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Sample records for iterative learning controller

  1. On equivalence classes in iterative learning control

    NARCIS (Netherlands)

    Verwoerd, M.H.A.; Meinsma, Gjerrit; de Vries, Theodorus J.A.

    2003-01-01

    This paper advocates a new approach to study the relation between causal iterative learning control (ILC) and conventional feedback control. Central to this approach is the introduction of the set of admissible pairs (of operators) defined with respect to a family of iterations. Considered are two

  2. Iterative learning control an optimization paradigm

    CERN Document Server

    Owens, David H

    2016-01-01

    This book develops a coherent theoretical approach to algorithm design for iterative learning control based on the use of optimization concepts. Concentrating initially on linear, discrete-time systems, the author gives the reader access to theories based on either signal or parameter optimization. Although the two approaches are shown to be related in a formal mathematical sense, the text presents them separately because their relevant algorithm design issues are distinct and give rise to different performance capabilities. Together with algorithm design, the text demonstrates that there are new algorithms that are capable of incorporating input and output constraints, enable the algorithm to reconfigure systematically in order to meet the requirements of different reference signals and also to support new algorithms for local convergence of nonlinear iterative control. Simulation and application studies are used to illustrate algorithm properties and performance in systems like gantry robots and other elect...

  3. Predictive Variable Gain Iterative Learning Control for PMSM

    Directory of Open Access Journals (Sweden)

    Huimin Xu

    2015-01-01

    Full Text Available A predictive variable gain strategy in iterative learning control (ILC is introduced. Predictive variable gain iterative learning control is constructed to improve the performance of trajectory tracking. A scheme based on predictive variable gain iterative learning control for eliminating undesirable vibrations of PMSM system is proposed. The basic idea is that undesirable vibrations of PMSM system are eliminated from two aspects of iterative domain and time domain. The predictive method is utilized to determine the learning gain in the ILC algorithm. Compression mapping principle is used to prove the convergence of the algorithm. Simulation results demonstrate that the predictive variable gain is superior to constant gain and other variable gains.

  4. Density control in ITER: an iterative learning control and robust control approach

    Science.gov (United States)

    Ravensbergen, T.; de Vries, P. C.; Felici, F.; Blanken, T. C.; Nouailletas, R.; Zabeo, L.

    2018-01-01

    Plasma density control for next generation tokamaks, such as ITER, is challenging because of multiple reasons. The response of the usual gas valve actuators in future, larger fusion devices, might be too slow for feedback control. Both pellet fuelling and the use of feedforward-based control may help to solve this problem. Also, tight density limits arise during ramp-up, due to operational limits related to divertor detachment and radiative collapses. As the number of shots available for controller tuning will be limited in ITER, in this paper, iterative learning control (ILC) is proposed to determine optimal feedforward actuator inputs based on tracking errors, obtained in previous shots. This control method can take the actuator and density limits into account and can deal with large actuator delays. However, a purely feedforward-based density control may not be sufficient due to the presence of disturbances and shot-to-shot differences. Therefore, robust control synthesis is used to construct a robustly stabilizing feedback controller. In simulations, it is shown that this combined controller strategy is able to achieve good tracking performance in the presence of shot-to-shot differences, tight constraints, and model mismatches.

  5. A new subspace based approach to iterative learning control

    NARCIS (Netherlands)

    Nijsse, G.; Verhaegen, M.; Doelman, N.J.

    2001-01-01

    This paper1 presents an iterative learning control (ILC) procedure based on an inverse model of the plant under control. Our first contribution is that we formulate the inversion procedure as a Kalman smoothing problem: based on a compact state space model of a possibly non-minimum phase system,

  6. An iterative learning controller for nonholonomic mobile robots

    International Nuclear Information System (INIS)

    Oriolo, G.; Panzieri, S.; Ulivi, G.

    1998-01-01

    The authors present an iterative learning controller that applies to nonholonomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic controller, by which the system is cyclically steered through an arbitrary sequence of states. As a case study, a carlike mobile robot is considered. Both simulation and experimental results are reported to show the performance of the method

  7. Iterative learning control for electrical stimulation and stroke rehabilitation

    CERN Document Server

    Freeman, Chris T; Burridge, Jane H; Hughes, Ann-Marie; Meadmore, Katie L

    2015-01-01

    Iterative learning control (ILC) has its origins in the control of processes that perform a task repetitively with a view to improving accuracy from trial to trial by using information from previous executions of the task. This brief shows how a classic application of this technique – trajectory following in robots – can be extended to neurological rehabilitation after stroke. Regaining upper limb movement is an important step in a return to independence after stroke, but the prognosis for such recovery has remained poor. Rehabilitation robotics provides the opportunity for repetitive task-oriented movement practice reflecting the importance of such intense practice demonstrated by conventional therapeutic research and motor learning theory. Until now this technique has not allowed feedback from one practice repetition to influence the next, also implicated as an important factor in therapy. The authors demonstrate how ILC can be used to adjust external functional electrical stimulation of patients’ mus...

  8. Learning-based identification and iterative learning control of direct-drive robots

    NARCIS (Netherlands)

    Bukkems, B.H.M.; Kostic, D.; Jager, de A.G.; Steinbuch, M.

    2005-01-01

    A combination of model-based and Iterative Learning Control is proposed as a method to achieve high-quality motion control of direct-drive robots in repetitive motion tasks. We include both model-based and learning components in the total control law, as their individual properties influence the

  9. Iterative learning control for multi-agent systems coordination

    CERN Document Server

    Yang, Shiping; Li, Xuefang; Shen, Dong

    2016-01-01

    A timely guide using iterative learning control (ILC) as a solution for multi-agent systems (MAS) challenges, this book showcases recent advances and industrially relevant applications. Readers are first given a comprehensive overview of the intersection between ILC and MAS, then introduced to a range of topics that include both basic and advanced theoretical discussions, rigorous mathematics, engineering practice, and both linear and nonlinear systems. Through systematic discussion of network theory and intelligent control, the authors explore future research possibilities, develop new tools, and provide numerous applications such as power grids, communication and sensor networks, intelligent transportation systems, and formation control. Readers will gain a roadmap of the latest advances in the fields and can use their newfound knowledge to design their own algorithms.

  10. Fast calculation of the `ILC norm' in iterative learning control

    Science.gov (United States)

    Rice, Justin K.; van Wingerden, Jan-Willem

    2013-06-01

    In this paper, we discuss and demonstrate a method for the exploitation of matrix structure in computations for iterative learning control (ILC). In Barton, Bristow, and Alleyne [International Journal of Control, 83(2), 1-8 (2010)], a special insight into the structure of the lifted convolution matrices involved in ILC is used along with a modified Lanczos method to achieve very fast computational bounds on the learning convergence, by calculating the 'ILC norm' in ? computational complexity. In this paper, we show how their method is equivalent to a special instance of the sequentially semi-separable (SSS) matrix arithmetic, and thus can be extended to many other computations in ILC, and specialised in some cases to even faster methods. Our SSS-based methodology will be demonstrated on two examples: a linear time-varying example resulting in the same ? complexity as in Barton et al., and a linear time-invariant example where our approach reduces the computational complexity to ?, thus decreasing the computation time, for an example, from the literature by a factor of almost 100. This improvement is achieved by transforming the norm computation via a linear matrix inequality into a check of positive definiteness - which allows us to further exploit the almost-Toeplitz properties of the matrix, and additionally provides explicit upper and lower bounds on the norm of the matrix, instead of the indirect Ritz estimate. These methods are now implemented in a MATLAB toolbox, freely available on the Internet.

  11. SNS Superconducting RF cavity modeling-iterative learning control

    International Nuclear Information System (INIS)

    Kwon, S.-I.; Regan, Amy; Wang, Y.-M.

    2002-01-01

    The Spallation Neutron Source (SNS) Superconducting RF (SRF) linear accelerator is operated with a pulsed beam. For the SRF control system to track the repetitive electromagnetic field reference trajectory, both feedback and feedforward controllers have been proposed. The feedback controller is utilized to guarantee the closed loop system stability and the feedforward controller is used to improve the tracking performance for the repetitive reference trajectory and to suppress repetitive disturbances. As the iteration number increases, the feedforward controller decreases the tracking error. Numerical simulations demonstrate that inclusion of the feedforward controller significantly improves the control system performance over its performance with just the feedback controller

  12. SNS Superconducting RF cavity modeling-iterative learning control

    CERN Document Server

    Kwon, S I; Wang, Y M

    2002-01-01

    The Spallation Neutron Source (SNS) Superconducting RF (SRF) linear accelerator is operated with a pulsed beam. For the SRF control system to track the repetitive electromagnetic field reference trajectory, both feedback and feedforward controllers have been proposed. The feedback controller is utilized to guarantee the closed loop system stability and the feedforward controller is used to improve the tracking performance for the repetitive reference trajectory and to suppress repetitive disturbances. As the iteration number increases, the feedforward controller decreases the tracking error. Numerical simulations demonstrate that inclusion of the feedforward controller significantly improves the control system performance over its performance with just the feedback controller.

  13. Iterative Learning Control design for uncertain and time-windowed systems

    NARCIS (Netherlands)

    Wijdeven, van de J.J.M.

    2008-01-01

    Iterative Learning Control (ILC) is a control strategy capable of dramatically increasing the performance of systems that perform batch repetitive tasks. This performance improvement is achieved by iteratively updating the command signal, using measured error data from previous trials, i.e., by

  14. A Parametric Learning and Identification Based Robust Iterative Learning Control for Time Varying Delay Systems

    Directory of Open Access Journals (Sweden)

    Lun Zhai

    2014-01-01

    Full Text Available A parametric learning based robust iterative learning control (ILC scheme is applied to the time varying delay multiple-input and multiple-output (MIMO linear systems. The convergence conditions are derived by using the H∞ and linear matrix inequality (LMI approaches, and the convergence speed is analyzed as well. A practical identification strategy is applied to optimize the learning laws and to improve the robustness and performance of the control system. Numerical simulations are illustrated to validate the above concepts.

  15. Research on Open-Closed-Loop Iterative Learning Control with Variable Forgetting Factor of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Hongbin Wang

    2016-01-01

    Full Text Available We propose an iterative learning control algorithm (ILC that is developed using a variable forgetting factor to control a mobile robot. The proposed algorithm can be categorized as an open-closed-loop iterative learning control, which produces control instructions by using both previous and current data. However, introducing a variable forgetting factor can weaken the former control output and its variance in the control law while strengthening the robustness of the iterative learning control. If it is applied to the mobile robot, this will reduce position errors in robot trajectory tracking control effectively. In this work, we show that the proposed algorithm guarantees tracking error bound convergence to a small neighborhood of the origin under the condition of state disturbances, output measurement noises, and fluctuation of system dynamics. By using simulation, we demonstrate that the controller is effective in realizing the prefect tracking.

  16. INTELLIGENT FRACTIONAL ORDER ITERATIVE LEARNING CONTROL USING FEEDBACK LINEARIZATION FOR A SINGLE-LINK ROBOT

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    Iman Ghasemi

    2017-05-01

    Full Text Available In this paper, iterative learning control (ILC is combined with an optimal fractional order derivative (BBO-Da-type ILC and optimal fractional and proportional-derivative (BBO-PDa-type ILC. In the update law of Arimoto's derivative iterative learning control, a first order derivative of tracking error signal is used. In the proposed method, fractional order derivative of the error signal is stated in term of 'sa' where  to update iterative learning control law. Two types of fractional order iterative learning control namely PDa-type ILC and Da-type ILC are gained for different value of a. In order to improve the performance of closed-loop control system, coefficients of both  and  learning law i.e. proportional , derivative  and  are optimized using Biogeography-Based optimization algorithm (BBO. Outcome of the simulation results are compared with those of the conventional fractional order iterative learning control to verify effectiveness of BBO-Da-type ILC and BBO-PDa-type ILC

  17. A new 2-d approach to iterative , learning control system

    International Nuclear Information System (INIS)

    Ashraf, S.; Muhammad, E.; Tasleem, M.

    2004-01-01

    The well known two-dimensional system theory is used to analyze and develop a class of learning control system. In this paper we first explore and test a method given by ZHENG and JAMSHIDI. In that paper all the input samples are treated at once. In comparison our paper presents a scheme in which one sample at a time is treated. The 2- D state-space model of proposed learning control scheme is given. An important consequence of the proposed scheme is that given the right choice of gain matrix and sampling time the system's output can be made to converge to any degree of accuracy. (author)

  18. Iterative learning control with sampled-data feedback for robot manipulators

    Directory of Open Access Journals (Sweden)

    Delchev Kamen

    2014-09-01

    Full Text Available This paper deals with the improvement of the stability of sampled-data (SD feedback control for nonlinear multiple-input multiple-output time varying systems, such as robotic manipulators, by incorporating an off-line model based nonlinear iterative learning controller. The proposed scheme of nonlinear iterative learning control (NILC with SD feedback is applicable to a large class of robots because the sampled-data feedback is required for model based feedback controllers, especially for robotic manipulators with complicated dynamics (6 or 7 DOF, or more, while the feedforward control from the off-line iterative learning controller should be assumed as a continuous one. The robustness and convergence of the proposed NILC law with SD feedback is proven, and the derived sufficient condition for convergence is the same as the condition for a NILC with a continuous feedback control input. With respect to the presented NILC algorithm applied to a virtual PUMA 560 robot, simulation results are presented in order to verify convergence and applicability of the proposed learning controller with SD feedback controller attached

  19. Alignment Condition-Based Robust Adaptive Iterative Learning Control of Uncertain Robot System

    Directory of Open Access Journals (Sweden)

    Guofeng Tong

    2014-04-01

    Full Text Available This paper proposes an adaptive iterative learning control strategy integrated with saturation-based robust control for uncertain robot system in presence of modelling uncertainties, unknown parameter, and external disturbance under alignment condition. An important merit is that it achieves adaptive switching of gain matrix both in conventional PD-type feedforward control and robust adaptive control in the iteration domain simultaneously. The analysis of convergence of proposed control law is based on Lyapunov's direct method under alignment initial condition. Simulation results demonstrate the faster learning rate and better robust performance with proposed algorithm by comparing with other existing robust controllers. The actual experiment on three-DOF robot manipulator shows its better practical effectiveness.

  20. Robust Monotonically Convergent Iterative Learning Control for Discrete-Time Systems via Generalized KYP Lemma

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    Jian Ding

    2014-01-01

    Full Text Available This paper addresses the problem of P-type iterative learning control for a class of multiple-input multiple-output linear discrete-time systems, whose aim is to develop robust monotonically convergent control law design over a finite frequency range. It is shown that the 2 D iterative learning control processes can be taken as 1 D state space model regardless of relative degree. With the generalized Kalman-Yakubovich-Popov lemma applied, it is feasible to describe the monotonically convergent conditions with the help of linear matrix inequality technique and to develop formulas for the control gain matrices design. An extension to robust control law design against systems with structured and polytopic-type uncertainties is also considered. Two numerical examples are provided to validate the feasibility and effectiveness of the proposed method.

  1. Velocity Tracking Control of Wheeled Mobile Robots by Iterative Learning Control

    Directory of Open Access Journals (Sweden)

    Xiaochun Lu

    2016-05-01

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

  2. Iterative Learning Control of Hysteresis in Piezoelectric Actuators

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    Guilin Zhang

    2014-01-01

    input in hysteretic systems. In the analysis, the Prandtl-Ishlinskii model is utilized to capture the nonlinear behavior in piezoelectric actuators. Finally, we apply the control algorithm to an experimental piezoelectric actuator and conclude that the tracking error is reduced to 0.15% of the total displacement, which is approximately the noise level of the sensor measurement.

  3. Design strategy for optimal iterative learning control applied on a deep drawing process

    DEFF Research Database (Denmark)

    Endelt, Benny Ørtoft

    2017-01-01

    Metal forming processes in general can be characterised as repetitive processes; this work will take advantage of this characteristic by developing an algorithm or control system which transfers process information from part to part, reducing the impact of repetitive uncertainties, e.g. a gradual...... changes in the material properties. The process is highly non-linear and the system plant is modelled using a non-linear finite element and the gain factors for the iterative learning controller is identified solving a non-linear optimal control problem. The optimal control problem is formulated as a non...

  4. Practical iterative learning control with frequency domain design and sampled data implementation

    CERN Document Server

    Wang, Danwei; Zhang, Bin

    2014-01-01

    This book is on the iterative learning control (ILC) with focus on the design and implementation. We approach the ILC design based on the frequency domain analysis and address the ILC implementation based on the sampled data methods. This is the first book of ILC from frequency domain and sampled data methodologies. The frequency domain design methods offer ILC users insights to the convergence performance which is of practical benefits. This book presents a comprehensive framework with various methodologies to ensure the learnable bandwidth in the ILC system to be set with a balance between learning performance and learning stability. The sampled data implementation ensures effective execution of ILC in practical dynamic systems. The presented sampled data ILC methods also ensure the balance of performance and stability of learning process. Furthermore, the presented theories and methodologies are tested with an ILC controlled robotic system. The experimental results show that the machines can work in much h...

  5. Application of a repetitive process setting to design of monotonically convergent iterative learning control

    Science.gov (United States)

    Boski, Marcin; Paszke, Wojciech

    2015-11-01

    This paper deals with the problem of designing an iterative learning control algorithm for discrete linear systems using repetitive process stability theory. The resulting design produces a stabilizing output feedback controller in the time domain and a feedforward controller that guarantees monotonic convergence in the trial-to-trial domain. The results are also extended to limited frequency range design specification. New design procedure is introduced in terms of linear matrix inequality (LMI) representations, which guarantee the prescribed performances of ILC scheme. A simulation example is given to illustrate the theoretical developments.

  6. Iterative learning control with applications in energy generation, lasers and health care.

    Science.gov (United States)

    Rogers, E; Tutty, O R

    2016-09-01

    Many physical systems make repeated executions of the same finite time duration task. One example is a robot in a factory or warehouse whose task is to collect an object in sequence from a location, transfer it over a finite duration, place it at a specified location or on a moving conveyor and then return for the next one and so on. Iterative learning control was especially developed for systems with this mode of operation and this paper gives an overview of this control design method using relatively recent relevant applications in wind turbines, free-electron lasers and health care, as exemplars to demonstrate its applicability.

  7. Model-based iterative learning control of Parkinsonian state in thalamic relay neuron

    Science.gov (United States)

    Liu, Chen; Wang, Jiang; Li, Huiyan; Xue, Zhiqin; Deng, Bin; Wei, Xile

    2014-09-01

    Although the beneficial effects of chronic deep brain stimulation on Parkinson's disease motor symptoms are now largely confirmed, the underlying mechanisms behind deep brain stimulation remain unclear and under debate. Hence, the selection of stimulation parameters is full of challenges. Additionally, due to the complexity of neural system, together with omnipresent noises, the accurate model of thalamic relay neuron is unknown. Thus, the iterative learning control of the thalamic relay neuron's Parkinsonian state based on various variables is presented. Combining the iterative learning control with typical proportional-integral control algorithm, a novel and efficient control strategy is proposed, which does not require any particular knowledge on the detailed physiological characteristics of cortico-basal ganglia-thalamocortical loop and can automatically adjust the stimulation parameters. Simulation results demonstrate the feasibility of the proposed control strategy to restore the fidelity of thalamic relay in the Parkinsonian condition. Furthermore, through changing the important parameter—the maximum ionic conductance densities of low-threshold calcium current, the dominant characteristic of the proposed method which is independent of the accurate model can be further verified.

  8. Robust iterative learning contouring controller with disturbance observer for machine tool feed drives.

    Science.gov (United States)

    Simba, Kenneth Renny; Bui, Ba Dinh; Msukwa, Mathew Renny; Uchiyama, Naoki

    2018-04-01

    In feed drive systems, particularly machine tools, a contour error is more significant than the individual axial tracking errors from the view point of enhancing precision in manufacturing and production systems. The contour error must be within the permissible tolerance of given products. In machining complex or sharp-corner products, large contour errors occur mainly owing to discontinuous trajectories and the existence of nonlinear uncertainties. Therefore, it is indispensable to design robust controllers that can enhance the tracking ability of feed drive systems. In this study, an iterative learning contouring controller consisting of a classical Proportional-Derivative (PD) controller and disturbance observer is proposed. The proposed controller was evaluated experimentally by using a typical sharp-corner trajectory, and its performance was compared with that of conventional controllers. The results revealed that the maximum contour error can be reduced by about 37% on average. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  9. An open-closed-loop iterative learning control approach for nonlinear switched systems with application to freeway traffic control

    Science.gov (United States)

    Sun, Shu-Ting; Li, Xiao-Dong; Zhong, Ren-Xin

    2017-10-01

    For nonlinear switched discrete-time systems with input constraints, this paper presents an open-closed-loop iterative learning control (ILC) approach, which includes a feedforward ILC part and a feedback control part. Under a given switching rule, the mathematical induction is used to prove the convergence of ILC tracking error in each subsystem. It is demonstrated that the convergence of ILC tracking error is dependent on the feedforward control gain, but the feedback control can speed up the convergence process of ILC by a suitable selection of feedback control gain. A switched freeway traffic system is used to illustrate the effectiveness of the proposed ILC law.

