feedback control system in virtual vascular intervention surgery.

    Science.gov (United States)

    Hu, Zhi; Cai, Ping; Qin, Peng; Xie, Le

    2014-01-01

    In virtual surgery of minimally invasive vascular intervention, the force feedback is transmitted through the flexible guide wire. The disturbance caused by the flexible deformation would affect the fidelity of the VR (virtual reality) training. SMC (sliding mode control) strategy with delayed-output observer is adopted to suppress the effect of flexible deformation. In this study, the control performance of the strategy is assessed when the length of guide wire between actuator and the operating point changes. The performance assessment results demonstrate the effectiveness of the proposed method and find the optimal length of guide wire for the force feedback control.

  2. Performance Optimization of Force Feedback Control System in Virtual Vascular Intervention Surgery

    Science.gov (United States)

    Cai, Ping; Qin, Peng; Xie, Le

    2014-01-01

    In virtual surgery of minimally invasive vascular intervention, the force feedback is transmitted through the flexible guide wire. The disturbance caused by the flexible deformation would affect the fidelity of the VR (virtual reality) training. SMC (sliding mode control) strategy with delayed-output observer is adopted to suppress the effect of flexible deformation. In this study, the control performance of the strategy is assessed when the length of guide wire between actuator and the operating point changes. The performance assessment results demonstrate the effectiveness of the proposed method and find the optimal length of guide wire for the force feedback control. PMID:25254063

  3. An active optimal control strategy of rotor vibrations using external forces

    Science.gov (United States)

    Zhu, W.; Castelazo, I.; Nelson, H. D.

    1989-01-01

    An active control strategy for lateral rotor vibrations using external forces is proposed. An extended state observer is used to reconstruct the full states and the unbalance distribution. An optimal controller which accommodates persistent unbalance excitation is derived with feedback of estimated states and unbalances. Numerical simulations were conducted for two separate four degree of freedom rotor systems. These simulations indicated that the proposed strategy can achieve almost complete vibration cancellation. This was shown to be true even when the number of external control forces was less than the system order so long as coordinate coupling was present. Both steady state and transient response at a constant speed are presented.

  4. Ride Control Systems - Reduced Motions on the Cost of Increased Sectional Forces ?

    DEFF Research Database (Denmark)

    Folsø, R.; Nielsen, Ulrik Dam; Torti, F.

    2003-01-01

    Implementation of passive and active ride control systems into both linear frequency and non-linear time domain strip theories is described. The ride control systems considered can consist of T-foils, fins or a combination of these. These appendages are taken into account by considering the lift...... by adding the lift forces to the exciting forces in the equations of motion. One of the advantages in the time domain is that the angle of attack can be limited easily, as is often the case in real full scale ride control systems. This way cavitation and finally stalling can be avoided. In the frequency...... domain limits on the angle of attack cannot be set. Since the lift coefficient is treated linearly the calculated lift force is severely overestimated in rough sea. Secondly the effect of including ride control systems in the calculations is demonstrated through comparisons of RMS values and of response...

  5. Toward hybrid force/position control for the Cerberus epicardial robot.

    Science.gov (United States)

    Breault, Macauley S; Costanza, Adam D; Wood, Nathan A; Passineau, Michael J; Riviere, Cameron N

    2015-01-01

    Gene therapies have emerged as a promising treatment for congestive heart failure, yet they lack a method for minimally invasive, uniform delivery. To address this need we developed Cerberus, a minimally invasive parallel wire robot for cardiac interventions. Prior work on Cerberus was limited to controlling the device using only position feedback. In order to ensure safety for both the patient and the device, as well as to improve the performance of the device, this paper presents work on enhancing the existing system with force feedback capabilities. By modeling the statics of the system and developing a tension distribution optimization technique, existing position control schemes were modified to a hybrid force/position controller. Experimental results show that using a hybrid force-position control scheme as opposed to position decreases positioning error by 38%.

  6. 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.