  10. Indirect iterative learning control for a discrete visual servo without a camera-robot model.

    Science.gov (United States)

    Jiang, Ping; Bamforth, Leon C A; Feng, Zuren; Baruch, John E F; Chen, YangQuan

    2007-08-01

    This paper presents a discrete learning controller for vision-guided robot trajectory imitation with no prior knowledge of the camera-robot model. A teacher demonstrates a desired movement in front of a camera, and then, the robot is tasked to replay it by repetitive tracking. The imitation procedure is considered as a discrete tracking control problem in the image plane, with an unknown and time-varying image Jacobian matrix. Instead of updating the control signal directly, as is usually done in iterative learning control (ILC), a series of neural networks are used to approximate the unknown Jacobian matrix around every sample point in the demonstrated trajectory, and the time-varying weights of local neural networks are identified through repetitive tracking, i.e., indirect ILC. This makes repetitive segmented training possible, and a segmented training strategy is presented to retain the training trajectories solely within the effective region for neural network approximation. However, a singularity problem may occur if an unmodified neural-network-based Jacobian estimation is used to calculate the robot end-effector velocity. A new weight modification algorithm is proposed which ensures invertibility of the estimation, thus circumventing the problem. Stability is further discussed, and the relationship between the approximation capability of the neural network and the tracking accuracy is obtained. Simulations and experiments are carried out to illustrate the validity of the proposed controller for trajectory imitation of robot manipulators with unknown time-varying Jacobian matrices.

  11. Flyback CCM inverter for AC module applications: iterative learning control and convergence analysis

    Science.gov (United States)

    Lee, Sung-Ho; Kim, Minsung

    2017-12-01

    This paper presents an iterative learning controller (ILC) for an interleaved flyback inverter operating in continuous conduction mode (CCM). The flyback CCM inverter features small output ripple current, high efficiency, and low cost, and hence it is well suited for photovoltaic power applications. However, it exhibits the non-minimum phase behaviour, because its transfer function from control duty to output current has the right-half-plane (RHP) zero. Moreover, the flyback CCM inverter suffers from the time-varying grid voltage disturbance. Thus, conventional control scheme results in inaccurate output tracking. To overcome these problems, the ILC is first developed and applied to the flyback inverter operating in CCM. The ILC makes use of both predictive and current learning terms which help the system output to converge to the reference trajectory. We take into account the nonlinear averaged model and use it to construct the proposed controller. It is proven that the system output globally converges to the reference trajectory in the absence of state disturbances, output noises, or initial state errors. Numerical simulations are performed to validate the proposed control scheme, and experiments using 400-W AC module prototype are carried out to demonstrate its practical feasibility.

  12. Control of a reactive batch distillation process using an iterative learning technique

    International Nuclear Information System (INIS)

    Ahn, Hyunsoo; Lee, Kwang Soon; Kim, Mansuk; Lee, Juhyun

    2014-01-01

    Quadratic criterion-based iterative learning control (QILC) was applied to a numerical reactive batch distillation process, in which methacrylic anhydride (MAN) is produced through the reaction of methacrylic acid with acetic anhydride. The role of distillation is to shift the equilibrium conversion toward the direction of the product by removing acetic acid (AcH), a by-product of the reaction. Two temperatures at both ends of the column were controlled by individual control loops. A nonlinear PID controller manipulating the reflux ratio was employed to regulate the top temperature at the boiling point of AcH. A constrained QILC was used for the tracking of the reactor temperature. A time-varying reference trajectory for the reactor temperature that satisfies the target conversion and purity of MAN was obtained through repeated simulations and confirmation experiments in the pilot plant. The QILC achieved satisfactory tracking in several batch runs with gentle control movements, while the PID control as a substitute of the QILC in a comparative study exhibited unacceptable performance

  13. Intelligent tuning method of PID parameters based on iterative learning control for atomic force microscopy.

    Science.gov (United States)

    Liu, Hui; Li, Yingzi; Zhang, Yingxu; Chen, Yifu; Song, Zihang; Wang, Zhenyu; Zhang, Suoxin; Qian, Jianqiang

    2018-01-01

    Proportional-integral-derivative (PID) parameters play a vital role in the imaging process of an atomic force microscope (AFM). Traditional parameter tuning methods require a lot of manpower and it is difficult to set PID parameters in unattended working environments. In this manuscript, an intelligent tuning method of PID parameters based on iterative learning control is proposed to self-adjust PID parameters of the AFM according to the sample topography. This method gets enough information about the output signals of PID controller and tracking error, which will be used to calculate the proper PID parameters, by repeated line scanning until convergence before normal scanning to learn the topography. Subsequently, the appropriate PID parameters are obtained by fitting method and then applied to the normal scanning process. The feasibility of the method is demonstrated by the convergence analysis. Simulations and experimental results indicate that the proposed method can intelligently tune PID parameters of the AFM for imaging different topographies and thus achieve good tracking performance. Copyright © 2017 Elsevier Ltd. All rights reserved.

  14. Output Information Based Fault-Tolerant Iterative Learning Control for Dual-Rate Sampling Process with Disturbances and Output Delay

    Directory of Open Access Journals (Sweden)

    Hongfeng Tao

    2018-01-01

    Full Text Available For a class of single-input single-output (SISO dual-rate sampling processes with disturbances and output delay, this paper presents a robust fault-tolerant iterative learning control algorithm based on output information. Firstly, the dual-rate sampling process with output delay is transformed into discrete system in state-space model form with slow sampling rate without time delay by using lifting technology; then output information based fault-tolerant iterative learning control scheme is designed and the control process is turned into an equivalent two-dimensional (2D repetitive process. Moreover, based on the repetitive process stability theory, the sufficient conditions for the stability of system and the design method of robust controller are given in terms of linear matrix inequalities (LMIs technique. Finally, the flow control simulations of two flow tanks in series demonstrate the feasibility and effectiveness of the proposed method.

  15. Enhancing current density profile control in tokamak experiments using iterative learning control

    NARCIS (Netherlands)

    Felici, F.A.A.; Oomen, T.A.E.

    2015-01-01

    Tokamaks are toroidal devices to create and confine high-temperature plasmas, and are presently at the forefront of nuclear fusion research. Many parameters in a tokamak are feedback controlled, but some quantities that are either difficult to measure or difficult to control are still controlled by

  16. Iterative perceptual learning for social behavior synthesis

    NARCIS (Netherlands)

    de Kok, I.A.; Poppe, Ronald Walter; Heylen, Dirk K.J.

    We introduce Iterative Perceptual Learning (IPL), a novel approach to learn computational models for social behavior synthesis from corpora of human–human interactions. IPL combines perceptual evaluation with iterative model refinement. Human observers rate the appropriateness of synthesized

  17. Iterative Perceptual Learning for Social Behavior Synthesis

    NARCIS (Netherlands)

    de Kok, I.A.; Poppe, Ronald Walter; Heylen, Dirk K.J.

    We introduce Iterative Perceptual Learning (IPL), a novel approach for learning computational models for social behavior synthesis from corpora of human-human interactions. The IPL approach combines perceptual evaluation with iterative model refinement. Human observers rate the appropriateness of

  18. An iterative learning strategy for the auto-tuning of the feedforward and feedback controller in type-1 diabetes.

    Science.gov (United States)

    Fravolini, M L; Fabietti, P G

    2014-01-01

    This paper proposes a scheme for the control of the blood glucose in subjects with type-1 diabetes mellitus based on the subcutaneous (s.c.) glucose measurement and s.c. insulin administration. The tuning of the controller is based on an iterative learning strategy that exploits the repetitiveness of the daily feeding habit of a patient. The control consists of a mixed feedback and feedforward contribution whose parameters are tuned through an iterative learning process that is based on the day-by-day automated analysis of the glucose response to the infusion of exogenous insulin. The scheme does not require any a priori information on the patient insulin/glucose response, on the meal times and on the amount of ingested carbohydrates (CHOs). Thanks to the learning mechanism the scheme is able to improve its performance over time. A specific logic is also introduced for the detection and prevention of possible hypoglycaemia events. The effectiveness of the methodology has been validated using long-term simulation studies applied to a set of nine in silico patients considering realistic uncertainties on the meal times and on the quantities of ingested CHOs.

  19. Open-closed-loop iterative learning control for a class of nonlinear systems with random data dropouts

    Science.gov (United States)

    Cheng, X. Y.; Wang, H. B.; Jia, Y. L.; Dong, YH

    2018-05-01

    In this paper, an open-closed-loop iterative learning control (ILC) algorithm is constructed for a class of nonlinear systems subjecting to random data dropouts. The ILC algorithm is implemented by a networked control system (NCS), where only the off-line data is transmitted by network while the real-time data is delivered in the point-to-point way. Thus, there are two controllers rather than one in the control system, which makes better use of the saved and current information and thereby improves the performance achieved by open-loop control alone. During the transfer of off-line data between the nonlinear plant and the remote controller data dropout occurs randomly and the data dropout rate is modeled as a binary Bernoulli random variable. Both measurement and control data dropouts are taken into consideration simultaneously. The convergence criterion is derived based on rigorous analysis. Finally, the simulation results verify the effectiveness of the proposed method.

  20. Plasma control concepts for ITER

    International Nuclear Information System (INIS)

    Lister, J.B.; Nieswand, C.

    1997-01-01

    This overview paper skims over a wide range of issues related to the control of ITER plasmas. Although operation of the ITER project will require extensive developmental work to achieve the degree of control required, there is no indication that any of the identified problems will present overwhelming difficulties compared with the operation of present tokamaks. However, the precision of control required and the degree of automation of the final ITER plasma control system will present a challenge which is somewhat greater than for present tokamaks. In order to operate ITER optimally, integrated use of a large amount of diagnostic information will be necessary, evaluated and interpreted automatically. This will challenge both the diagnostics themselves and their supporting interpretation codes. The intervening years will provide us with the opportunity to implement and evaluate most of the new features required for ITER on existing tokamaks, with the exception of the control of an ignited plasma. (author) 7 figs., 7 refs

  1. Functional electrical stimulation mediated by iterative learning control and 3D robotics reduces motor impairment in chronic stroke

    Directory of Open Access Journals (Sweden)

    Meadmore Katie L

    2012-06-01

    Full Text Available Abstract Background Novel stroke rehabilitation techniques that employ electrical stimulation (ES and robotic technologies are effective in reducing upper limb impairments. ES is most effective when it is applied to support the patients’ voluntary effort; however, current systems fail to fully exploit this connection. This study builds on previous work using advanced ES controllers, and aims to investigate the feasibility of Stimulation Assistance through Iterative Learning (SAIL, a novel upper limb stroke rehabilitation system which utilises robotic support, ES, and voluntary effort. Methods Five hemiparetic, chronic stroke participants with impaired upper limb function attended 18, 1 hour intervention sessions. Participants completed virtual reality tracking tasks whereby they moved their impaired arm to follow a slowly moving sphere along a specified trajectory. To do this, the participants’ arm was supported by a robot. ES, mediated by advanced iterative learning control (ILC algorithms, was applied to the triceps and anterior deltoid muscles. Each movement was repeated 6 times and ILC adjusted the amount of stimulation applied on each trial to improve accuracy and maximise voluntary effort. Participants completed clinical assessments (Fugl-Meyer, Action Research Arm Test at baseline and post-intervention, as well as unassisted tracking tasks at the beginning and end of each intervention session. Data were analysed using t-tests and linear regression. Results From baseline to post-intervention, Fugl-Meyer scores improved, assisted and unassisted tracking performance improved, and the amount of ES required to assist tracking reduced. Conclusions The concept of minimising support from ES using ILC algorithms was demonstrated. The positive results are promising with respect to reducing upper limb impairments following stroke, however, a larger study is required to confirm this.

  2. Using Functional Electrical Stimulation Mediated by Iterative Learning Control and Robotics to Improve Arm Movement for People With Multiple Sclerosis.

    Science.gov (United States)

    Sampson, Patrica; Freeman, Chris; Coote, Susan; Demain, Sara; Feys, Peter; Meadmore, Katie; Hughes, Ann-Marie

    2016-02-01

    Few interventions address multiple sclerosis (MS) arm dysfunction but robotics and functional electrical stimulation (FES) appear promising. This paper investigates the feasibility of combining FES with passive robotic support during virtual reality (VR) training tasks to improve upper limb function in people with multiple sclerosis (pwMS). The system assists patients in following a specified trajectory path, employing an advanced model-based paradigm termed iterative learning control (ILC) to adjust the FES to improve accuracy and maximise voluntary effort. Reaching tasks were repeated six times with ILC learning the optimum control action from previous attempts. A convenience sample of five pwMS was recruited from local MS societies, and the intervention comprised 18 one-hour training sessions over 10 weeks. The accuracy of tracking performance without FES and the amount of FES delivered during training were analyzed using regression analysis. Clinical functioning of the arm was documented before and after treatment with standard tests. Statistically significant results following training included: improved accuracy of tracking performance both when assisted and unassisted by FES; reduction in maximum amount of FES needed to assist tracking; and less impairment in the proximal arm that was trained. The system was well tolerated by all participants with no increase in muscle fatigue reported. This study confirms the feasibility of FES combined with passive robot assistance as a potentially effective intervention to improve arm movement and control in pwMS and provides the basis for a follow-up study.

  3. Designing an Iterative Learning Control Algorithm Based on Process History using limited post process geometrical information

    DEFF Research Database (Denmark)

    Endelt, Benny Ørtoft; Volk, Wolfram

    2013-01-01

    , there is a number of obstacles which need to be addressed before an industrial implementation is possible, e.g. the proposed control algorithms are often limited by the ability to sample process data with both sufficient accuracy and robustness - this lack of robust sampling technologies is one of the main barriers...

  4. Robust iterative learning control for multi-phase batch processes: an average dwell-time method with 2D convergence indexes

    Science.gov (United States)

    Wang, Limin; Shen, Yiteng; Yu, Jingxian; Li, Ping; Zhang, Ridong; Gao, Furong

    2018-01-01

    In order to cope with system disturbances in multi-phase batch processes with different dimensions, a hybrid robust control scheme of iterative learning control combined with feedback control is proposed in this paper. First, with a hybrid iterative learning control law designed by introducing the state error, the tracking error and the extended information, the multi-phase batch process is converted into a two-dimensional Fornasini-Marchesini (2D-FM) switched system with different dimensions. Second, a switching signal is designed using the average dwell-time method integrated with the related switching conditions to give sufficient conditions ensuring stable running for the system. Finally, the minimum running time of the subsystems and the control law gains are calculated by solving the linear matrix inequalities. Meanwhile, a compound 2D controller with robust performance is obtained, which includes a robust extended feedback control for ensuring the steady-state tracking error to converge rapidly. The application on an injection molding process displays the effectiveness and superiority of the proposed strategy.

  5. Batch-To-Batch Rational Feedforward Control : From Iterative Learning to Identification Approaches, with Application to a Wafer Stage

    NARCIS (Netherlands)

    Blanken, L.; Boeren, F.A.J.; Bruijnen, D.J.H.; Oomen, T.A.E.

    2017-01-01

    Feedforward control enables high performance for industrial motion systems that perform nonrepeating motion tasks. Recently, learning techniques have been proposed that improve both performance and flexibility to nonrepeating tasks in a batch-To-batch fashion by using a rational parameterization in

  6. Novel aspects of plasma control in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Humphreys, D.; Jackson, G.; Walker, M.; Welander, A. [General Atomics P.O. Box 85608, San Diego, California 92186-5608 (United States); Ambrosino, G.; Pironti, A. [CREATE/University of Naples Federico II, Napoli (Italy); Vries, P. de; Kim, S. H.; Snipes, J.; Winter, A.; Zabeo, L. [ITER Organization, St. Paul Lez durance Cedex (France); Felici, F. [Eindhoven University of Technology, Eindhoven (Netherlands); Kallenbach, A.; Raupp, G.; Treutterer, W. [Max-Planck Institut für Plasmaphysik, Garching (Germany); Kolemen, E. [Princeton Plasma Physics Laboratory, Princeton, New Jersey 08543-0451 (United States); Lister, J.; Sauter, O. [Centre de Recherches en Physique des Plasmas, Ecole Polytechnique Federale de Lausanne, Lausanne (Switzerland); Moreau, D. [CEA, IRFM, 13108 St. Paul-lez Durance (France); Schuster, E. [Lehigh University, Bethlehem, Pennsylvania (United States)

    2015-02-15

    ITER plasma control design solutions and performance requirements are strongly driven by its nuclear mission, aggressive commissioning constraints, and limited number of operational discharges. In addition, high plasma energy content, heat fluxes, neutron fluxes, and very long pulse operation place novel demands on control performance in many areas ranging from plasma boundary and divertor regulation to plasma kinetics and stability control. Both commissioning and experimental operations schedules provide limited time for tuning of control algorithms relative to operating devices. Although many aspects of the control solutions required by ITER have been well-demonstrated in present devices and even designed satisfactorily for ITER application, many elements unique to ITER including various crucial integration issues are presently under development. We describe selected novel aspects of plasma control in ITER, identifying unique parts of the control problem and highlighting some key areas of research remaining. Novel control areas described include control physics understanding (e.g., current profile regulation, tearing mode (TM) suppression), control mathematics (e.g., algorithmic and simulation approaches to high confidence robust performance), and integration solutions (e.g., methods for management of highly subscribed control resources). We identify unique aspects of the ITER TM suppression scheme, which will pulse gyrotrons to drive current within a magnetic island, and turn the drive off following suppression in order to minimize use of auxiliary power and maximize fusion gain. The potential role of active current profile control and approaches to design in ITER are discussed. Issues and approaches to fault handling algorithms are described, along with novel aspects of actuator sharing in ITER.

  7. News from ITER controls - a status report

    International Nuclear Information System (INIS)

    Wallander, A.; Abadie, L.; Di Maio, F.; Evrard, B.; Fourneron, J.M.; Gulati, H.; Hansalia, C.; Journeaux, J.Y.; Kim, C.; Klotz, W.D.; Mahajan, K.; Makijarvi, P; Matsumoto, Y.; Pande, S.; Simrock, S.; Stepanov, D.; Utzel, N.; Vergara, A.; Winter, A.; Yonekawa, I.

    2012-01-01

    Construction of ITER has started at the Cadarache site in southern France. The first buildings are taking shape and more than 60 % of the in-kind procurement has been committed by the seven ITER member states (China, Europe, India, Japan, Korea, Russia and United States). The design and manufacturing of the main components of the machine is now underway all over the world. Each of these components comes with a local control system, which must be integrated in the central control system. The control group at ITER has developed two products to facilitate it; the plant control design handbook (PCDH) and the control, data access and communication (CODAC) core system. PCDH is a document which prescribes the technologies and methods to be used in developing local control systems and sets the rules applicable to the in-kind procurements. CODAC core system is a software package, distributed to all in-kind procurement developers, which implements the PCDH and facilitates the compliance of the local control system. In parallel, the ITER control group is proceeding with the design of the central control system to allow fully integrated and automated operation of ITER. In this paper we report on the progress of the design and technology choices and we discuss justifications of those choices. We also report on the results of some pilot projects aimed at validating the design and technologies. (authors)

  8. Plasma position and shape control for ITER

    International Nuclear Information System (INIS)

    Portone, A.; Gribov, Y.; Huguet, M.

    1995-01-01

    Key features and main results about the control of the plasma shape in ITER are presented. A control algorithm is designed to control up to 6 gaps between the plasma separatrix and the plasma facing components during the reference burn phase. Nonlinear simulations show the performances of the controller in the presence of plasma vertical position offsets, beta drops and power supply voltage saturation

  9. Overview of magnetic control in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Zabeo, L., E-mail: luca.zabeo@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 St. Paul Lez Durance (France); Ambrosino, G., E-mail: ambrosin@unina.it [CREATE/Universitá di Napoli Federico II, Dip. Ingegneria Elettrica e delle Tecnologie dell’informazione, Naples (Italy); Cavinato, M., E-mail: mario.cavinato@f4e.europa.eu [Fusion for Energy (F4E), Josep Pla 2, Torres Diagonal Litoral - B3, 08019 Barcelona (Spain); Gribov, Y., E-mail: yuri.gribov@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 St. Paul Lez Durance (France); Kavin, A., E-mail: kavina@sintez.niiefa.spb.su [D.V. Efremov Scientific Research Institute, 196641 St. Petersburg (Russian Federation); Lukash, V., E-mail: lukash@nfi.kiae.ru [Kurchatov Institute, Moscow (Russian Federation); Mattei, M., E-mail: massimiliano.mattei@unina2.it [CREATE/Seconda Universitá di Napoli, Dip. Ingegneria Industriale e dell’informazione, Naples (Italy); Pironti, A., E-mail: pironti@unina.it [CREATE/Seconda Universitá di Napoli, Dip. Ingegneria Industriale e dell’informazione, Naples (Italy); Snipes, J.A., E-mail: joseph.snipes@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 St. Paul Lez Durance (France); Vayakis, G., E-mail: george.vayakis@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 St. Paul Lez Durance (France); Winter, A., E-mail: axel.winter@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 St. Paul Lez Durance (France)

    2014-05-15

    ITER is targeting Q = 10 with 500 MW of fusion power. To meet this target, the plasma needs to be controlled and shaped for a period of hundreds of seconds, avoiding contact with internal components, and acting against instabilities that could result in the loss of control of the plasma and in its disruptive termination. Axisymmetric magnetic control is a well-understood area being the basic control for any tokamak device. ITER adds more stringent constraints to the control primarily due to machine protection and engineering limits. The limits on the actuators by means of the maximum current and voltage at the coils and the few hundred ms time response of the vacuum vessel requires optimization of the control strategies and the validation of the capabilities of the machine in controlling the designed scenarios. Scenarios have been optimized with realistic control strategies able to guarantee robust control against plasma behavior and engineering limits due to recent changes in the ITER design. Technological issues such as performance changes associated with the optimization of the final design of the central solenoid, control of fast transitions like H to L mode to avoid plasma-wall contact, and optimization of the plasma ramp-down have been modeled to demonstrate the successful operability of ITER and compatibility with the latest refinements in the magnetic system design. Validation and optimization of the scenarios refining the operational space available for ITER and associated control strategies will be proposed. The present capabilities of magnetic control will be assessed and the remaining critical aspects that still need to be refined will be presented. The paper will also demonstrate the capabilities of the diagnostic system for magnetic control as a basic element for control. In fact, the noisy environment (affecting primarily vertical stability), the non-axisymmetric elements in the machine structure (affecting the accuracy of the identification of the

  10. Power and particle control for ITER

    Energy Technology Data Exchange (ETDEWEB)

    Cohen, S A; Cummings, J; Post, D E; Redi, M H [Princeton Univ., NJ (USA). Plasma Physics Lab.; Braams, B J [New York Univ., NY (USA). Courant Inst. of Mathematical Sciences; Brooks, J [Argonne National Lab., IL (USA); Engelmann, F; Pacher, G W; Pacher, H D [Max-Planck-Institut fuer Plasmaphysik, Garching (Germany, F.R.). NET Design Team; Harrison, M; Hotston, E [AEA Fusion, Culham (UK).

    1990-12-15

    Achievement of ITER's objectives, long-pulse ignited operation and nuclear component testing in quasi-steady-state, requires exhaust of power and helium ash, control of impurity content, and long lifetimes for plasma-facing components. In this paper we describe the data base and modeling results used to extrapolate present edge plasma parameters to ITER. Particular emphasis has been given to determining the uncertainties in predicted divertor performance. These analyses have been applied to four typical scenarios: A1 (ignited, reference Physics Phase), B1 (long pulse, hybrid, Technology Phase), B6 (steady-state, Technology Phase, impurity seeded) and B4 (steady-state, Technology Phase). 43 refs., 3 tabs.

  11. Quantized Iterative Learning Consensus Tracking of Digital Networks With Limited Information Communication.

    Science.gov (United States)

    Xiong, Wenjun; Yu, Xinghuo; Chen, Yao; Gao, Jie

    2017-06-01

    This brief investigates the quantized iterative learning problem for digital networks with time-varying topologies. The information is first encoded as symbolic data and then transmitted. After the data are received, a decoder is used by the receiver to get an estimate of the sender's state. Iterative learning quantized communication is considered in the process of encoding and decoding. A sufficient condition is then presented to achieve the consensus tracking problem in a finite interval using the quantized iterative learning controllers. Finally, simulation results are given to illustrate the usefulness of the developed criterion.

  12. The ITER Plasma Control System Simulation Platform

    International Nuclear Information System (INIS)

    Walker, M.L.; Ambrosino, G.; De Tommasi, G.; Humphreys, D.A.; Mattei, M.; Neu, G.; Rapson, C.J.; Raupp, G.; Treutterer, W.; Welander, A.S.; Winter, A.

    2015-01-01

    Highlights: • A development and test environment called PCSSP has been constructed for the ITER PCS. • A description of requirements and use cases, a final design and software architecture design, users guide, and a prototype implementation have been delivered. • The prototype implementation was demonstrated at IO in December of 2013. • PCSSP will be deployed for alpha testing to the IO, the development group, and selected other ITER partners upon completion of the next development phase. - Abstract: The Plasma Control System Simulation Platform (PCSSP) is a highly flexible, modular, time-dependent simulation environment developed primarily to support development of the ITER Plasma Control System (PCS). It has been under development since 2011 and is scheduled for first release to users in the ITER Organization (IO) and at selected additional sites in 2015. Modules presently implemented in PCSSP enable exploration of axisymmetric evolution and control, basic kinetic control, and tearing mode suppression. A basic capability for generation of control-relevant events is included, enabling study of exception handling in the PCS, continuous controllers, and PCS architecture. While the control design focus of PCSSP applications tends to require only a moderate level of accuracy and complexity in modules, more complex codes can be embedded or connected to access higher accuracy if needed. This paper describes the background and motivation for PCSSP, provides an overview of the capabilities, architecture, and features of PCSSP, and discusses details of the PCSSP vision and its intended goals and application. Completed work, including architectural design, prototype implementation, reference documents, and IO demonstration of PCSSP, is summarized and example use of PCSSP is illustrated. Near-term high-level objectives are summarized and include preparation for release of an “alpha” version of PCSSP and preparation for the next development phase. High

  13. The ITER Plasma Control System Simulation Platform

    Energy Technology Data Exchange (ETDEWEB)

    Walker, M.L., E-mail: walker@fusion.gat.com [General Atomics, PO Box 85608, San Diego, CA 92186-5608 (United States); Ambrosino, G.; De Tommasi, G. [CREATE/Università di Napoli Federico II, Napoli (Italy); Humphreys, D.A. [General Atomics, PO Box 85608, San Diego, CA 92186-5608 (United States); Mattei, M. [CREATE/Seconda Università di Napoli, Napoli (Italy); Neu, G.; Rapson, C.J.; Raupp, G.; Treutterer, W. [Max Planck Institute for Plasma Physics, Boltzmannstr. 2, 85748 Garching (Germany); Welander, A.S. [General Atomics, PO Box 85608, San Diego, CA 92186-5608 (United States); Winter, A. [ITER Organization, Route de Vinon-sur-Verdon, 13115 St. Paul-lez-Durance (France)

    2015-10-15

    Highlights: • A development and test environment called PCSSP has been constructed for the ITER PCS. • A description of requirements and use cases, a final design and software architecture design, users guide, and a prototype implementation have been delivered. • The prototype implementation was demonstrated at IO in December of 2013. • PCSSP will be deployed for alpha testing to the IO, the development group, and selected other ITER partners upon completion of the next development phase. - Abstract: The Plasma Control System Simulation Platform (PCSSP) is a highly flexible, modular, time-dependent simulation environment developed primarily to support development of the ITER Plasma Control System (PCS). It has been under development since 2011 and is scheduled for first release to users in the ITER Organization (IO) and at selected additional sites in 2015. Modules presently implemented in PCSSP enable exploration of axisymmetric evolution and control, basic kinetic control, and tearing mode suppression. A basic capability for generation of control-relevant events is included, enabling study of exception handling in the PCS, continuous controllers, and PCS architecture. While the control design focus of PCSSP applications tends to require only a moderate level of accuracy and complexity in modules, more complex codes can be embedded or connected to access higher accuracy if needed. This paper describes the background and motivation for PCSSP, provides an overview of the capabilities, architecture, and features of PCSSP, and discusses details of the PCSSP vision and its intended goals and application. Completed work, including architectural design, prototype implementation, reference documents, and IO demonstration of PCSSP, is summarized and example use of PCSSP is illustrated. Near-term high-level objectives are summarized and include preparation for release of an “alpha” version of PCSSP and preparation for the next development phase. High

  14. Magnetic configuration control of ITER plasmas

    International Nuclear Information System (INIS)

    Albanese, R.; Mattei, M.; Portone, A.; Ambrosino, G.; Artaserse, G.; Crisanti, F.; De Tommasi, G.; Fresa, R.; Sartori, F.; Villone, F.

    2007-01-01

    The aim of this paper is to present some new tools used to review the capability of the ITER Poloidal Field (PF) system in controlling the broad range of plasma configurations presently forecasted during ITER operation. The attention is focused on the axi-symmetric aspects of plasma magnetic configuration control since they pose the greatest challenges in terms of control power and they have the largest impact on machine capital cost. Some preliminary results obtained during ongoing activities in collaboration between ENEA/CREATE and EFDA are presented. The paper is divided in two main parts devoted, respectively, to the presentation of a procedure for the PF current optimisation during the scenario, and of a software environment for the study of the PF system capabilities using the plasma linearized response. The proposed PF current optimisation procedure is then used to assess Scenario 2 design, also taking into account the presence of axisymmetric eddy currents and possible variations of poloidal beta and internal inductance. The numerical linear model based tool derived from the JET oriented eXtreme Shape Controller (XSC) tools is finally used to obtain results on the strike point sweeping in ITER

  15. Automatic Control of ITER-like Structures

    International Nuclear Information System (INIS)

    Bosia, G.; Bremond, S.

    2005-01-01

    In ITER Ion Cyclotron System requires a power transfer efficiency in excess of 90% from power source to plasma in quasi continuous operation. This implies the availability of a control system capable of optimizing the array radiation spectrum, automatically acquiring impedance match between the power source and the plasma loaded array at the beginning of the power pulse and maintaining it against load variations due to plasma position and plasma edge parameters fluctuations, rapidly detecting voltage breakdowns in the array and/or in the transmission system and reliably discriminating them from fast load variations. In this paper a proposal for a practical ITER control system, including power, phase, frequency and impedance matching is described. (authors)

  16. Baseline Architecture of ITER Control System

    Science.gov (United States)

    Wallander, A.; Di Maio, F.; Journeaux, J.-Y.; Klotz, W.-D.; Makijarvi, P.; Yonekawa, I.

    2011-08-01

    The control system of ITER consists of thousands of computers processing hundreds of thousands of signals. The control system, being the primary tool for operating the machine, shall integrate, control and coordinate all these computers and signals and allow a limited number of staff to operate the machine from a central location with minimum human intervention. The primary functions of the ITER control system are plant control, supervision and coordination, both during experimental pulses and 24/7 continuous operation. The former can be split in three phases; preparation of the experiment by defining all parameters; executing the experiment including distributed feed-back control and finally collecting, archiving, analyzing and presenting all data produced by the experiment. We define the control system as a set of hardware and software components with well defined characteristics. The architecture addresses the organization of these components and their relationship to each other. We distinguish between physical and functional architecture, where the former defines the physical connections and the latter the data flow between components. In this paper, we identify the ITER control system based on the plant breakdown structure. Then, the control system is partitioned into a workable set of bounded subsystems. This partition considers at the same time the completeness and the integration of the subsystems. The components making up subsystems are identified and defined, a naming convention is introduced and the physical networks defined. Special attention is given to timing and real-time communication for distributed control. Finally we discuss baseline technologies for implementing the proposed architecture based on analysis, market surveys, prototyping and benchmarking carried out during the last year.

  17. Iter

    Science.gov (United States)

    Iotti, Robert

    2015-04-01

    ITER is an international experimental facility being built by seven Parties to demonstrate the long term potential of fusion energy. The ITER Joint Implementation Agreement (JIA) defines the structure and governance model of such cooperation. There are a number of necessary conditions for such international projects to be successful: a complete design, strong systems engineering working with an agreed set of requirements, an experienced organization with systems and plans in place to manage the project, a cost estimate backed by industry, and someone in charge. Unfortunately for ITER many of these conditions were not present. The paper discusses the priorities in the JIA which led to setting up the project with a Central Integrating Organization (IO) in Cadarache, France as the ITER HQ, and seven Domestic Agencies (DAs) located in the countries of the Parties, responsible for delivering 90%+ of the project hardware as Contributions-in-Kind and also financial contributions to the IO, as ``Contributions-in-Cash.'' Theoretically the Director General (DG) is responsible for everything. In practice the DG does not have the power to control the work of the DAs, and there is not an effective management structure enabling the IO and the DAs to arbitrate disputes, so the project is not really managed, but is a loose collaboration of competing interests. Any DA can effectively block a decision reached by the DG. Inefficiencies in completing design while setting up a competent organization from scratch contributed to the delays and cost increases during the initial few years. So did the fact that the original estimate was not developed from industry input. Unforeseen inflation and market demand on certain commodities/materials further exacerbated the cost increases. Since then, improvements are debatable. Does this mean that the governance model of ITER is a wrong model for international scientific cooperation? I do not believe so. Had the necessary conditions for success

  18. Operation and control of ITER plasmas

    International Nuclear Information System (INIS)

    2001-01-01

    Features incorporated in the design of the International Thermonuclear Experimental Reactor (ITER) tokamak and its ancillary and plasma diagnostic systems that will facilitate operation and control of ignited and/or high-Q DT plasmas are presented. Control methods based upon straight-forward extrapolation of techniques employed in the present generation of tokamaks are found to be adequate and effective for DT plasma control with burn durations of ≥1000 s. Examples of simulations of key plasma control functions including magnetic configuration control and fusion burn (power) control are given. The prospects for the creation and control of steady-state plasmas sustained by non-inductive current drive are also discussed. (author)

  19. Operation and control of ITER plasmas

    International Nuclear Information System (INIS)

    1999-01-01

    Features incorporated in the design of the International Thermonuclear Experimental Reactor (ITER) tokamak and its ancillary and plasma diagnostic systems that will facilitate operation and control of ignited and/or high-Q DT plasmas are presented. Control methods based upon straight-forward extrapolation of techniques employed in the present generation of tokamaks are found to be adequate and effective for DT plasma control with burn durations of ≥1000 s. Examples of simulations of key plasma control functions including magnetic configuration control and fusion burn (power) control are given. The prospects for the creation and control of steady-state plasmas sustained by non-inductive current drive are also discussed. (author)

  20. Control of dust production in ITER

    International Nuclear Information System (INIS)

    Rodriguez-Rodrigo, L.; Ciattaglia, S.; Elbez-Uzan, J.

    2006-01-01

    In the last years dust has been observed in a number of fusion devices and is being studied more in detail for understanding in particular the physical phenomena related to its formation, its composition, physical and chemical characteristics, and the amount of produced dust. The extrapolation of dust formation to ITER predicts (with large error bars), a large mass of dust production with a scattered size distribution. To evaluate the impact of dust on safety, assumptions have also been made on radionuclide inventory, and mobility in off-normal events, as well as any postulated contributions the dust may make to effluents or accidental releases. Solid activation products in structures are generally not readily mobilisable in incidental and accidental situations, so that activated dust, tritium and activated corrosions products are the important in-vessel source terms in postulated scenarios that assume a mobilisation and release of some fraction of this inventory. Such a release would require the simultaneous leak or bypass of several robust confinement barriers. Further concerns for dust may be the potential for chemical reactions between dust and coolant in the event of an in-vessel leak, and the theoretical possibility of a dust explosion, either of which could in principle cause a pressure rise that challenges one or more of the confinement barriers. Although these hazards can - and will - be controlled by other measures in the ITER design, application of the principle of Defence in Depth dictates that the dust inventory should also be minimised and controlled to prevent the potential hazard. A well-coordinated R-and-D programme is required to support this dust production control. This document provides from the safety point of view, an overview of existing data given in '' Dossier d'Options de Surete '', the first safety report presented in 2001 to the French Safety Authorities, and ITER documents; it also gathers information on status of studies on activated

  1. Magnetic Configuration Control of ITER Plasmas

    International Nuclear Information System (INIS)

    Albanese, R.; Artaserse, G.; Mattei, M.; Ambrosino, G.; Crisanti, F.; Tommasi, G. de; Fresa, R.; Portone, A.; Sartori, F.; Villone, F.

    2006-01-01

    The aim of this paper is to review the capability of the ITER Poloidal Field (PF) system of controlling the broad range of plasma configurations presently forecasted during ITER operation. The attention is focused on the axi-symmetric aspects of plasma magnetic configuration control since they pose the greatest challenges in terms of control power and they have the largest impact on machine capital cost. The paper is broadly divided in two main sections devoted, respectively, to open loop (feed-forward) and closed loop (feedback) control. In the first part of the study the PF system is assessed with respect to the initiation, ramp-up, sustained burn, ramp-down phases of the main plasma inductive scenario. The limiter-to-divertor configuration transition phase is considered in detail with the aim of assessing the PF capability to form an X-point at the lowest possible current and, therefore, to relax the thermal load on the limiter surfaces. Moreover, during the sustained burn it is important to control plasmas with a broad range of current density profiles. In the second part of the study the plasma vertical feedback control requirements are assessed in details, in particular for the high elongation configurations achievable during the early limiter-to-X point transition phase. Non-rigid plasma displacement models are used to assess the control system voltage and current requirements of different radial field control circuits obtained, for example, by connecting the outermost PF coils, some CS coils, coils sub-sections etc. At last, the main 3D effects of the vessel ports are modeled and their impact of vertical stabilization evaluated. (author)

  2. Iterative learning-based decentralized adaptive tracker for large-scale systems: a digital redesign approach.

    Science.gov (United States)

    Tsai, Jason Sheng-Hong; Du, Yan-Yi; Huang, Pei-Hsiang; Guo, Shu-Mei; Shieh, Leang-San; Chen, Yuhua

    2011-07-01

    In this paper, a digital redesign methodology of the iterative learning-based decentralized adaptive tracker is proposed to improve the dynamic performance of sampled-data linear large-scale control systems consisting of N interconnected multi-input multi-output subsystems, so that the system output will follow any trajectory which may not be presented by the analytic reference model initially. To overcome the interference of each sub-system and simplify the controller design, the proposed model reference decentralized adaptive control scheme constructs a decoupled well-designed reference model first. Then, according to the well-designed model, this paper develops a digital decentralized adaptive tracker based on the optimal analog control and prediction-based digital redesign technique for the sampled-data large-scale coupling system. In order to enhance the tracking performance of the digital tracker at specified sampling instants, we apply the iterative learning control (ILC) to train the control input via continual learning. As a result, the proposed iterative learning-based decentralized adaptive tracker not only has robust closed-loop decoupled property but also possesses good tracking performance at both transient and steady state. Besides, evolutionary programming is applied to search for a good learning gain to speed up the learning process of ILC. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  3. Eliminating Unpredictable Variation through Iterated Learning

    Science.gov (United States)

    Smith, Kenny; Wonnacott, Elizabeth

    2010-01-01

    Human languages may be shaped not only by the (individual psychological) processes of language acquisition, but also by population-level processes arising from repeated language learning and use. One prevalent feature of natural languages is that they avoid unpredictable variation. The current work explores whether linguistic predictability might…

  4. Reinforcement learning produces dominant strategies for the Iterated Prisoner's Dilemma.

    Directory of Open Access Journals (Sweden)

    Marc Harper

    Full Text Available We present tournament results and several powerful strategies for the Iterated Prisoner's Dilemma created using reinforcement learning techniques (evolutionary and particle swarm algorithms. These strategies are trained to perform well against a corpus of over 170 distinct opponents, including many well-known and classic strategies. All the trained strategies win standard tournaments against the total collection of other opponents. The trained strategies and one particular human made designed strategy are the top performers in noisy tournaments also.

  5. Reinforcement learning produces dominant strategies for the Iterated Prisoner's Dilemma.

    Science.gov (United States)

    Harper, Marc; Knight, Vincent; Jones, Martin; Koutsovoulos, Georgios; Glynatsi, Nikoleta E; Campbell, Owen

    2017-01-01

    We present tournament results and several powerful strategies for the Iterated Prisoner's Dilemma created using reinforcement learning techniques (evolutionary and particle swarm algorithms). These strategies are trained to perform well against a corpus of over 170 distinct opponents, including many well-known and classic strategies. All the trained strategies win standard tournaments against the total collection of other opponents. The trained strategies and one particular human made designed strategy are the top performers in noisy tournaments also.

  6. Remix as Professional Learning: Educators’ Iterative Literacy Practice in CLMOOC

    Directory of Open Access Journals (Sweden)

    Anna Smith

    2016-03-01

    Full Text Available The Connected Learning Massive Open Online Collaboration (CLMOOC is an online professional development experience designed as an openly networked, production-centered, participatory learning collaboration for educators. Addressing the paucity of research that investigates learning processes in MOOC experiences, this paper examines the situated literacy practices that emerged as educators in CLMOOC composed, collaborated, and distributed multimediated artifacts. Using a collaborative, interactive visual mapping tool as participant-researchers, we analyzed relationships between publically available artifacts and posts generated in one week through a transliteracies framework. Culled data included posts on Twitter (n = 678, a Google+ Community (n = 105, a Facebook Group (n = 19, a blog feed (n = 5, and a “make” repository (n = 21. Remix was found to be a primary form of interaction and mediator of learning. Participants not only iterated on each others’ artifacts, but on social processes and shared practices as well. Our analysis illuminated four distinct remix mobilities and relational tendencies—bursting, drifting, leveraging, and turning. Bursting and drifting characterize the paces and proximities of remixing while leveraging and turning are activities more obviously disruptive of social processes and power hierarchies. These mobilities and tendencies revealed remix as an emergent, iterative, collaborative, critical practice with transformative possibilities for openly networked web-mediated professional learning.