  7. Force-feedback control of a spherical haptic device featuring an electrorheological fluid

    Science.gov (United States)

    Han, Young-Min; Choi, Seung-Bok

    2006-10-01

    This paper presents the force-feedback performance of an active type of haptic device featuring an electrorheological (ER) fluid via a sliding mode controller (SMC), which is very robust to external disturbances and parameter uncertainties. In order to generate a 2-degrees-of-freedom (2-DOF) active force, a spherical ER joint is designed based on the mathematical torque model. The ER joint is then manufactured by adopting two bi-directional clutch actuators and the spherical geometry of the electrode, and its field-dependent generating force is experimentally evaluated. Subsequently, the 2-DOF force display is manufactured by integrating the ER joint with AC motors. The force response of the manufactured haptic device is experimentally evaluated, and expressed by a second-order dynamic equation. In order to achieve the desired force trajectories, the SMC is formulated and experimentally realized by imposing an Euler angle relationship. Tracking control performances for various force trajectories are presented in the time domain, and their tracking errors are evaluated.

  8. FORCE FEEDBACK MODEL OF ELECTRO-HYDRAULIC SERVO TELE-OPERATION ROBOT BASED ON VELOCITY CONTROL

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting" on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.

  9. Grip Force Control Is Dependent on Task Constraints in Children with and without Developmental Coordination Disorder

    Science.gov (United States)

    Law, Sui-Heung; Lo, Sing Kai; Chow, Susanna; Cheing, Gladys L.Y.

    2011-01-01

    Excessive grip force (GF) is often found in children with developmental coordination disorder (DCD). However, their GF control may vary when task constraints are imposed upon their motor performance. This study aimed to investigate how their GF control changes in response to task demands, and to examine their tactile sensitivity. Twenty-one…

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

    NARCIS (Netherlands)

    Westerveld, A.J.; Schouten, A.C.; Veltink, P.H.; Van der Kooij, H.

    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 indiv

  11. A Force-Controllable Macro-Micro Manipulator and its Application to Medical Robotics

    Science.gov (United States)

    Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

    1993-01-01

    This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/sofware implemtation of the algotithms are described in this paper. Initial experimental results are reported.

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

    NARCIS (Netherlands)

    Westerveld, Ard; Westerveld, Ard J.; Schouten, Alfred Christiaan; Veltink, Petrus H.; van der Kooij, Herman

    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

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

    NARCIS (Netherlands)

    Westerveld, A.J.; Schouten, A.C.; Veltink, P.H.; Van der Kooij, H.

    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

  14. Active dynamic balancing unit for controlled shaking force and shaking moment balancing

    NARCIS (Netherlands)

    van der Wijk, V.; Herder, Justus Laurens

    2010-01-01

    For a mechanism with many elements that needs to be shaking-force and shaking-moment balanced with a low addition of mass, a low addition of inertia, and a low addition of complexity, the use of actively computer-controlled balancing elements is promising. With these actively controlled elements the

  15. 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.

  16. 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.

  17. Operator Performance in Undersea Manipulator Systems: Studies of Control Performance with Visual Force Feedback

    Science.gov (United States)

    1977-01-01

    vi) - ACKNOWLEDGEMENTS The authors extend their appreciation to Mr. Gerald Malecki and Dr. Martin Tolcott of the Office on Naval Research for their...would increase aplied forces another order of maqnitude, It i- of note that the applied forces recorded during the tasks feil well beiow the maxirum of...Simulation", 1973, Martin Marietta Corp., Denver, Colo. Flatau, C.R., et al. "Some Preliminary Correlation Between Control Modes of Manipulator

  18. 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...

  19. Joining Forces: Collaborating Internationally to Deliver High-Quality, Online Postgraduate Education in Pain Management

    Directory of Open Access Journals (Sweden)

    Elizabeth Devonshire

    2011-01-01

    Full Text Available 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.

  20. The Forced Sale of Real - Estate Property Aspects Regarding Procedure and Private International Law

    OpenAIRE

    Cret Daniela Cristina; Berlingher Remus Daniel

    2015-01-01

    Indirectly enforcement is regulated by the Code of Procedure, as a form of enforcement, seeks the recovery of the creditor’s claim through valorization of the debtor’s property or the seizure of income that it has to receive from a third party. Collection action on real estate as a form of indirect civil enforcement is made by the forced sale of immovable property belonging to the pursued debtor, so that the pursuing creditor would cover the claim. In this scientific approach we will examine ...