  7. ITER instrumentation and control-Status and plans

    International Nuclear Information System (INIS)

    Wallander, Anders; Abadie, Lana; Dave, Haresh; Di Maio, Franck; Gulati, Hitesh Kumar; Hansalia, Chandresh; Joonekindt, Didier; Journeaux, Jean-Yves; Klotz, Wolf-Dieter; Mahajan, Kirti; Makijarvi, Petri; Scibile, Luigi; Stepanov, Denis; Utzel, Nadine; Yonekawa, Izuru

    2010-01-01

    The ITER instrumentation and control (I and C) system is the term encompassing all hardware and software required to operate ITER. It has two levels of hierarchy: the central I and C systems and the plant systems I and C. The central I and C systems comprise CODAC (Control, Data Access and Communication), the central interlock system (CIS) and the central safety systems (CSS). The central I and C systems are 'in-fund', i.e. procured by ITER Organization (IO), while plant systems I and C are 'in-kind', i.e. procured by the seven ITER domestic agencies. This procurement model, together with the current estimate of 161 plant systems I and C, poses a major challenge for the realization and integration of the ITER I and C system. To address this challenge a main strategic focus of the CODAC group, formed in 2008, has been to establish good relations with the domestic agencies. By distributing the required R and D tasks and contracts fairly between the domestic agencies we build collaborations for the future at the same time as technical work proceed. The primary goal of ITER I and C system is to provide a fully integrated and automated control system for ITER. Standardization of plant systems I and C is of primary importance and has been the highest priority task during the last year. The target of associated R and D activities is to survey, benchmark and prototype main stream technologies, in order to choose the best and most widely used technology standards for plant systems I and C. In this paper we elaborate on our approach, both from a technical and a non-technical perspective, explain technology evaluation and decisions and finally present the way forward to ensure ITER I and C system will contribute and be instrumental in making ITER a success.

  8. Progress in standardization for ITER Remote Handling control system

    International Nuclear Information System (INIS)

    Hamilton, David Thomas; Tesini, Alessandro; Ranz, Roberto; Kozaka, Hiroshi

    2014-01-01

    Graphical abstract: - Highlights: • Standard parts specified for ITER Remote Handling (RH) control system. • Standard approach for VR modeling of structural deformations in real-time. • RH Core System produced as standard platform for RH controller applications. • Synthetic Viewing investigated and demonstrated. • Structured language defined for RH operation procedures and motion sequences. - Abstract: An integrated control system architecture has been defined for the ITER Remote Handling (RH) equipment systems, and work has been continuing to develop and validate standards for this architecture. Evaluations of standard parts and a standard control room work-cell have contributed to an update of the RH Control System Design Handbook, while R and D activities have been carried out to validate concepts for standard solutions to ITER RH problems: the use of a standard master arm with different slave arms, the achievement of high accuracy tracking of RH operations within virtual reality, and condition monitoring of RH equipment systems. The standardization efforts have been consolidated through the development of a freely distributable software platform to support the adoption of the ITER RH standards. The RH Core System installs on top of the CODAC Core System and provides the basic platform for the development of ITER RH equipment controller applications. The standardization work has continued in the areas of RH viewing, network communication protocols, and a structured language for programming ITER RH operations. Prototyping has been done on high-level control system applications, and R and D has been carried out in the area of synthetic viewing for ITER RH. These developments will be reflected in a new version of the RH Core System to be produced during 2013

  9. Progress in standardization for ITER Remote Handling control system

    Energy Technology Data Exchange (ETDEWEB)

    Hamilton, David Thomas, E-mail: david.hamilton@iter.org [ITER Organization, Route de Vinon, 13115 St. Paul-lez-Durance (France); Tesini, Alessandro [ITER Organization, Route de Vinon, 13115 St. Paul-lez-Durance (France); Ranz, Roberto [Fusion for Energy, Torres Diagonal Litoral B3, Josep Pla 2, 08019 Barcelona (Spain); Kozaka, Hiroshi [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan)

    2014-10-15

    Graphical abstract: - Highlights: • Standard parts specified for ITER Remote Handling (RH) control system. • Standard approach for VR modeling of structural deformations in real-time. • RH Core System produced as standard platform for RH controller applications. • Synthetic Viewing investigated and demonstrated. • Structured language defined for RH operation procedures and motion sequences. - Abstract: An integrated control system architecture has been defined for the ITER Remote Handling (RH) equipment systems, and work has been continuing to develop and validate standards for this architecture. Evaluations of standard parts and a standard control room work-cell have contributed to an update of the RH Control System Design Handbook, while R and D activities have been carried out to validate concepts for standard solutions to ITER RH problems: the use of a standard master arm with different slave arms, the achievement of high accuracy tracking of RH operations within virtual reality, and condition monitoring of RH equipment systems. The standardization efforts have been consolidated through the development of a freely distributable software platform to support the adoption of the ITER RH standards. The RH Core System installs on top of the CODAC Core System and provides the basic platform for the development of ITER RH equipment controller applications. The standardization work has continued in the areas of RH viewing, network communication protocols, and a structured language for programming ITER RH operations. Prototyping has been done on high-level control system applications, and R and D has been carried out in the area of synthetic viewing for ITER RH. These developments will be reflected in a new version of the RH Core System to be produced during 2013.

  10. Iterative feedback tuning of wind turbine controllers

    NARCIS (Netherlands)

    van Solingen, E.; Mulders, S.P.; van Wingerden, J.W.

    2017-01-01

    Traditionally, wind turbine controllers are designed using first principles or linearized or identified models. The aim of this paper is to show that with an automated, online, and model-free tuning strategy, wind turbine control performance can be significantly increased. For this purpose,

  11. Architectural concept for the ITER Plasma Control System

    Energy Technology Data Exchange (ETDEWEB)

    Treutterer, W., E-mail: Wolfgang.Treutterer@ipp.mpg.de [Max-Planck Institute for Plasma Physics, EURATOM Association, Garching (Germany); Humphreys, D., E-mail: humphreys@fusion.gat.com [General Atomics, San Diego, CA (United States); Raupp, G., E-mail: Gerhard.Raupp@ipp.mpg.de [Max-Planck Institute for Plasma Physics, EURATOM Association, Garching (Germany); Schuster, E., E-mail: schuster@lehigh.edu [Lehigh University, Bethlehem, PA (United States); Snipes, J., E-mail: Joseph.Snipes@iter.org [ITER Organization, 13115 St. Paul-lez-Durance (France); De Tommasi, G., E-mail: detommas@unina.it [CREATE/Università di Napoli Federico II, Napoli (Italy); Walker, M., E-mail: walker@fusion.gat.com [General Atomics, San Diego, CA (United States); Winter, A., E-mail: Axel.Winter@iter.org [ITER Organization, 13115 St. Paul-lez-Durance (France)

    2014-05-15

    The plasma control system is a key instrument for successfully investigating the physics of burning plasma at ITER. It has the task to execute an experimental plan, known as pulse schedule, in the presence of complex relationships between plasma parameters like temperature, pressure, confinement and shape. The biggest challenge in the design of the control system is to find an adequate breakdown of this task in a hierarchy of feedback control functions. But it is also important to foresee structures that allow handling unplanned exceptional situations to protect the machine. Also the management of the limited number of actuator systems for multiple targets is an aspect with a strong impact on system architecture. Finally, the control system must be flexible and reconfigurable to cover the manifold facets of plasma behaviour and investigation goals. In order to prepare the development of a control system for ITER plasma operation, a conceptual design has been proposed by a group of worldwide experts and reviewed by an ITER panel in 2012. In this paper we describe the fundamental principles of the proposed control system architecture and how they were derived from a systematic collection and analysis of use cases and requirements. The experience and best practices from many fusion devices and research laboratories, augmented by the envisaged ITER specific tasks, build the foundation of this collection. In the next step control functions were distilled from this input. An analysis of the relationships between the functions allowed sequential and parallel structures, alternate branches and conflicting requirements to be identified. Finally, a concept of selectable control layers consisting of nested “compact controllers” was synthesised. Each control layer represents a cascaded scheme from high-level to elementary controllers and implements a control hierarchy. The compact controllers are used to resolve conflicts when several control functions would use the same

  12. Architectural concept for the ITER Plasma Control System

    International Nuclear Information System (INIS)

    Treutterer, W.; Humphreys, D.; Raupp, G.; Schuster, E.; Snipes, J.; De Tommasi, G.; Walker, M.; Winter, A.

    2014-01-01

    The plasma control system is a key instrument for successfully investigating the physics of burning plasma at ITER. It has the task to execute an experimental plan, known as pulse schedule, in the presence of complex relationships between plasma parameters like temperature, pressure, confinement and shape. The biggest challenge in the design of the control system is to find an adequate breakdown of this task in a hierarchy of feedback control functions. But it is also important to foresee structures that allow handling unplanned exceptional situations to protect the machine. Also the management of the limited number of actuator systems for multiple targets is an aspect with a strong impact on system architecture. Finally, the control system must be flexible and reconfigurable to cover the manifold facets of plasma behaviour and investigation goals. In order to prepare the development of a control system for ITER plasma operation, a conceptual design has been proposed by a group of worldwide experts and reviewed by an ITER panel in 2012. In this paper we describe the fundamental principles of the proposed control system architecture and how they were derived from a systematic collection and analysis of use cases and requirements. The experience and best practices from many fusion devices and research laboratories, augmented by the envisaged ITER specific tasks, build the foundation of this collection. In the next step control functions were distilled from this input. An analysis of the relationships between the functions allowed sequential and parallel structures, alternate branches and conflicting requirements to be identified. Finally, a concept of selectable control layers consisting of nested “compact controllers” was synthesised. Each control layer represents a cascaded scheme from high-level to elementary controllers and implements a control hierarchy. The compact controllers are used to resolve conflicts when several control functions would use the same

  13. An integrated architecture for the ITER RH control system

    International Nuclear Information System (INIS)

    Hamilton, David Thomas; Tesini, Alessandro

    2012-01-01

    Highlights: ► Control system architecture integrating ITER remote handling equipment systems. ► Standard control system architecture for remote handling equipment systems. ► Research and development activities to validate control system architecture. ► Standardization studies to select standard parts for control system architecture. - Abstract: The ITER remote handling (RH) system has been divided into 7 major equipment system procurements that deliver complete systems (operator interfaces, equipment controllers, and equipment) according to task oriented functional specifications. Each equipment system itself is an assembly of transporters, power manipulators, telemanipulators, vehicular systems, cameras, and tooling with a need for controllers and operator interfaces. From an operational perspective, the ITER RH systems are bound together by common control rooms, operations team, and maintenance team; and will need to achieve, to a varying degree, synchronization of operations, co-operation on tasks, hand-over of components, and sharing of data and resources. The separately procured RH systems must, therefore, be integrated to form a unified RH system for operation from the RH control rooms. The RH system will contain a heterogeneous mix of specially developed RH systems and off-the-shelf RH equipment and parts. The ITER Organization approach is to define a control system architecture that supports interoperable heterogeneous modules, and to specify a standard set of modules for each system to implement within this architecture. Compatibility with standard parts for selected modules is required to limit the complexity for operations and maintenance. A key requirement for integrating the control system modules is interoperability, and no module should have dependencies on the implementation details of other modules. The RH system is one of the ITER Plant systems that are integrated and coordinated through the hierarchical structure of the ITER CODAC system

  14. 3D dictionary learning based iterative cone beam CT reconstruction

    Directory of Open Access Journals (Sweden)

    Ti Bai

    2014-03-01

    Full Text Available Purpose: This work is to develop a 3D dictionary learning based cone beam CT (CBCT reconstruction algorithm on graphic processing units (GPU to improve the quality of sparse-view CBCT reconstruction with high efficiency. Methods: A 3D dictionary containing 256 small volumes (atoms of 3 × 3 × 3 was trained from a large number of blocks extracted from a high quality volume image. On the basis, we utilized cholesky decomposition based orthogonal matching pursuit algorithm to find the sparse representation of each block. To accelerate the time-consuming sparse coding in the 3D case, we implemented the sparse coding in a parallel fashion by taking advantage of the tremendous computational power of GPU. Conjugate gradient least square algorithm was adopted to minimize the data fidelity term. Evaluations are performed based on a head-neck patient case. FDK reconstruction with full dataset of 364 projections is used as the reference. We compared the proposed 3D dictionary learning based method with tight frame (TF by performing reconstructions on a subset data of 121 projections. Results: Compared to TF based CBCT reconstruction that shows good overall performance, our experiments indicated that 3D dictionary learning based CBCT reconstruction is able to recover finer structures, remove more streaking artifacts and also induce less blocky artifacts. Conclusion: 3D dictionary learning based CBCT reconstruction algorithm is able to sense the structural information while suppress the noise, and hence to achieve high quality reconstruction under the case of sparse view. The GPU realization of the whole algorithm offers a significant efficiency enhancement, making this algorithm more feasible for potential clinical application.-------------------------------Cite this article as: Bai T, Yan H, Shi F, Jia X, Lou Y, Xu Q, Jiang S, Mou X. 3D dictionary learning based iterative cone beam CT reconstruction. Int J Cancer Ther Oncol 2014; 2(2:020240. DOI: 10

  15. Implementation strategy for the ITER plasma control system

    International Nuclear Information System (INIS)

    Winter, A.; Ambrosino, G.; Bauvir, B.; De Tommasi, G.; Humphreys, D.A.; Mattei, M.; Neto, A.; Raupp, G.; Snipes, J.A.; Stephen, A.V.; Treutterer, W.; Walker, M.L.; Zabeo, L.

    2015-01-01

    This paper gives an overview of the scope and context of the CODAC high-level real-time applications (Supervision and Plasma Control) and presents the strategy and current state of design of the tools to support the implementation. A real-time framework, which is currently under development with strong support of the worldwide fusion community will not only support the implementation of plasma control strategies with the extensive exception handling and forecasting functionality foreseen for ITER, but also integrated commissioning, orchestration and supervision as well as the real-time needs of ITER plant system developers. A second cornerstone in the implementation strategy is the development of a powerful simulation environment (Plasma Control System Simulation Platform – PCSSP) to design and verify control strategies, event handling and orchestration and automation. The development of PCSSP is currently under contract and this paper will also give an overview of its current state of development.

  16. Implementation strategy for the ITER plasma control system

    Energy Technology Data Exchange (ETDEWEB)

    Winter, A., E-mail: axel.winter@iter.org [ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St Paul Lez Durance Cedex (France); Ambrosino, G. [CREATE/Università di Napoli Federico II, Dip. Ingegneria Elettrica e delle Tecnologie dell’Informazione (Italy); Bauvir, B. [ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St Paul Lez Durance Cedex (France); De Tommasi, G. [CREATE/Università di Napoli Federico II, Dip. Ingegneria Elettrica e delle Tecnologie dell’Informazione (Italy); Humphreys, D.A. [General Atomics, San Diego, CA (United States); Mattei, M. [CREATE/Seconda Università di Napoli, Dip. Ingegneria Industriale e dell’Informazione (Italy); Neto, A. [Fusion for Energy, Barcelona (Spain); Raupp, G. [Max Planck Institute for Plasma Physics, EURATOM Association, Garching (Germany); Snipes, J.A. [ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St Paul Lez Durance Cedex (France); Stephen, A.V. [Culham Centre for Fusion Energy, Culham Science Centre, Abingdon (United Kingdom); Treutterer, W. [Max Planck Institute for Plasma Physics, EURATOM Association, Garching (Germany); Walker, M.L. [General Atomics, San Diego, CA (United States); Zabeo, L. [ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St Paul Lez Durance Cedex (France)

    2015-10-15

    This paper gives an overview of the scope and context of the CODAC high-level real-time applications (Supervision and Plasma Control) and presents the strategy and current state of design of the tools to support the implementation. A real-time framework, which is currently under development with strong support of the worldwide fusion community will not only support the implementation of plasma control strategies with the extensive exception handling and forecasting functionality foreseen for ITER, but also integrated commissioning, orchestration and supervision as well as the real-time needs of ITER plant system developers. A second cornerstone in the implementation strategy is the development of a powerful simulation environment (Plasma Control System Simulation Platform – PCSSP) to design and verify control strategies, event handling and orchestration and automation. The development of PCSSP is currently under contract and this paper will also give an overview of its current state of development.

  17. Iterative Controller Tuning for Process with Fold Bifurcations

    DEFF Research Database (Denmark)

    Huusom, Jakob Kjøbsted; Poulsen, Niels Kjølstad; Jørgensen, Sten Bay

    2007-01-01

    Processes involving fold bifurcation are notoriously difficult to control in the vicinity of the fold where most often optimal productivity is achieved . In cases with limited process insight a model based control synthesis is not possible. This paper uses a data driven approach with an improved...... version of iterative feedback tuning to optimizing a closed loop performance criterion, as a systematic tool for tuning process with fold bifurcations....

  18. Development of ITER CODAC compatible gyrotron local control system and its operation

    International Nuclear Information System (INIS)

    Ohshima, Katsumi; Oda, Yasuhisa; Takahashi, Koji; Terakado, Masayuki; Ikeda, Ryosuke; Moriyama, Shinichi; Kajiwara, Ken; Sakamoto, Keishi; Hayashi, Kazuo

    2016-03-01

    In Japan Atomic Energy Agency, an ITER relevant control system for ITER gyrotron was developed according to Plant Control Design Handbook. This control system was developed based on ITER CODAC Core System and implemented state machine control of gyrotron operation system, sequential timing control of gyrotron oscillation startup, and data acquisition. The operation of ITER 170 GHz gyrotron was demonstrated with ITER relevant power supply configuration. This system is utilized for gyrotron operation test for ITER procurement. This report describes the architecture of gyrotron local control system, its basic and detailed design, and recent operation results. (author)

  19. Engineering Design of ITER Prototype Fast Plant System Controller

    Science.gov (United States)

    Goncalves, B.; Sousa, J.; Carvalho, B.; Rodrigues, A. P.; Correia, M.; Batista, A.; Vega, J.; Ruiz, M.; Lopez, J. M.; Rojo, R. Castro; Wallander, A.; Utzel, N.; Neto, A.; Alves, D.; Valcarcel, D.

    2011-08-01

    The ITER control, data access and communication (CODAC) design team identified the need for two types of plant systems. A slow control plant system is based on industrial automation technology with maximum sampling rates below 100 Hz, and a fast control plant system is based on embedded technology with higher sampling rates and more stringent real-time requirements than that required for slow controllers. The latter is applicable to diagnostics and plant systems in closed-control loops whose cycle times are below 1 ms. Fast controllers will be dedicated industrial controllers with the ability to supervise other fast and/or slow controllers, interface to actuators and sensors and, if necessary, high performance networks. Two prototypes of a fast plant system controller specialized for data acquisition and constrained by ITER technological choices are being built using two different form factors. This prototyping activity contributes to the Plant Control Design Handbook effort of standardization, specifically regarding fast controller characteristics. Envisaging a general purpose fast controller design, diagnostic use cases with specific requirements were analyzed and will be presented along with the interface with CODAC and sensors. The requirements and constraints that real-time plasma control imposes on the design were also taken into consideration. Functional specifications and technology neutral architecture, together with its implications on the engineering design, were considered. The detailed engineering design compliant with ITER standards was performed and will be discussed in detail. Emphasis will be given to the integration of the controller in the standard CODAC environment. Requirements for the EPICS IOC providing the interface to the outside world, the prototype decisions on form factor, real-time operating system, and high-performance networks will also be discussed, as well as the requirements for data streaming to CODAC for visualization and

  20. Upper limb stroke rehabilitation: the effectiveness of Stimulation Assistance through Iterative Learning (SAIL).

    Science.gov (United States)

    Meadmore, Katie L; Cai, Zhonglun; Tong, Daisy; Hughes, Ann-Marie; Freeman, Chris T; Rogers, Eric; Burridge, Jane H

    2011-01-01

    A novel system has been developed which combines robotic therapy with electrical stimulation (ES) for upper limb stroke rehabilitation. This technology, termed SAIL: Stimulation Assistance through Iterative Learning, employs advanced model-based iterative learning control (ILC) algorithms to precisely assist participant's completion of 3D tracking tasks with their impaired arm. Data is reported from a preliminary study with unimpaired participants, and also from a single hemiparetic stroke participant with reduced upper limb function who has used the system in a clinical trial. All participants completed tasks which involved moving their (impaired) arm to follow an image of a slowing moving sphere along a trajectory. The participants' arm was supported by a robot and ES was applied to the triceps brachii and anterior deltoid muscles. During each task, the same tracking trajectory was repeated 6 times and ILC was used to compute the stimulation signals to be applied on the next iteration. Unimpaired participants took part in a single, one hour training session and the stroke participant undertook 18, 1 hour treatment sessions composed of tracking tasks varying in length, orientation and speed. The results reported describe changes in tracking ability and demonstrate feasibility of the SAIL system for upper limb rehabilitation. © 2011 IEEE

  1. On the automatic control of the ITER ion cyclotron system

    Energy Technology Data Exchange (ETDEWEB)

    Bosia, G. [Department of General Physics, University of Turin, Via P. Giuria 1, 10 125 Turin (Italy)], E-mail: giuseppe.bosia@to.infn.it

    2007-10-15

    The ITER ion cyclotron heating system requires an efficient control system capable of: (i) providing the desired array radiation spectrum, to optimize plasma coupling and absorption and to minimize parasitic power losses in the plasma edge; (ii) maintaining the RF power flow to the plasma against significant load variations, including fast fluctuations induced by ELMs; (iii) reliably detecting and suppressing RF voltage breakdowns in the array and/or in the transmission system, to avoid local equipment damage and (iv) implementing an accurate real time record of performance. In this paper specific aspects of the tuning control system, related to recent conceptual and engineering effort [K. Vulliez, et al., Design of the ITER ion cyclotron heating launcher based on in-vessel tuning system, Article ID106C, this conference] are addressed.

  2. The ITER poloidal field system: control and power supplies

    International Nuclear Information System (INIS)

    Mondino, P.L.; Benfatto, I.; Gribov, Y.; Matsukawa, M.; Odajima, K.; Portone, A.; Roshal, A.; Bareyt, B.; Bertolini, E.; Bottereau, J.M.; Huart, M.; Maschio, A.; Bulgakov, S.; Kuchinski, V.

    1995-01-01

    The paper reports the preliminary scenario of the ITER Poloidal Field (PF) system operation, the method used to evaluate the installed power, the basic structure of the circuits and finally the concepts of the preliminary design of control and power supply. The superconducting coils are energized from the HV Grid with conventional AC/DC converters. R and D is required for circuit breakers, make switches and resistors, the basic components of both the switching networks and the discharge circuits. (orig.)

  3. Control advances for achieving the ITER baseline scenario on KSTAR

    Science.gov (United States)

    Eidietis, N. W.; Barr, J.; Hahn, S. H.; Humphreys, D. A.; in, Y. K.; Jeon, Y. M.; Lanctot, M. J.; Mueller, D.; Walker, M. L.

    2017-10-01

    Control methodologies developed to enable successful production of ITER baseline scenario (IBS) plasmas on the superconducting KSTAR tokamak are presented: decoupled vertical control (DVC), real-time feedforward (rtFF) calculation, and multi-input multi-output (MIMO) X-point control. DVC provides fast vertical control with the in-vessel control coils (IVCC) while sharing slow vertical control with the poloidal field (PF) coils to avoid IVCC saturation. rtFF compensates for inaccuracies in offline PF current feedforward programming, allowing reduction or removal of integral gain (and its detrimental phase lag) from the shape controller. Finally, MIMO X-point control provides accurate positioning of the X-point despite low controllability due to the large distance between coils and plasma. Combined, these techniques enabled achievement of IBS parameters (q95 = 3.2, βN = 2) with a scaled ITER shape on KSTAR. n =2 RMP response displays a strong dependence upon this shaping. Work supported by the US DOE under Award DE-SC0010685 and the KSTAR project.

  4. Control systems for ITER diagnostics, heating and current drive

    Energy Technology Data Exchange (ETDEWEB)

    Simrock, Stefan, E-mail: stefan.simrock@iter.org

    2016-11-15

    The ITER Diagnostic, Heating and Current Drive systems might appear, on the face of it, to have very different control requirements. There are approximately 45 diagnostic systems, including magnetic sensors for plasma position and shape determination, imaging systems in the IR and visible, Thompson scattering for electron temperature and density, neutron detectors and collective scattering for alpha particle density and energy distribution. The H&CD systems encompass Electron Cyclotron Heating, using 24 1MW, 170 GHz gyrotrons and 5 steerable launchers to deliver 20 MW to the plasma, Ion Cyclotron Heating, using 8 3MW, 40–55 MHz sources and two multi-element launchers to deliver 20 MW to the plasma, and 2 Negative Ion Neutral Beam Injectors, each of which can deliver up to 16.5 MW of 1 MeV beams to the plasma. Although there are substantial differences in the needs for protection, when handling multi-MW heating systems, and in data throughput for many diagnostics, the formal processes needed to translate system requirements into Instrumentation and Control are identical. Due to the distributed procurement of ITER sub-systems and the need to integrate as painlessly as possible to CODAC, the formal processes, together with a substantial degree of standardization, are even more than usually essential. Starting from the technical, safety and protection, integration and operation requirements, a loop of functional analysis and signal listing is used to generate the controller configuration and the conceptual architecture. These elements in their turn lead to the physical and software design. The paper will describe the formal processes of control system design and the methods used by the ITER project to achieve the standardization of systems engineering practices. These have been applied to several use-cases covering all operation relevant phases such as plasma operation, maintenance, testing and conditioning. There are a number of running contracts that are developing

  5. Adaptive control in multi-threaded iterated integration

    International Nuclear Information System (INIS)

    Doncker, Elise de; Yuasa, Fukuko

    2013-01-01

    In recent years we have developed a technique for the direct computation of Feynman loop-integrals, which are notorious for the occurrence of integrand singularities. Especially for handling singularities in the interior of the domain, we approximate the iterated integral using an adaptive algorithm in the coordinate directions. We present a novel multi-core parallelization scheme for adaptive multivariate integration, by assigning threads to the rule evaluations in the outer dimensions of the iterated integral. The method ensures a large parallel granularity as each function evaluation by itself comprises an integral over the lower dimensions, while the application of the threads is governed by the adaptive control in the outer level. We give computational results for a test set of 3- to 6-dimensional integrals, where several problems exhibit a loop integral behavior.

  6. Measurement and control system for ITER remote maintenance equipment

    Energy Technology Data Exchange (ETDEWEB)

    Oka, Kiyoshi; Kakudate, Satoshi; Takeda, Nobukazu; Takiguchi, Yuji; Akou, Kentaro [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

    1998-04-01

    ITER in-vessel components such as blankets and divertors are categorized as scheduled maintenance components because they are subjected to severe plasma heat and particle loads. Blanket maintenance requires remote handling equipment and tools able to handle Heavy payloads of about 4 tons within a 2 mm precision tolerance. Divertor maintenance requires remote replacement of 60 cassettes with a dead weight of about 25 tons each. In the ITER R and D program, full-scale remote handling equipment for blanket and divertor maintenance has been designed and assembled for demonstration tests. This paper reviews the measurement and control system developed for full-scale remote handling equipment, the Japan Home Team contribution. (author)

  7. Measurement and control system for ITER remote maintenance equipment

    International Nuclear Information System (INIS)

    Oka, Kiyoshi; Kakudate, Satoshi; Takeda, Nobukazu; Takiguchi, Yuji; Akou, Kentaro

    1998-01-01

    ITER in-vessel components such as blankets and divertors are categorized as scheduled maintenance components because they are subjected to severe plasma heat and particle loads. Blanket maintenance requires remote handling equipment and tools able to handle Heavy payloads of about 4 tons within a 2 mm precision tolerance. Divertor maintenance requires remote replacement of 60 cassettes with a dead weight of about 25 tons each. In the ITER R and D program, full-scale remote handling equipment for blanket and divertor maintenance has been designed and assembled for demonstration tests. This paper reviews the measurement and control system developed for full-scale remote handling equipment, the Japan Home Team contribution. (author)

  8. On Controlled Iterated GSM Mappings and Related Operations

    NARCIS (Netherlands)

    Asveld, P.R.J.

    1979-01-01

    In [17] G. Paun studied families of languages generated by iterated gsm mappings, iterated finite substitutions, and iterated homomorphisms. In this note we generalize some results in [17], and we discuss the relation between iterated finite substitutions (homomorphisms) and (deterministic) tabled

  9. On Controlled Iterated GSM Mappings and Related Operations

    NARCIS (Netherlands)

    Asveld, P.R.J.

    1980-01-01

    In [17] G. Paun studied families of languages generated by iterated gsm mappings, iterated finite substitutions, and iterated homomorphisms. In this note we generalize some results in [17], and we discuss the relation between iterated finite substitutions (homomorphisms) and (deterministic) tabled

  10. Modelling controlled VDE's and ramp-down scenarios in ITER

    Science.gov (United States)

    Lodestro, L. L.; Kolesnikov, R. A.; Meyer, W. H.; Pearlstein, L. D.; Humphreys, D. A.; Walker, M. L.

    2011-10-01

    Following the design reviews of recent years, the ITER poloidal-field coil-set design, including in-vessel coils (VS3), and the divertor configuration have settled down. The divertor and its material composition (the latter has not been finalized) affect the development of fiducial equilibria and scenarios together with the coils through constraints on strike-point locations and limits on the PF and control systems. Previously we have reported on our studies simulating controlled vertical events in ITER with the JCT 2001 controller to which we added a PID VS3 circuit. In this paper we report and compare controlled VDE results using an optimized integrated VS and shape controller in the updated configuration. We also present our recent simulations of alternate ramp-down scenarios, looking at the effects of ramp-down time and shape strategies, using these controllers. This work performed under the auspices of the U.S. Department of Energy by LLNL under Contract DE-AC52-07NA27344.

  11. ITER Fast Plant System Controller prototype based on PXIe platform

    International Nuclear Information System (INIS)

    Ruiz, M.; Vega, J.; Castro, R.; Sanz, D.; López, J.M.; Arcas, G. de; Barrera, E.; Nieto, J.; Gonçalves, B.; Sousa, J.; Carvalho, B.; Utzel, N.; Makijarvi, P.

    2012-01-01

    Highlights: ► Implementation of Fast Plant System Controller (FPSC) for ITER CODAC. ► Efficient data acquisition and data movement using EPICS. ► Performance of PCIe technologies in the implementation of FPSC. - Abstract: The ITER Fast Plant System Controller (FPSC) is based on embedded technologies. The FPSC will be devoted to both data acquisition tasks (sampling rates higher than 1 kHz) and control purposes (feedback loop actuators). Some of the essential requirements of these systems are: (a) data acquisition and data preprocessing; (b) interfacing with different networks and high speed links (Plant Operation Network, timing network based on IEEE1588, synchronous data transference and streaming/archiving networks); and (c) system setup and operation using EPICS (Experimental Physics and Industrial Control System) process variables. CIEMAT and UPM have implemented a prototype of FPSC using a PXIe (PCI eXtension for Instrumentation) form factor in a R and D project developed in two phases. The paper presents the main features of the two prototypes developed that have been named alpha and beta. The former was implemented using LabVIEW development tools as it was focused on modeling the FPSC software modules, using the graphical features of LabVIEW applications, and measuring the basic performance in the system. The alpha version prototype implements data acquisition with time-stamping, EPICS monitoring using waveform process variables (PVs), and archiving. The beta version prototype is a complete IOC implemented using EPICS with different software functional blocks. These functional blocks are integrated and managed using an ASYN driver solution and provide the basic functionalities required by ITER FPSC such as data acquisition, data archiving, data pre-processing (using both CPU and GPU) and streaming.

  12. The plasma position control of ITER EDA plasma

    International Nuclear Information System (INIS)

    Senda, Ikuo; Nishio, Satoshi; Tsunematsu, Toshihide; Nishino, Toru; Fujieda, Hirobumi.

    1994-09-01

    The study on the plasma position control of ITER EDA performed by Japan Home Team during the sensitivity study in 1994 is summarized. The controllabilities of plasmas in the Outline Design and elongated version are compared. The model used to describe the motion of the plasma is a rigid model. The PD feedback control is applied with respect to the displacements of the plasma from the equilibrium. Three types of fluctuations, which initiate the motion of the plasma, are examined, namely a finite horizontal fluctuation field, a small horizontal fluctuation field such that the motion of the plasma is governed by the passive structures and an abrupt change of the poloidal beta β p and internal inductance l i . In the simulations of finite horizontal fluctuation fields, controls depend on the strength of the fluctuations, for instance, 3-5V is needed for 5-10G of fluctuation fields in the Outline Design. When the fluctuation field is small and the plasma displacement grows in a characteristic time of the passive structures, a few volt of the control voltage is enough to obtain good controllability. It is shown that the control when (β p , l i ) changes simultaneously is demanding and a large control voltage is required to maintain satisfactory control. Comparing the elongated version with the Outline Design, the control voltage which is larger than the Outline Design by a factor of 2-3 is required to obtain the same controllability in the elongated version. (author)

  13. Performance evaluation on force control for ITER blanket installation

    Energy Technology Data Exchange (ETDEWEB)

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

    2013-10-15

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

  14. Performance evaluation on force control for ITER blanket installation

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  15. Using iterative learning to improve understanding during the informed consent process in a South African psychiatric genomics study.

    Science.gov (United States)

    Campbell, Megan M; Susser, Ezra; Mall, Sumaya; Mqulwana, Sibonile G; Mndini, Michael M; Ntola, Odwa A; Nagdee, Mohamed; Zingela, Zukiswa; Van Wyk, Stephanus; Stein, Dan J

    2017-01-01

    Obtaining informed consent is a great challenge in global health research. There is a need for tools that can screen for and improve potential research participants' understanding of the research study at the time of recruitment. Limited empirical research has been conducted in low and middle income countries, evaluating informed consent processes in genomics research. We sought to investigate the quality of informed consent obtained in a South African psychiatric genomics study. A Xhosa language version of the University of California, San Diego Brief Assessment of Capacity to Consent Questionnaire (UBACC) was used to screen for capacity to consent and improve understanding through iterative learning in a sample of 528 Xhosa people with schizophrenia and 528 controls. We address two questions: firstly, whether research participants' understanding of the research study improved through iterative learning; and secondly, what were predictors for better understanding of the research study at the initial screening? During screening 290 (55%) cases and 172 (33%) controls scored below the 14.5 cut-off for acceptable understanding of the research study elements, however after iterative learning only 38 (7%) cases and 13 (2.5%) controls continued to score below this cut-off. Significant variables associated with increased understanding of the consent included the psychiatric nurse recruiter conducting the consent screening, higher participant level of education, and being a control. The UBACC proved an effective tool to improve understanding of research study elements during consent, for both cases and controls. The tool holds utility for complex studies such as those involving genomics, where iterative learning can be used to make significant improvements in understanding of research study elements. The UBACC may be particularly important in groups with severe mental illness and lower education levels. Study recruiters play a significant role in managing the quality of

  16. Using iterative learning to improve understanding during the informed consent process in a South African psychiatric genomics study.

    Directory of Open Access Journals (Sweden)

    Megan M Campbell

    Full Text Available Obtaining informed consent is a great challenge in global health research. There is a need for tools that can screen for and improve potential research participants' understanding of the research study at the time of recruitment. Limited empirical research has been conducted in low and middle income countries, evaluating informed consent processes in genomics research. We sought to investigate the quality of informed consent obtained in a South African psychiatric genomics study. A Xhosa language version of the University of California, San Diego Brief Assessment of Capacity to Consent Questionnaire (UBACC was used to screen for capacity to consent and improve understanding through iterative learning in a sample of 528 Xhosa people with schizophrenia and 528 controls. We address two questions: firstly, whether research participants' understanding of the research study improved through iterative learning; and secondly, what were predictors for better understanding of the research study at the initial screening? During screening 290 (55% cases and 172 (33% controls scored below the 14.5 cut-off for acceptable understanding of the research study elements, however after iterative learning only 38 (7% cases and 13 (2.5% controls continued to score below this cut-off. Significant variables associated with increased understanding of the consent included the psychiatric nurse recruiter conducting the consent screening, higher participant level of education, and being a control. The UBACC proved an effective tool to improve understanding of research study elements during consent, for both cases and controls. The tool holds utility for complex studies such as those involving genomics, where iterative learning can be used to make significant improvements in understanding of research study elements. The UBACC may be particularly important in groups with severe mental illness and lower education levels. Study recruiters play a significant role in managing

  17. Ignition analysis for burn control and diagnostic developments in ITER

    International Nuclear Information System (INIS)

    Mitarai, O.; Muraoka, K.

    1997-01-01

    The temporal evolutions of the operating point during the ignition access and ignited operation phases are analysed on the basis of zero dimensional (0-D) equations in order to clarify the requirements for safe control of ignited operation and for the development of diagnostic systems in ITER. A stable and safe method of reaching the ignited operating point is identified as the 'higher temperature access' method, being compatible with the H mode power threshold constraints. It is found that the ignition boundary can be experimentally determined by a 'thermonuclear oscillation' of the operating point without knowing the power balance equation. On the other hand, the ignition boundary determined by the power balance equation has a larger error bar depending on the accuracy of the diagnostic system. The plasma waveform response to sudden changes in the various plasma parameters during ignited operation is also calculated, and fusion power regulation is demonstrated by feedback control of the fuelling and auxiliary heating power. (author)

  18. In-vessel dust and tritium control strategy in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Shimada, M., E-mail: michiya.shimada@iter.org [ITER Organization, Route de Vinon-sur-Verdon, 13115 St. Paul-lez-Durance (France); Pitts, R.A.; Ciattaglia, S.; Carpentier, S.; Choi, C.H.; Dell Orco, G.; Hirai, T.; Kukushkin, A.; Lisgo, S.; Palmer, J.; Shu, W.; Veshchev, E. [ITER Organization, Route de Vinon-sur-Verdon, 13115 St. Paul-lez-Durance (France)

    2013-07-15

    A baseline strategy for dust and tritium-inventory control and recovery in ITER has been established and preparations are underway for its implementation. Limits on dust and tritium-inventory are an integral part of the ITER safety case and are fixed at 1 kg for tritium, 1000 kg for mobilisable dust and 11 kg (beryllium)/76 kg (tungsten) for dust on hot surfaces. Maximum average T-retention rates of ∼1 g/shot are estimated for baseline inductive operation at Q{sub DT} = 10, suggesting that the in-vessel T-retention could reach the administrative limit of 640 g in as little as ∼2 months of operation. Baking is expected to remove a significant fraction of the T co-deposited on the divertor targets. Despite large uncertainties, dust quantities are expected to remain well below safety limits over the divertor cassette lifetime. In situ aspiration during divertor cassette exchange is foreseen as the main dust removal technique.

  19. Nonlinear Burn Control and Operating Point Optimization in ITER

    Science.gov (United States)

    Boyer, Mark; Schuster, Eugenio

    2013-10-01

    Control of the fusion power through regulation of the plasma density and temperature will be essential for achieving and maintaining desired operating points in fusion reactors and burning plasma experiments like ITER. In this work, a volume averaged model for the evolution of the density of energy, deuterium and tritium fuel ions, alpha-particles, and impurity ions is used to synthesize a multi-input multi-output nonlinear feedback controller for stabilizing and modulating the burn condition. Adaptive control techniques are used to account for uncertainty in model parameters, including particle confinement times and recycling rates. The control approach makes use of the different possible methods for altering the fusion power, including adjusting the temperature through auxiliary heating, modulating the density and isotopic mix through fueling, and altering the impurity density through impurity injection. Furthermore, a model-based optimization scheme is proposed to drive the system as close as possible to desired fusion power and temperature references. Constraints are considered in the optimization scheme to ensure that, for example, density and beta limits are avoided, and that optimal operation is achieved even when actuators reach saturation. Supported by the NSF CAREER award program (ECCS-0645086).

  20. Chapter 8: Plasma operation and control [Progress in the ITER Physics Basis (PIPB)

    International Nuclear Information System (INIS)

    Gribov, Y.; Humphreys, D.; Kajiwara, K.; Lazarus, E.A.; Lister, J.B.; Ozeki, T.; Portone, A.; Shimada, M.; Sips, A.C.C.; Wesley, J.C.

    2007-01-01

    The ITER plasma control system has the same functional scope as the control systems in present tokamaks. These are plasma operation scenario sequencing, plasma basic control (magnetic and kinetic), plasma advanced control (control of RWMs, NTMs, ELMs, error fields, etc) and plasma fast shutdown. This chapter considers only plasma initiation and plasma basic control. This chapter describes the progress achieved in these areas in the tokamak experiments since the ITER Physics Basis (1999 Nucl. Fusion 39 2577) was written and the results of assessment of ITER to provide the plasma initiation and basic control. This assessment was done for the present ITER design (15 MA machine) at a more detailed level than it was done for the ITER design 1998 (21 MA machine) described in the ITER Physics Basis (1999 Nucl. Fusion 39 2577). The experiments on plasma initiation performed in DIII-D and JT-60U, as well as the theoretical studies performed for ITER, have demonstrated that, within specified assumptions on the plasma confinement and the impurity influx, ITER can produce plasma initiation in a low toroidal electric field (0.3 V m -1 ), if it is assisted by about 2 MW of ECRF heating. The plasma basic control includes control of the plasma current, position and shape-the plasma magnetic control, as well as control of other plasma global parameters or their profiles-the plasma performance control. The magnetic control is based on more reliable and simpler models of the control objects than those available at present for the plasma kinetic control. Moreover the real time diagnostics used for the magnetic control in many cases are more precise than those used for the kinetic control. Because of these reasons, the plasma magnetic control was developed for modern tokamaks and assessed for ITER better than the kinetic control. However, significant progress has been achieved in the plasma performance control during the last few years. Although the physics basis of plasma operation

  1. Value Iteration Adaptive Dynamic Programming for Optimal Control of Discrete-Time Nonlinear Systems.

    Science.gov (United States)

    Wei, Qinglai; Liu, Derong; Lin, Hanquan

    2016-03-01

    In this paper, a value iteration adaptive dynamic programming (ADP) algorithm is developed to solve infinite horizon undiscounted optimal control problems for discrete-time nonlinear systems. The present value iteration ADP algorithm permits an arbitrary positive semi-definite function to initialize the algorithm. A novel convergence analysis is developed to guarantee that the iterative value function converges to the optimal performance index function. Initialized by different initial functions, it is proven that the iterative value function will be monotonically nonincreasing, monotonically nondecreasing, or nonmonotonic and will converge to the optimum. In this paper, for the first time, the admissibility properties of the iterative control laws are developed for value iteration algorithms. It is emphasized that new termination criteria are established to guarantee the effectiveness of the iterative control laws. Neural networks are used to approximate the iterative value function and compute the iterative control law, respectively, for facilitating the implementation of the iterative ADP algorithm. Finally, two simulation examples are given to illustrate the performance of the present method.

  2. Comparison between iterative wavefront control algorithm and direct gradient wavefront control algorithm for adaptive optics system

    International Nuclear Information System (INIS)

    Cheng Sheng-Yi; Liu Wen-Jin; Chen Shan-Qiu; Dong Li-Zhi; Yang Ping; Xu Bing

    2015-01-01

    Among all kinds of wavefront control algorithms in adaptive optics systems, the direct gradient wavefront control algorithm is the most widespread and common method. This control algorithm obtains the actuator voltages directly from wavefront slopes through pre-measuring the relational matrix between deformable mirror actuators and Hartmann wavefront sensor with perfect real-time characteristic and stability. However, with increasing the number of sub-apertures in wavefront sensor and deformable mirror actuators of adaptive optics systems, the matrix operation in direct gradient algorithm takes too much time, which becomes a major factor influencing control effect of adaptive optics systems. In this paper we apply an iterative wavefront control algorithm to high-resolution adaptive optics systems, in which the voltages of each actuator are obtained through iteration arithmetic, which gains great advantage in calculation and storage. For AO system with thousands of actuators, the computational complexity estimate is about O(n 2 ) ∼ O(n 3 ) in direct gradient wavefront control algorithm, while the computational complexity estimate in iterative wavefront control algorithm is about O(n) ∼ (O(n) 3/2 ), in which n is the number of actuators of AO system. And the more the numbers of sub-apertures and deformable mirror actuators, the more significant advantage the iterative wavefront control algorithm exhibits. (paper)

  3. Disruptions in ITER and strategies for their control and mitigation

    Energy Technology Data Exchange (ETDEWEB)

    Lehnen, M., E-mail: michael.lehnen@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul Lez Durance (France); Aleynikova, K.; Aleynikov, P.B.; Campbell, D.J. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul Lez Durance (France); Drewelow, P. [Max-Planck-Institut für Plasmaphysik, Greifswald branch, EURATOM Ass., D-17491 Greifswald (Germany); Eidietis, N.W. [General Atomics, P.O. Box 85608, San Diego, CA 92186-5608 (United States); Gasparyan, Yu. [National Research Nuclear University MEPhI (Moscow Engineering Physics Institute), Kashirskoe sh. 31, Moscow 115409 (Russian Federation); Granetz, R.S. [MIT Plasma Science and Fusion Center, Cambridge, MA 02139 (United States); Gribov, Y. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul Lez Durance (France); Hartmann, N. [Forschungszentrum Jülich GmbH, Institute of Energy and Climate Research—Plasma Physics, Association EURATOM-FZJ, Trilateral Euregio Cluster, 52425 Jülich (Germany); Hollmann, E.M. [University of California-San Diego, La Jolla, CA 92093 (United States); Izzo, V.A. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul Lez Durance (France); Jachmich, S. [Laboratory for Plasma Physics, ERM/KMS, Association EURATOM – Belgian State, B-1000 Brussels (Belgium); Kim, S.-H.; Kočan, M. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul Lez Durance (France); Koslowski, H.R. [Forschungszentrum Jülich GmbH, Institute of Energy and Climate Research—Plasma Physics, Association EURATOM-FZJ, Trilateral Euregio Cluster, 52425 Jülich (Germany); Kovalenko, D. [SRC RF TRINITI, ul. Pushkovykh, vladenie 12, Troitsk, Moscow 142190 (Russian Federation); Kruezi, U. [CCFE, Culham Science Centre, Abingdon, Oxon, OX14 3DB (United Kingdom); and others

    2015-08-15

    The thermal and electromagnetic loads related to disruptions in ITER are substantial and require careful design of tokamak components to ensure they reach the projected lifetime and to ensure that safety relevant components fulfil their function for the worst foreseen scenarios. The disruption load specifications are the basis for the design process of components like the full-W divertor, the blanket modules and the vacuum vessel and will set the boundary conditions for ITER operations. This paper will give a brief overview on the disruption loads and mitigation strategies for ITER and will discuss the physics basis which is continuously refined through the current disruption R&D programs.

  4. Adapting Parameterized Motions using Iterative Learning and Online Collision Detection

    DEFF Research Database (Denmark)

    Laursen, Johan Sund; Sørensen, Lars Carøe; Schultz, Ulrik Pagh

    2018-01-01

    utilizing Gaussian Process learning. This allows for motion parameters to be optimized using real world trials which incorporate all uncertainties inherent in the assembly process without requiring advanced robot and sensor setups. The result is a simple and straightforward system which helps the user...... automatically find robust and uncertainty-tolerant motions. We present experiments for an assembly case showing both detection and learning in the real world and how these combine to a robust robot system....

  5. Controlled Nuclear Fusion by Magnetic Confinement and ITER

    CERN Document Server

    CERN. Geneva. Audiovisual Unit; Alvarez-Gaumé, Luís

    2005-01-01

    For may years harnessing fusion energy was considered the final solution to the world's energy crisis. ITER is the last step in the elusive quest. This presentation will provide in its various acientific, technological and political aspects.

  6. Weld distortion prediction and control of the ITER vacuum vessel manufacturing mock-ups

    International Nuclear Information System (INIS)

    Ottolini, Marco; Barbensi, Andrea

    2014-01-01

    The fabrication of the ITER Vacuum Vessel Sectors is an unprecedented challenge, due to their dimensions, the close tolerances, the complex 'D' shape. The technological issues were faced by the production of full scale mock ups to confirm the manufacturing feasibility to achieve very tight tolerances and qualify the main manufacturing processes, by a step by step welding distortion control, by the qualification of not conventional NDT inspection techniques and by innovative 3D dimensional inspections. The Supplier is required to fabricate at least two mock ups, inboard and outboard, related to the manufacturing method of the VV Sectors, to demonstrate the control of the welding distortions to achieve tolerances, optimizing welding sequences and calibrating of welding distortions computer simulations. The stages of this preparatory activity are: prediction of welding distortion for fabrication mock ups representative of selected segments; demonstration that distortion predictions are consistent with experimental results from 3D dimensional inspection; understanding of reasons of possible deviations between numerical and experimental results and definition of action to solve these issues; demonstration that possible calculation simplifications, adopted to speed up the analysis process, do not affect significantly the welding distortion prediction. This paper describes the weld distortion prediction and control on the manufacturing mock-ups of ITER Vacuum Vessel Sectors, with particular emphasis to the lessons learned. (authors)

  7. ITER...ation

    International Nuclear Information System (INIS)

    Troyon, F.

    1997-01-01

    Recurrent attacks against ITER, the new generation of tokamak are a mix of political and scientific arguments. This short article draws a historical review of the European fusion program. This program has allowed to build and manage several installations in the aim of getting experimental results necessary to lead the program forwards. ITER will bring together a fusion reactor core with technologies such as materials, superconductive coils, heating devices and instrumentation in order to validate and delimit the operating range. ITER will be a logical and decisive step towards the use of controlled fusion. (A.C.)

  8. Learning normalized inputs for iterative estimation in medical image segmentation.

    Science.gov (United States)

    Drozdzal, Michal; Chartrand, Gabriel; Vorontsov, Eugene; Shakeri, Mahsa; Di Jorio, Lisa; Tang, An; Romero, Adriana; Bengio, Yoshua; Pal, Chris; Kadoury, Samuel

    2018-02-01

    In this paper, we introduce a simple, yet powerful pipeline for medical image segmentation that combines Fully Convolutional Networks (FCNs) with Fully Convolutional Residual Networks (FC-ResNets). We propose and examine a design that takes particular advantage of recent advances in the understanding of both Convolutional Neural Networks as well as ResNets. Our approach focuses upon the importance of a trainable pre-processing when using FC-ResNets and we show that a low-capacity FCN model can serve as a pre-processor to normalize medical input data. In our image segmentation pipeline, we use FCNs to obtain normalized images, which are then iteratively refined by means of a FC-ResNet to generate a segmentation prediction. As in other fully convolutional approaches, our pipeline can be used off-the-shelf on different image modalities. We show that using this pipeline, we exhibit state-of-the-art performance on the challenging Electron Microscopy benchmark, when compared to other 2D methods. We improve segmentation results on CT images of liver lesions, when contrasting with standard FCN methods. Moreover, when applying our 2D pipeline on a challenging 3D MRI prostate segmentation challenge we reach results that are competitive even when compared to 3D methods. The obtained results illustrate the strong potential and versatility of the pipeline by achieving accurate segmentations on a variety of image modalities and different anatomical regions. Copyright © 2017 Elsevier B.V. All rights reserved.

  9. Learning from neural control.

    Science.gov (United States)

    Wang, Cong; Hill, David J

    2006-01-01

    One of the amazing successes of biological systems is their ability to "learn by doing" and so adapt to their environment. In this paper, first, a deterministic learning mechanism is presented, by which an appropriately designed adaptive neural controller is capable of learning closed-loop system dynamics during tracking control to a periodic reference orbit. Among various neural network (NN) architectures, the localized radial basis function (RBF) network is employed. A property of persistence of excitation (PE) for RBF networks is established, and a partial PE condition of closed-loop signals, i.e., the PE condition of a regression subvector constructed out of the RBFs along a periodic state trajectory, is proven to be satisfied. Accurate NN approximation for closed-loop system dynamics is achieved in a local region along the periodic state trajectory, and a learning ability is implemented during a closed-loop feedback control process. Second, based on the deterministic learning mechanism, a neural learning control scheme is proposed which can effectively recall and reuse the learned knowledge to achieve closed-loop stability and improved control performance. The significance of this paper is that the presented deterministic learning mechanism and the neural learning control scheme provide elementary components toward the development of a biologically-plausible learning and control methodology. Simulation studies are included to demonstrate the effectiveness of the approach.

  10. Quantum-Inspired Multidirectional Associative Memory With a Self-Convergent Iterative Learning.

    Science.gov (United States)

    Masuyama, Naoki; Loo, Chu Kiong; Seera, Manjeevan; Kubota, Naoyuki

    2018-04-01

    Quantum-inspired computing is an emerging research area, which has significantly improved the capabilities of conventional algorithms. In general, quantum-inspired hopfield associative memory (QHAM) has demonstrated quantum information processing in neural structures. This has resulted in an exponential increase in storage capacity while explaining the extensive memory, and it has the potential to illustrate the dynamics of neurons in the human brain when viewed from quantum mechanics perspective although the application of QHAM is limited as an autoassociation. We introduce a quantum-inspired multidirectional associative memory (QMAM) with a one-shot learning model, and QMAM with a self-convergent iterative learning model (IQMAM) based on QHAM in this paper. The self-convergent iterative learning enables the network to progressively develop a resonance state, from inputs to outputs. The simulation experiments demonstrate the advantages of QMAM and IQMAM, especially the stability to recall reliability.

  11. Fault-tolerant design of local controller for the poloidal field converter control system on ITER

    International Nuclear Information System (INIS)

    Shen, Jun; Fu, Peng; Gao, Ge; He, Shiying; Huang, Liansheng; Zhu, Lili; Chen, Xiaojiao

    2016-01-01

    Highlights: • The requirements on the Local Control Cubicles (LCC) for ITER Poloidal Field Converter are analyzed. • Decoupled service-based software architecture is proposed to make control loops on LCC running at varying cycle-time. • Fault detection and recovery methods for the LCC are developed to enhance the system. • The performance of the LCC with or without fault-tolerant feature is tested and compared. - Abstract: The control system for the Poloidal Field (PF) on ITER is a synchronously networked control system, which has several kinds of computational controllers. The Local Control Cubicles (LCC) play a critical role in the networked control system for they are the interface to all input and output signals. Thus, some additional work must be done to guarantee the LCCs proper operation under influence of faults. This paper mainly analyzes the system demands of the LCCs and faults which have been encountered recently. In order to handle these faults, decoupled service-based software architecture has been proposed. Based on this architecture, fault detection and system recovery methods, such as redundancy and rejuvenation, have been incorporated to achieve a fault-tolerant private network with the aid of QNX operating system. Unlike the conventional method, this method requires no additional hardware and can be achieved relatively easily. To demonstrate effectiveness the LCCs have been successfully tested during the recent PF Converter Unit performance tests for ITER.

  12. Fault-tolerant design of local controller for the poloidal field converter control system on ITER

    Energy Technology Data Exchange (ETDEWEB)

    Shen, Jun; Fu, Peng; Gao, Ge; He, Shiying; Huang, Liansheng, E-mail: huangls@ipp.ac.cn; Zhu, Lili; Chen, Xiaojiao

    2016-11-15

    Highlights: • The requirements on the Local Control Cubicles (LCC) for ITER Poloidal Field Converter are analyzed. • Decoupled service-based software architecture is proposed to make control loops on LCC running at varying cycle-time. • Fault detection and recovery methods for the LCC are developed to enhance the system. • The performance of the LCC with or without fault-tolerant feature is tested and compared. - Abstract: The control system for the Poloidal Field (PF) on ITER is a synchronously networked control system, which has several kinds of computational controllers. The Local Control Cubicles (LCC) play a critical role in the networked control system for they are the interface to all input and output signals. Thus, some additional work must be done to guarantee the LCCs proper operation under influence of faults. This paper mainly analyzes the system demands of the LCCs and faults which have been encountered recently. In order to handle these faults, decoupled service-based software architecture has been proposed. Based on this architecture, fault detection and system recovery methods, such as redundancy and rejuvenation, have been incorporated to achieve a fault-tolerant private network with the aid of QNX operating system. Unlike the conventional method, this method requires no additional hardware and can be achieved relatively easily. To demonstrate effectiveness the LCCs have been successfully tested during the recent PF Converter Unit performance tests for ITER.

  13. Comparison between iterative wavefront control algorithm and direct gradient wavefront control algorithm for adaptive optics system

    Science.gov (United States)

    Cheng, Sheng-Yi; Liu, Wen-Jin; Chen, Shan-Qiu; Dong, Li-Zhi; Yang, Ping; Xu, Bing

    2015-08-01

    Among all kinds of wavefront control algorithms in adaptive optics systems, the direct gradient wavefront control algorithm is the most widespread and common method. This control algorithm obtains the actuator voltages directly from wavefront slopes through pre-measuring the relational matrix between deformable mirror actuators and Hartmann wavefront sensor with perfect real-time characteristic and stability. However, with increasing the number of sub-apertures in wavefront sensor and deformable mirror actuators of adaptive optics systems, the matrix operation in direct gradient algorithm takes too much time, which becomes a major factor influencing control effect of adaptive optics systems. In this paper we apply an iterative wavefront control algorithm to high-resolution adaptive optics systems, in which the voltages of each actuator are obtained through iteration arithmetic, which gains great advantage in calculation and storage. For AO system with thousands of actuators, the computational complexity estimate is about O(n2) ˜ O(n3) in direct gradient wavefront control algorithm, while the computational complexity estimate in iterative wavefront control algorithm is about O(n) ˜ (O(n)3/2), in which n is the number of actuators of AO system. And the more the numbers of sub-apertures and deformable mirror actuators, the more significant advantage the iterative wavefront control algorithm exhibits. Project supported by the National Key Scientific and Research Equipment Development Project of China (Grant No. ZDYZ2013-2), the National Natural Science Foundation of China (Grant No. 11173008), and the Sichuan Provincial Outstanding Youth Academic Technology Leaders Program, China (Grant No. 2012JQ0012).

  14. Linear quadratic Gaussian controller design for plasma current, position and shape control system in ITER

    International Nuclear Information System (INIS)

    Belyakov, V.; Kavin, A.; Rumyantsev, E.; Kharitonov, V.; Misenov, B.; Ovsyannikov, A.; Ovsyannikov, D.; Veremei, E.; Zhabko, A.; Mitrishkin, Y.

    1999-01-01

    This paper is focused on the linear quadratic Gaussian (LQG) controller synthesis methodology for the ITER plasma current, position and shape control system as well as power derivative management system. It has been shown that some poloidal field (PF) coils have less influence on reference plasma-wall gaps control during plasma disturbances and hence they have been used to reduce total control power derivative by means of the additional non-linear feedback. The design has been done on the basis of linear models. Simulation was provided for non-linear model and results are presented and discussed. (orig.)

  15. Adaptive optimal control of unknown constrained-input systems using policy iteration and neural networks.

    Science.gov (United States)

    Modares, Hamidreza; Lewis, Frank L; Naghibi-Sistani, Mohammad-Bagher

    2013-10-01

    This paper presents an online policy iteration (PI) algorithm to learn the continuous-time optimal control solution for unknown constrained-input systems. The proposed PI algorithm is implemented on an actor-critic structure where two neural networks (NNs) are tuned online and simultaneously to generate the optimal bounded control policy. The requirement of complete knowledge of the system dynamics is obviated by employing a novel NN identifier in conjunction with the actor and critic NNs. It is shown how the identifier weights estimation error affects the convergence of the critic NN. A novel learning rule is developed to guarantee that the identifier weights converge to small neighborhoods of their ideal values exponentially fast. To provide an easy-to-check persistence of excitation condition, the experience replay technique is used. That is, recorded past experiences are used simultaneously with current data for the adaptation of the identifier weights. Stability of the whole system consisting of the actor, critic, system state, and system identifier is guaranteed while all three networks undergo adaptation. Convergence to a near-optimal control law is also shown. The effectiveness of the proposed method is illustrated with a simulation example.

  16. New proposal on the development of machine protection functions for ITER diagnostics control

    International Nuclear Information System (INIS)

    Yamamoto, Tsuyoshi; Yatsuka, Eiichi; Hatae, Takaki; Takeuchi, Masaki; Kitazawa, Sin-iti; Ogawa, Hiroaki; Kawano, Yasunori; Itami, Kiyoshi; Ota, Kazuya; Hashimoto, Yasunori; Nakamura, Kitaru; Sugie, Tatsuo

    2016-01-01

    There is a need to develop ITER instrumentation and control (I and C) systems with high reliabilities. Interlock systems that activate machine protection functions are implemented on robust wired-logic systems such as programmable logic controllers (PLCs). We herein propose a software tool that generates program code templates for the control systems using PLC logic. This tool decreases careless mistakes by developers and increases reliability of the program codes. A large-scale engineering database has been implemented in the ITER project. To derive useful information from this database, we propose adding semantic data to it using the Resource Description Framework format. In our novel proposal for the ITER diagnostic control system, a guide words generator that analyzes the engineering data by inference is applied to the hazard and operability study. We validated the methods proposed in this paper by applying them to the preliminary design for the I and C system of the ITER edge Thomson scattering system. (author)

  17. Scenario-based fitted Q-iteration for adaptive control of water reservoir systems under uncertainty

    Science.gov (United States)

    Bertoni, Federica; Giuliani, Matteo; Castelletti, Andrea

    2017-04-01

    Over recent years, mathematical models have largely been used to support planning and management of water resources systems. Yet, the increasing uncertainties in their inputs - due to increased variability in the hydrological regimes - are a major challenge to the optimal operations of these systems. Such uncertainty, boosted by projected changing climate, violates the stationarity principle generally used for describing hydro-meteorological processes, which assumes time persisting statistical characteristics of a given variable as inferred by historical data. As this principle is unlikely to be valid in the future, the probability density function used for modeling stochastic disturbances (e.g., inflows) becomes an additional uncertain parameter of the problem, which can be described in a deterministic and set-membership based fashion. This study contributes a novel method for designing optimal, adaptive policies for controlling water reservoir systems under climate-related uncertainty. The proposed method, called scenario-based Fitted Q-Iteration (sFQI), extends the original Fitted Q-Iteration algorithm by enlarging the state space to include the space of the uncertain system's parameters (i.e., the uncertain climate scenarios). As a result, sFQI embeds the set-membership uncertainty of the future inflow scenarios in the action-value function and is able to approximate, with a single learning process, the optimal control policy associated to any scenario included in the uncertainty set. The method is demonstrated on a synthetic water system, consisting of a regulated lake operated for ensuring reliable water supply to downstream users. Numerical results show that the sFQI algorithm successfully identifies adaptive solutions to operate the system under different inflow scenarios, which outperform the control policy designed under historical conditions. Moreover, the sFQI policy generalizes over inflow scenarios not directly experienced during the policy design

  18. Iterative volume morphing and learning for mobile tumor based on 4DCT.

    Science.gov (United States)

    Mao, Songan; Wu, Huanmei; Sandison, George; Fang, Shiaofen

    2017-02-21

    During image-guided cancer radiation treatment, three-dimensional (3D) tumor volumetric information is important for treatment success. However, it is typically not feasible to image a patient's 3D tumor continuously in real time during treatment due to concern over excessive patient radiation dose. We present a new iterative morphing algorithm to predict the real-time 3D tumor volume based on time-resolved computed tomography (4DCT) acquired before treatment. An offline iterative learning process has been designed to derive a target volumetric deformation function from one breathing phase to another. Real-time volumetric prediction is performed to derive the target 3D volume during treatment delivery. The proposed iterative deformable approach for tumor volume morphing and prediction based on 4DCT is innovative because it makes three major contributions: (1) a novel approach to landmark selection on 3D tumor surfaces using a minimum bounding box; (2) an iterative morphing algorithm to generate the 3D tumor volume using mapped landmarks; and (3) an online tumor volume prediction strategy based on previously trained deformation functions utilizing 4DCT. The experimental performance showed that the maximum morphing deviations are 0.27% and 1.25% for original patient data and artificially generated data, which is promising. This newly developed algorithm and implementation will have important applications for treatment planning, dose calculation and treatment validation in cancer radiation treatment.

  19. Feasibility analysis of fuzzy logic control for ITER Poloidal field (PF) AC/DC converter system

    Energy Technology Data Exchange (ETDEWEB)

    Hassan, Mahmood Ul; Fu, Peng [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); University of Science and Technology of China (China); Song, Zhiquan, E-mail: zhquansong@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Chen, Xiaojiao [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); University of Science and Technology of China (China); Zhang, Xiuqing [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Humayun, Muhammad [Shanghai Jiaotong University (China)

    2017-05-15

    Highlights: • The implementation of the Fuzzy controller for the ITER PF converter system is presented. • The comparison of the FLC and PI simulation are investigated. • The FLC single and parallel bridge operation are presented. • Fuzzification and Defuzzification algorithms are presented using FLC controller. - Abstract: This paper describes the feasibility analysis of the fuzzy logic control to increase the performance of the ITER poloidal field (PF) converter systems. A fuzzy-logic-based controller is designed for ITER PF converter system, using the traditional PI controller and Fuzzy controller (FC), the dynamic behavior and transient response of the PF converter system are compared under normal operation by analysis and simulation. The analysis results show that the fuzzy logic control can achieve better operation performance than PI control.

  20. The Iterative Solution to Discrete-Time H∞ Control Problems for Periodic Systems

    Directory of Open Access Journals (Sweden)

    Ivan G. Ivanov

    2016-03-01

    Full Text Available This paper addresses the problem of solving discrete-time H ∞ control problems for periodic systems. The approach for solving such a type of equations is well known in the literature. However, the focus of our research is set on the numerical computation of the stabilizing solution. In particular, two effective methods for practical realization of the known iterative processes are described. Furthermore, a new iterative approach is investigated and applied. On the basis of numerical experiments, we compare the presented methods. A major conclusion is that the new iterative approach is faster than rest of the methods and it uses less RAM memory than other methods.

  1. A policy iteration approach to online optimal control of continuous-time constrained-input systems.

    Science.gov (United States)

    Modares, Hamidreza; Naghibi Sistani, Mohammad-Bagher; Lewis, Frank L

    2013-09-01

    This paper is an effort towards developing an online learning algorithm to find the optimal control solution for continuous-time (CT) systems subject to input constraints. The proposed method is based on the policy iteration (PI) technique which has recently evolved as a major technique for solving optimal control problems. Although a number of online PI algorithms have been developed for CT systems, none of them take into account the input constraints caused by actuator saturation. In practice, however, ignoring these constraints leads to performance degradation or even system instability. In this paper, to deal with the input constraints, a suitable nonquadratic functional is employed to encode the constraints into the optimization formulation. Then, the proposed PI algorithm is implemented on an actor-critic structure to solve the Hamilton-Jacobi-Bellman (HJB) equation associated with this nonquadratic cost functional in an online fashion. That is, two coupled neural network (NN) approximators, namely an actor and a critic are tuned online and simultaneously for approximating the associated HJB solution and computing the optimal control policy. The critic is used to evaluate the cost associated with the current policy, while the actor is used to find an improved policy based on information provided by the critic. Convergence to a close approximation of the HJB solution as well as stability of the proposed feedback control law are shown. Simulation results of the proposed method on a nonlinear CT system illustrate the effectiveness of the proposed approach. Copyright © 2013 ISA. All rights reserved.

  2. A theoretical analysis of temporal difference learning in the iterated prisoner's dilemma game.

    Science.gov (United States)

    Masuda, Naoki; Ohtsuki, Hisashi

    2009-11-01

    Direct reciprocity is a chief mechanism of mutual cooperation in social dilemma. Agents cooperate if future interactions with the same opponents are highly likely. Direct reciprocity has been explored mostly by evolutionary game theory based on natural selection. Our daily experience tells, however, that real social agents including humans learn to cooperate based on experience. In this paper, we analyze a reinforcement learning model called temporal difference learning and study its performance in the iterated Prisoner's Dilemma game. Temporal difference learning is unique among a variety of learning models in that it inherently aims at increasing future payoffs, not immediate ones. It also has a neural basis. We analytically and numerically show that learners with only two internal states properly learn to cooperate with retaliatory players and to defect against unconditional cooperators and defectors. Four-state learners are more capable of achieving a high payoff against various opponents. Moreover, we numerically show that four-state learners can learn to establish mutual cooperation for sufficiently small learning rates.

  3. Progress in Development of the ITER Plasma Control System Simulation Platform

    Science.gov (United States)

    Walker, Michael; Humphreys, David; Sammuli, Brian; Ambrosino, Giuseppe; de Tommasi, Gianmaria; Mattei, Massimiliano; Raupp, Gerhard; Treutterer, Wolfgang; Winter, Axel

    2017-10-01

    We report on progress made and expected uses of the Plasma Control System Simulation Platform (PCSSP), the primary test environment for development of the ITER Plasma Control System (PCS). PCSSP will be used for verification and validation of the ITER PCS Final Design for First Plasma, to be completed in 2020. We discuss the objectives of PCSSP, its overall structure, selected features, application to existing devices, and expected evolution over the lifetime of the ITER PCS. We describe an archiving solution for simulation results, methods for incorporating physics models of the plasma and physical plant (tokamak, actuator, and diagnostic systems) into PCSSP, and defining characteristics of models suitable for a plasma control development environment such as PCSSP. Applications of PCSSP simulation models including resistive plasma equilibrium evolution are demonstrated. PCSSP development supported by ITER Organization under ITER/CTS/6000000037. Resistive evolution code developed under General Atomics' Internal funding. The views and opinions expressed herein do not necessarily reflect those of the ITER Organization.

  4. Iterative development of visual control systems in a research vivarium.

    Science.gov (United States)

    Bassuk, James A; Washington, Ida M

    2014-01-01

    The goal of this study was to test the hypothesis that reintroduction of Continuous Performance Improvement (CPI) methodology, a lean approach to management at Seattle Children's (Hospital, Research Institute, Foundation), would facilitate engagement of vivarium employees in the development and sustainment of a daily management system and a work-in-process board. Such engagement was implemented through reintroduction of aspects of the Toyota Production System. Iterations of a Work-In-Process Board were generated using Shewhart's Plan-Do-Check-Act process improvement cycle. Specific attention was given to the importance of detecting and preventing errors through assessment of the following 5 levels of quality: Level 1, customer inspects; Level 2, company inspects; Level 3, work unit inspects; Level 4, self-inspection; Level 5, mistake proofing. A functioning iteration of a Mouse Cage Work-In-Process Board was eventually established using electronic data entry, an improvement that increased the quality level from 1 to 3 while reducing wasteful steps, handoffs and queues. A visual workplace was realized via a daily management system that included a Work-In-Process Board, a problem solving board and two Heijunka boards. One Heijunka board tracked cage changing as a function of a biological kanban, which was validated via ammonia levels. A 17% reduction in cage changing frequency provided vivarium staff with additional time to support Institute researchers in their mutual goal of advancing cures for pediatric diseases. Cage washing metrics demonstrated an improvement in the flow continuum in which a traditional batch and queue push system was replaced with a supermarket-type pull system. Staff engagement during the improvement process was challenging and is discussed. The collective data indicate that the hypothesis was found to be true. The reintroduction of CPI into daily work in the vivarium is consistent with the 4P Model of the Toyota Way and selected Principles

  5. Iterative development of visual control systems in a research vivarium.

    Directory of Open Access Journals (Sweden)

    James A Bassuk

    Full Text Available The goal of this study was to test the hypothesis that reintroduction of Continuous Performance Improvement (CPI methodology, a lean approach to management at Seattle Children's (Hospital, Research Institute, Foundation, would facilitate engagement of vivarium employees in the development and sustainment of a daily management system and a work-in-process board. Such engagement was implemented through reintroduction of aspects of the Toyota Production System. Iterations of a Work-In-Process Board were generated using Shewhart's Plan-Do-Check-Act process improvement cycle. Specific attention was given to the importance of detecting and preventing errors through assessment of the following 5 levels of quality: Level 1, customer inspects; Level 2, company inspects; Level 3, work unit inspects; Level 4, self-inspection; Level 5, mistake proofing. A functioning iteration of a Mouse Cage Work-In-Process Board was eventually established using electronic data entry, an improvement that increased the quality level from 1 to 3 while reducing wasteful steps, handoffs and queues. A visual workplace was realized via a daily management system that included a Work-In-Process Board, a problem solving board and two Heijunka boards. One Heijunka board tracked cage changing as a function of a biological kanban, which was validated via ammonia levels. A 17% reduction in cage changing frequency provided vivarium staff with additional time to support Institute researchers in their mutual goal of advancing cures for pediatric diseases. Cage washing metrics demonstrated an improvement in the flow continuum in which a traditional batch and queue push system was replaced with a supermarket-type pull system. Staff engagement during the improvement process was challenging and is discussed. The collective data indicate that the hypothesis was found to be true. The reintroduction of CPI into daily work in the vivarium is consistent with the 4P Model of the Toyota Way and

  6. Iterating skeletons

    DEFF Research Database (Denmark)

    Dieterle, Mischa; Horstmeyer, Thomas; Berthold, Jost

    2012-01-01

    a particular skeleton ad-hoc for repeated execution turns out to be considerably complicated, and raises general questions about introducing state into a stateless parallel computation. In addition, one would strongly prefer an approach which leaves the original skeleton intact, and only uses it as a building...... block inside a bigger structure. In this work, we present a general framework for skeleton iteration and discuss requirements and variations of iteration control and iteration body. Skeleton iteration is expressed by synchronising a parallel iteration body skeleton with a (likewise parallel) state......Skeleton-based programming is an area of increasing relevance with upcoming highly parallel hardware, since it substantially facilitates parallel programming and separates concerns. When parallel algorithms expressed by skeletons involve iterations – applying the same algorithm repeatedly...

  7. A hybrid iterative scheme for optimal control problems governed by ...

    African Journals Online (AJOL)

    MRT

    KEY WORDS: Optimal control problem; Fredholm integral equation; ... control problems governed by Fredholm integral and integro-differential equations is given in (Brunner and Yan, ..... The exact optimal trajectory and control functions are. 2.

  8. Physics of the conceptual design of the ITER plasma control system

    Energy Technology Data Exchange (ETDEWEB)

    Snipes, J.A., E-mail: Joseph.Snipes@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-lez-Durance (France); Bremond, S. [CEA-IRFM, 13108 St Paul-lez-Durance (France); Campbell, D.J. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-lez-Durance (France); Casper, T. [1166 Bordeaux St, Pleasanton, CA 94566 (United States); Douai, D. [CEA-IRFM, 13108 St Paul-lez-Durance (France); Gribov, Y. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-lez-Durance (France); Humphreys, D. [General Atomics, San Diego, CA 92186 (United States); Lister, J. [Association EURATOM-Confédération Suisse, Ecole Polytechnique Fédérale de Lausanne (EPFL), CRPP, Lausanne CH-1015 (Switzerland); Loarte, A.; Pitts, R. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-lez-Durance (France); Sugihara, M., E-mail: Sugihara_ma@yahoo.co.jp [Japan (Japan); Winter, A.; Zabeo, L. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-lez-Durance (France)

    2014-05-15

    Highlights: • ITER plasma control system conceptual design has been finalized. • ITER's plasma control system will evolve with the ITER research plan. • A sophisticated actuator sharing scheme is being developed to apply multiple coupled control actions simultaneously with a limited set of actuators. - Abstract: The ITER plasma control system (PCS) will play a central role in enabling the experimental program to attempt to sustain DT plasmas with Q = 10 for several hundred seconds and also support research toward the development of steady-state operation in ITER. The PCS is now in the final phase of its conceptual design. The PCS relies on about 45 diagnostic systems to assess real-time plasma conditions and about 20 actuator systems for overall control of ITER plasmas. It will integrate algorithms required for active control of a wide range of plasma parameters with sophisticated event forecasting and handling functions, which will enable appropriate transitions to be implemented, in real-time, in response to plasma evolution or actuator constraints. In specifying the PCS conceptual design, it is essential to define requirements related to all phases of plasma operation, ranging from early (non-active) H/He plasmas through high fusion gain inductive plasmas to fully non-inductive steady-state operation, to ensure that the PCS control functionality and architecture will be capable of satisfying the demands of the ITER research plan. The scope of the control functionality required of the PCS includes plasma equilibrium and density control commonly utilized in existing experiments, control of the plasma heat exhaust, control of a range of MHD instabilities (including mitigation of disruptions), and aspects such as control of the non-inductive current and the current profile required to maintain stable plasmas in steady-state scenarios. Control areas are often strongly coupled and the integrated control of the plasma to reach and sustain high plasma

  9. Physics of the conceptual design of the ITER plasma control system

    International Nuclear Information System (INIS)

    Snipes, J.A.; Bremond, S.; Campbell, D.J.; Casper, T.; Douai, D.; Gribov, Y.; Humphreys, D.; Lister, J.; Loarte, A.; Pitts, R.; Sugihara, M.; Winter, A.; Zabeo, L.

    2014-01-01

    Highlights: • ITER plasma control system conceptual design has been finalized. • ITER's plasma control system will evolve with the ITER research plan. • A sophisticated actuator sharing scheme is being developed to apply multiple coupled control actions simultaneously with a limited set of actuators. - Abstract: The ITER plasma control system (PCS) will play a central role in enabling the experimental program to attempt to sustain DT plasmas with Q = 10 for several hundred seconds and also support research toward the development of steady-state operation in ITER. The PCS is now in the final phase of its conceptual design. The PCS relies on about 45 diagnostic systems to assess real-time plasma conditions and about 20 actuator systems for overall control of ITER plasmas. It will integrate algorithms required for active control of a wide range of plasma parameters with sophisticated event forecasting and handling functions, which will enable appropriate transitions to be implemented, in real-time, in response to plasma evolution or actuator constraints. In specifying the PCS conceptual design, it is essential to define requirements related to all phases of plasma operation, ranging from early (non-active) H/He plasmas through high fusion gain inductive plasmas to fully non-inductive steady-state operation, to ensure that the PCS control functionality and architecture will be capable of satisfying the demands of the ITER research plan. The scope of the control functionality required of the PCS includes plasma equilibrium and density control commonly utilized in existing experiments, control of the plasma heat exhaust, control of a range of MHD instabilities (including mitigation of disruptions), and aspects such as control of the non-inductive current and the current profile required to maintain stable plasmas in steady-state scenarios. Control areas are often strongly coupled and the integrated control of the plasma to reach and sustain high plasma

  10. Reflections on the Use of Iterative, Agile and Collaborative Approaches for Blended Flipped Learning Development

    Directory of Open Access Journals (Sweden)

    Hazel Owen

    2015-04-01

    Full Text Available E-learning experiences are widely becoming common practice in many schools, tertiary institutions and other organisations. However despite this increased use of technology to enhance learning and the associated investment involved the result does not always equate to more engaged, knowledgeable and skilled learners. We have observed two key prevalences. The first is an ingrained, and often unquestioned, set of beliefs and expectations held by the majority of people who have experienced formal education, and who are involved in the development of eLearning and blended learning experiences. These beliefs tend to impact the overall design of what a blended type of learning experience might consist of. The second prevalence is for educational institutions to embark on large-scale eLearning developments, which by their scale can prove problematic. In part because it is a long time before the school or organisation sees any benefit and there is an up-front cost before any learning value is realised. In this paper we will be discussing our experiences of the implementation of a large-scale blended-learning project at Unitec, a tertiary institution in Aotearoa, New Zealand. Approaches taken to implement the development were iterative and based on a phased rollout, with each subsequent stage being informed by the ones before it. Our discussion draws on personal reflections associated with three different perspectives and a variety of roles during the three initial phases of the change making process. Our overall aim is to share our contextualised experiences, to add to the knowledge base on blended learning, and to provide some general, practical recommendations.

  11. Measurement and control system for the ITER remote handling mock-up test

    International Nuclear Information System (INIS)

    Oka, K.; Kakudate, S.; Takiguchi, Y.; Ako, K.; Taguchi, K.; Tada, E.; Ozaki, F.; Shibanuma, K.

    1998-01-01

    The mock-up test platforms composed of full-scale remote handling (RH) equipment were developed for demonstrating remote replacement of the ITER blanket and divertor. In parallel, the measurement and control system for operating these RH equipment were constructed on the basis of open architecture with object oriented feature, aiming at realization of fully-remoted automatic operation required for ITER. This paper describes the design concept of the measurement and control system for the remote handling equipment of ITER, and outlines the measured performances of the fabricated measurement system for the remote handling mock-up tests, which includes Data Acquisition System (DAS), Visual Monitoring System (VMS) and Virtual Reality System (VRS). (authors)

  12. Local control unit for ITER-India gyrotron test facility (IIGTF)

    Energy Technology Data Exchange (ETDEWEB)

    Rathod, Vipal, E-mail: vipal.rathod@iter-india.org; Shah, Ronak; Mandge, Deepak; Parmar, Rajvi; Rao, S.L.

    2016-11-15

    Highlights: • A dedicated full scale ITER prototype Local Control Unit for ITER-India Gyrotron test facility. • National Instruments® make PXIe system for real time control & data acquisition and Siemens® PLC for sequence control function. • Hardwired FPGA based fast protection interlock system. • High speed analog fiber optical transmission link using V/F and F/V technique. • Software framework based on LabVIEW™ platform and ITER CODAC Core System. - Abstract: Electron Cyclotron system on ITER, is one of the important RF ancillary systems based on high power Gyrotron RF sources, that is used for plasma heating and current drive applications. To operate a Gyrotron source, various auxiliary systems and services such as Super Conducting Magnet set, High Voltage Power Supplies, Auxiliary Power Supplies, Waveguide components, Cooling water system and a Local Control Unit (LCU) are required. The LCU plays a very crucial role for the safe and reliable operation of Gyrotron system. A dedicated full scale ITER prototype LCU is being developed for testing and commissioning of an ITER like Test Gyrotron at ITER-India Gyrotron Test facility (IIGTF). The main functions of LCU include Sequence Control, Local Interlock Protection and Real Time Data Acquisition. PLC based slow controller is used for implementing the Sequence Control & Slow Interlock functions. Critical Protection Interlocks are required to have a response time of <10 μs and are implemented using custom built hardware and PXIe based fast controller. Also PXIe system is used for implementing Real Time Data Acquisition function that is required to have slow and fast acquisition with online visualization and off line analysis facility. A Signal Conditioning Unit (SCU) is used to interface and faithfully transmit the field signals to the remote control systems. Necessary controller hardware is procured and several pre-prototype developments have been taken up to establish the critical subsystems such as

  13. Local control unit for ITER-India gyrotron test facility (IIGTF)

    International Nuclear Information System (INIS)

    Rathod, Vipal; Shah, Ronak; Mandge, Deepak; Parmar, Rajvi; Rao, S.L.

    2016-01-01

    Highlights: • A dedicated full scale ITER prototype Local Control Unit for ITER-India Gyrotron test facility. • National Instruments® make PXIe system for real time control & data acquisition and Siemens® PLC for sequence control function. • Hardwired FPGA based fast protection interlock system. • High speed analog fiber optical transmission link using V/F and F/V technique. • Software framework based on LabVIEW™ platform and ITER CODAC Core System. - Abstract: Electron Cyclotron system on ITER, is one of the important RF ancillary systems based on high power Gyrotron RF sources, that is used for plasma heating and current drive applications. To operate a Gyrotron source, various auxiliary systems and services such as Super Conducting Magnet set, High Voltage Power Supplies, Auxiliary Power Supplies, Waveguide components, Cooling water system and a Local Control Unit (LCU) are required. The LCU plays a very crucial role for the safe and reliable operation of Gyrotron system. A dedicated full scale ITER prototype LCU is being developed for testing and commissioning of an ITER like Test Gyrotron at ITER-India Gyrotron Test facility (IIGTF). The main functions of LCU include Sequence Control, Local Interlock Protection and Real Time Data Acquisition. PLC based slow controller is used for implementing the Sequence Control & Slow Interlock functions. Critical Protection Interlocks are required to have a response time of <10 μs and are implemented using custom built hardware and PXIe based fast controller. Also PXIe system is used for implementing Real Time Data Acquisition function that is required to have slow and fast acquisition with online visualization and off line analysis facility. A Signal Conditioning Unit (SCU) is used to interface and faithfully transmit the field signals to the remote control systems. Necessary controller hardware is procured and several pre-prototype developments have been taken up to establish the critical subsystems such as

  14. e-Learning Application for Machine Maintenance Process using Iterative Method in XYZ Company

    Science.gov (United States)

    Nurunisa, Suaidah; Kurniawati, Amelia; Pramuditya Soesanto, Rayinda; Yunan Kurnia Septo Hediyanto, Umar

    2016-02-01

    XYZ Company is a company based on manufacturing part for airplane, one of the machine that is categorized as key facility in the company is Millac 5H6P. As a key facility, the machines should be assured to work well and in peak condition, therefore, maintenance process is needed periodically. From the data gathering, it is known that there are lack of competency from the maintenance staff to maintain different type of machine which is not assigned by the supervisor, this indicate that knowledge which possessed by maintenance staff are uneven. The purpose of this research is to create knowledge-based e-learning application as a realization from externalization process in knowledge transfer process to maintain the machine. The application feature are adjusted for maintenance purpose using e-learning framework for maintenance process, the content of the application support multimedia for learning purpose. QFD is used in this research to understand the needs from user. The application is built using moodle with iterative method for software development cycle and UML Diagram. The result from this research is e-learning application as sharing knowledge media for maintenance staff in the company. From the test, it is known that the application make maintenance staff easy to understand the competencies.

  15. US NDC Modernization Iteration E1 Prototyping Report: Processing Control Framework

    Energy Technology Data Exchange (ETDEWEB)

    Prescott, Ryan [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Hamlet, Benjamin R. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2014-12-01

    During the first iteration of the US NDC Modernization Elaboration phase (E1), the SNL US NDC modernization project team developed an initial survey of applicable COTS solutions, and established exploratory prototyping related to the processing control framework in support of system architecture definition. This report summarizes these activities and discusses planned follow-on work.

  16. Progress on the ITER H&CD EC upper launcher steering-mirror control system

    NARCIS (Netherlands)

    Collazos, A.; Bertizzolo, R.; Chavan, R.; Dolizy, F.; Felici, F.; Goodman, T.P.; Henderson, M.A.; Landis, J.-D.; Sanchez, F.

    2010-01-01

    The ITER Heating and Current Drive Upper Launcher (H&CD EC UL) uses a pneumomechanical steering-mirror assembly (SMA) to steer the RF beams for their deposition in the appropriate location in the plasma to control magnetohydrodynamic activity (neoclassical tearing modes (NTMs) and sawtooth

  17. Electron cyclotron power management for control of neoclassical tearing modes in the ITER baseline scenario

    Science.gov (United States)

    Poli, F. M.; Fredrickson, E. D.; Henderson, M. A.; Kim, S.-H.; Bertelli, N.; Poli, E.; Farina, D.; Figini, L.

    2018-01-01

    Time-dependent simulations are used to evolve plasma discharges in combination with a modified Rutherford equation for calculation of neoclassical tearing mode (NTM) stability in response to electron cyclotron (EC) feedback control in ITER. The main application of this integrated approach is to support the development of control algorithms by analyzing the plasma response with physics-based models and to assess how uncertainties in the detection of the magnetic island and in the EC alignment affect the ability of the ITER EC system to fulfill its purpose. Simulations indicate that it is critical to detect the island as soon as possible, before its size exceeds the EC deposition width, and that maintaining alignment with the rational surface within half of the EC deposition width is needed for stabilization and suppression of the modes, especially in the case of modes with helicity (2, 1) . A broadening of the deposition profile, for example due to wave scattering by turbulence fluctuations or not well aligned beams, could even be favorable in the case of the (2, 1)- NTM, by relaxing an over-focussing of the EC beam and improving the stabilization at the mode onset. Pre-emptive control reduces the power needed for suppression and stabilization in the ITER baseline discharge to a maximum of 5 MW, which should be reserved and available to the upper launcher during the entire flattop phase. Assuming continuous triggering of NTMs, with pre-emptive control ITER would be still able to demonstrate a fusion gain of Q=10 .

  18. Quality control in the design, fabrication and operation of the ITER magnets

    International Nuclear Information System (INIS)

    Mitchell, N.

    2006-01-01

    The ITER magnets are a complex system involving interfaces between many advanced technologies (superconductors, forging/welding/machining of massive structures, cryogenics, composites and moulding, high voltage electrical), yet at the same time form part of the ITER 'basic machine' which is required to operate at the design parameters, broadly failure free, for the design life of the tokamak. This imposes special quality control problems for the ITER project integration by the ITER International Team (IT) through the design, fabrication and operation. The magnets are not a test bed for new technology but in spite of this must use it, successfully. There is little previous experience of such a system but full functionality is required from the start, with limited opportunity for adjustment. And, finally, costs and schedule must be contained. The procurement strategy for the machine, with magnet components being supplied 'in kind', requires particular attention to the specifications, scheduling and quality control (QC). Special issues here are the testing requirements on magnet components, especially before final installation but also at critical intermediate stages. Unnecessary or ineffective quality control procedures cause delay and high costs, and divert attention from critical items. The main points of the magnet QC programme are summarised, including the use of codes and standards, qualification, manufacturing quality assurance, commissioning and in-service inspection

  19. Single-Iteration Learning Algorithm for Feed-Forward Neural Networks

    Energy Technology Data Exchange (ETDEWEB)

    Barhen, J.; Cogswell, R.; Protopopescu, V.

    1999-07-31

    A new methodology for neural learning is presented, whereby only a single iteration is required to train a feed-forward network with near-optimal results. To this aim, a virtual input layer is added to the multi-layer architecture. The virtual input layer is connected to the nominal input layer by a specird nonlinear transfer function, and to the fwst hidden layer by regular (linear) synapses. A sequence of alternating direction singular vrdue decompositions is then used to determine precisely the inter-layer synaptic weights. This algorithm exploits the known separability of the linear (inter-layer propagation) and nonlinear (neuron activation) aspects of information &ansfer within a neural network.

  20. Integrating supervision, control and data acquisition—The ITER Neutral Beam Test Facility experience

    Energy Technology Data Exchange (ETDEWEB)

    Luchetta, A., E-mail: adriano.luchetta@igi.cnr.it; Manduchi, G.; Taliercio, C.; Breda, M.; Capobianco, R.; Molon, F.; Moressa, M.; Simionato, P.; Zampiva, E.

    2016-11-15

    Highlights: • The paper describes the experience gained in the integration of different systems for the control and data acquisition system of the ITER Neutral Beam Test Facility. • It describes the way the different frameworks have been integrated. • It reports some lessons learnt during system integration. • It reports some authors’ considerations about the development the ITER CODAC. - Abstract: The ITER Neutral Beam (NBI) Test Facility, under construction in Padova, Italy consists in the ITER full scale ion source for the heating neutral beam injector, referred to as SPIDER, and the full size prototype injector, referred to as MITICA. The Control and Data Acquisition System (CODAS) for SPIDER has been developed and is going to be in operation in 2016. The system is composed of four main components: Supervision, Slow Control, Fast Control and Data Acquisition. These components interact with each other to carry out the system operation and, since they represent a common pattern in fusion experiments, software frameworks have been used for each (set of) component. In order to reuse as far as possible the architecture developed for SPIDER, it is important to clearly define the boundaries and the interfaces among the system components so that the implementation of any component can be replaced without affecting the overall architecture. This work reports the experience gained in the development of SPIDER components, highlighting the importance in the definition of generic interfaces among component, showing how the specific solutions have been adapted to such interfaces and suggesting possible approaches for the development of other ITER subsystems.

  1. Integrating supervision, control and data acquisition—The ITER Neutral Beam Test Facility experience

    International Nuclear Information System (INIS)

    Luchetta, A.; Manduchi, G.; Taliercio, C.; Breda, M.; Capobianco, R.; Molon, F.; Moressa, M.; Simionato, P.; Zampiva, E.

    2016-01-01

    Highlights: • The paper describes the experience gained in the integration of different systems for the control and data acquisition system of the ITER Neutral Beam Test Facility. • It describes the way the different frameworks have been integrated. • It reports some lessons learnt during system integration. • It reports some authors’ considerations about the development the ITER CODAC. - Abstract: The ITER Neutral Beam (NBI) Test Facility, under construction in Padova, Italy consists in the ITER full scale ion source for the heating neutral beam injector, referred to as SPIDER, and the full size prototype injector, referred to as MITICA. The Control and Data Acquisition System (CODAS) for SPIDER has been developed and is going to be in operation in 2016. The system is composed of four main components: Supervision, Slow Control, Fast Control and Data Acquisition. These components interact with each other to carry out the system operation and, since they represent a common pattern in fusion experiments, software frameworks have been used for each (set of) component. In order to reuse as far as possible the architecture developed for SPIDER, it is important to clearly define the boundaries and the interfaces among the system components so that the implementation of any component can be replaced without affecting the overall architecture. This work reports the experience gained in the development of SPIDER components, highlighting the importance in the definition of generic interfaces among component, showing how the specific solutions have been adapted to such interfaces and suggesting possible approaches for the development of other ITER subsystems.

  2. Toward a design for the ITER plasma shape and stability control system

    International Nuclear Information System (INIS)

    Humphreys, D.A.; Leuer, J.A.; Kellman, A.G.; Haney, S.W.; Bulmer, R.H.; Pearlstein, L.D.; Portone, A.

    1994-07-01

    A design strategy for an integrated shaping and stability control algorithm for ITER is described. This strategy exploits the natural multivariable nature of the system so that all poloidal field coils are used to simultaneously control all regulated plasma shape and position parameters. A nonrigid, flux-conserving linearized plasma response model is derived using a variational procedure analogous to the ideal MHD Extended Energy Principle. Initial results are presented for the non-rigid plasma response model approach applied to an example DIII-D equilibrium. For this example, the nonrigid model is found to yield a higher passive growth rate than a rigid current-conserving plasma response model. Multivariable robust controller design methods are discussed and shown to be appropriate for the ITER shape control problem

  3. Foucauldian Iterative Learning Conversations--An Example of Organisational Change: Developing Conjoint-Work between EPS and Social Workers

    Science.gov (United States)

    Apter, Brian

    2014-01-01

    An organisational change-process in a UK local authority (LA) over two years is examined using transcribed excerpts from three meetings. The change-process is analysed using a Foucauldian analytical tool--Iterative Learning Conversations (ILCS). An Educational Psychology Service was changed from being primarily an education-focussed…

  4. Towards the conceptual design of the ITER real-time plasma control system

    International Nuclear Information System (INIS)

    Winter, A.; Makijarvi, P.; Simrock, S.; Snipes, J.A.; Wallander, A.; Zabeo, L.

    2014-01-01

    Highlights: • We describe the main control areas and interfaces for the ITER real-time plasma control system and the current state of their design. • An overview is given for the implementation strategy for the plasma control system as part of the ITER control, data access and communication system. • Current efforts on the creation of simulation and development tools are presented. - Abstract: ITER will be the world's largest magnetic confinement tokamak fusion device and is currently under construction in southern France. The ITER Plasma Control System (PCS) is a fundamental component of the ITER Control, Data Access and Communication system (CODAC). It will control the evolution of all plasma parameters that are necessary to operate ITER throughout all phases of the discharge. The design and implementation of the PCS poses a number of unique challenges. The timescales of phenomena to be controlled spans three orders of magnitude, ranging from a few milliseconds to seconds. Novel control schemes, which have not been implemented at present-day machines need to be developed, and control schemes that are only done as demonstration experiments today will have to become routine. In addition, advances in computing technology and available physics models make the implementation of real-time or faster-than-real-time predictive calculations to forecast and subsequently to avoid disruptions or undesired plasma regimes feasible. This requires the PCS design to be adaptable in real-time to the results of these forecasting algorithms. A further novel feature is a sophisticated event handling system, which provides a means to deal with plasma related events (such as MHD instabilities or L-H transitions) or component failure. Finally, the schedule for design and implementation poses another challenge. The beginning of ITER operation will be in late 2020, but the conceptual design activity of the PCS has already commenced as required by the on-going development of

  5. The ITER Fast Plant System Controller ATCA prototype Real-Time Software Architecture

    International Nuclear Information System (INIS)

    Carvalho, B.B.; Santos, B.; Carvalho, P.F.; Neto, A.; Boncagni, L.; Batista, A.J.N.; Correia, M.; Sousa, J.; Gonçalves, B.

    2013-01-01

    Highlights: ► High performance ATCA systems for fast control and data acquisition. ► IEEE1588 timing system and synchronization. ► Plasma control algorithms. ► Real-time control software frameworks. ► Targeted for nuclear fusion experiments with long duration discharges. -- Abstract: IPFN is developing a prototype Fast Plant System Controller (FPSC) based in ATCA embedded technologies dedicated to ITER CODAC data acquisition and control tasks in the sub-millisecond range. The main goal is to demonstrate the usability of the ATCA standard and its enhanced specifications for the high speed, very high density parallel data acquisition needs of the most demanding ITER tokamak plasma Instrumentation and Control (I and C) systems. This effort included the in-house development of a new family of high performance ATCA I/O and timing boards. The standard ITER software system CODAC Core System (CCS) v3.1, with the control based in the EPICS system does not cover yet the real-time requirements fulfilled by this hardware, so a new set of software components was developed for this specific platform, attempting to integrate and leverage the new features in CSS, for example the Multithreaded Application Real Time executor (MARTe) software framework, the new Data Archiving Network (DAN) solution, an ATCA IEEE-1588-2008 timing interface, and the Intelligent Platform Management Interface (IPMI) for system monitoring and remote management. This paper presents the overall software architecture for the ATCA FPSC, as well a discussion on the ITER constrains and design choices and finally a detailed description of the software components already developed

  6. The ITER Fast Plant System Controller ATCA prototype Real-Time Software Architecture

    Energy Technology Data Exchange (ETDEWEB)

    Carvalho, B.B., E-mail: bernardo@ipfn.ist.utl.pt [Associacao EURATOM/IST Instituto de Plasmas e Fusao Nuclear, Instituto Superior Tecnico, Universidade Tecnica de Lisboa, P-1049-001 Lisboa (Portugal); Santos, B.; Carvalho, P.F.; Neto, A. [Associacao EURATOM/IST Instituto de Plasmas e Fusao Nuclear, Instituto Superior Tecnico, Universidade Tecnica de Lisboa, P-1049-001 Lisboa (Portugal); Boncagni, L. [Associazione Euratom-ENEA sulla Fusione, Frascati Research Centre, Division of Fusion Physics, Frascati, Rome (Italy); Batista, A.J.N.; Correia, M.; Sousa, J.; Gonçalves, B. [Associacao EURATOM/IST Instituto de Plasmas e Fusao Nuclear, Instituto Superior Tecnico, Universidade Tecnica de Lisboa, P-1049-001 Lisboa (Portugal)

    2013-10-15

    Highlights: ► High performance ATCA systems for fast control and data acquisition. ► IEEE1588 timing system and synchronization. ► Plasma control algorithms. ► Real-time control software frameworks. ► Targeted for nuclear fusion experiments with long duration discharges. -- Abstract: IPFN is developing a prototype Fast Plant System Controller (FPSC) based in ATCA embedded technologies dedicated to ITER CODAC data acquisition and control tasks in the sub-millisecond range. The main goal is to demonstrate the usability of the ATCA standard and its enhanced specifications for the high speed, very high density parallel data acquisition needs of the most demanding ITER tokamak plasma Instrumentation and Control (I and C) systems. This effort included the in-house development of a new family of high performance ATCA I/O and timing boards. The standard ITER software system CODAC Core System (CCS) v3.1, with the control based in the EPICS system does not cover yet the real-time requirements fulfilled by this hardware, so a new set of software components was developed for this specific platform, attempting to integrate and leverage the new features in CSS, for example the Multithreaded Application Real Time executor (MARTe) software framework, the new Data Archiving Network (DAN) solution, an ATCA IEEE-1588-2008 timing interface, and the Intelligent Platform Management Interface (IPMI) for system monitoring and remote management. This paper presents the overall software architecture for the ATCA FPSC, as well a discussion on the ITER constrains and design choices and finally a detailed description of the software components already developed.

  7. DIII-D Integrated plasma control solutions for ITER and next-generation tokamaks

    International Nuclear Information System (INIS)

    Humphreys, D.A.; Ferron, J.R.; Hyatt, A.W.; La Haye, R.J.; Leuer, J.A.; Penaflor, B.G.; Walker, M.L.; Welander, A.S.; In, Y.

    2008-01-01

    Plasma control design approaches and solutions developed at DIII-D to address its control-intensive advanced tokamak (AT) mission are applicable to many problems facing ITER and other next-generation devices. A systematic approach to algorithm design, termed 'integrated plasma control,' enables new tokamak controllers to be applied operationally with minimal machine time required for tuning. Such high confidence plasma control algorithms are designed using relatively simple ('control-level') models validated against experimental response data and are verified in simulation prior to operational use. A key element of DIII-D integrated plasma control, also required in the ITER baseline control approach, is the ability to verify both controller performance and implementation by running simulations that connect directly to the actual plasma control system (PCS) that is used to operate the tokamak itself. The DIII-D PCS comprises a powerful and flexible C-based realtime code and programming infrastructure, as well as an arbitrarily scalable hardware and realtime network architecture. This software infrastructure provides a general platform for implementation and verification of realtime algorithms with arbitrary complexity, limited only by speed of execution requirements. We present a complete suite of tools (known collectively as TokSys) supporting the integrated plasma control design process, along with recent examples of control algorithms designed for the DIII-D PCS. The use of validated physics-based models and a systematic model-based design and verification process enables these control solutions to be directly applied to ITER and other next-generation tokamaks

  8. Progress in control and data acquisition for the ITER neutral beam test facility

    Energy Technology Data Exchange (ETDEWEB)

    Luchetta, Adriano, E-mail: adriano.luchetta@igi.cnr.it [Consorzio RFX, Euratom-ENEA Association, Padova (Italy); Manduchi, Gabriele; Taliercio, Cesare; Soppelsa, Anton [Consorzio RFX, Euratom-ENEA Association, Padova (Italy); Paolucci, Francesco; Sartori, Filippo [Fusion for Energy, Barcelona (Spain); Barbato, Paolo; Capobianco, Roberto; Breda, Mauro; Molon, Federico; Moressa, Modesto; Polato, Sandro; Simionato, Paola; Zampiva, Enrico [Consorzio RFX, Euratom-ENEA Association, Padova (Italy)

    2013-10-15

    Highlights: ► An ion source experiment, referred to as SPIDER, is under construction in the ITER neutral beam test facility. ► The progress in designing and testing the SPIDER control and data acquisition system is reported. ► An original approach is proposed in using ITER CODAC and non-ITER CODAC technology. -- Abstract: SPIDER, the ion source test bed in the ITER neutral beam test facility, is under construction and its operation is expected to start in 2014. Control and data acquisition for SPIDER are undergoing final design. SPIDER CODAS, as the control and data acquisition system is referred to, is requested to manage 25 plant units, to acquire 1000 analogue signals with sampling rates ranging from a few S/s to 10 MS/s, to acquire images with up to 100 frames per second, to operate with long pulses lasting up to 1 h, and to sustain 200 MB/s data throughput into the data archive with an annual data storage amount of up to 50 TB. SPIDER CODAS software architecture integrates three open-source software frameworks each addressing specific system requirements. Slow control exploits the synergy among EPICS and Siemens S7 programmable controllers. Data handling is by MDSplus a data-centric framework that is geared towards the collection and organization of scientific data. Diagnostics based on imaging drive the design of data throughput and archive size. Fast control is implemented by using MARTe, a data-driven, object-oriented, real-time environment. The paper will describe in detail the progress of the system hardware and software architecture and will show how the software frameworks interact to provide the functions requested by SPIDER CODAS. The paper will focus on how the performance requirements can be met with the described SPIDER CODAS architecture, describing the progress achieved by carrying out prototyping activities.

  9. Progress in control and data acquisition for the ITER neutral beam test facility

    International Nuclear Information System (INIS)

    Luchetta, Adriano; Manduchi, Gabriele; Taliercio, Cesare; Soppelsa, Anton; Paolucci, Francesco; Sartori, Filippo; Barbato, Paolo; Capobianco, Roberto; Breda, Mauro; Molon, Federico; Moressa, Modesto; Polato, Sandro; Simionato, Paola; Zampiva, Enrico

    2013-01-01

    Highlights: ► An ion source experiment, referred to as SPIDER, is under construction in the ITER neutral beam test facility. ► The progress in designing and testing the SPIDER control and data acquisition system is reported. ► An original approach is proposed in using ITER CODAC and non-ITER CODAC technology. -- Abstract: SPIDER, the ion source test bed in the ITER neutral beam test facility, is under construction and its operation is expected to start in 2014. Control and data acquisition for SPIDER are undergoing final design. SPIDER CODAS, as the control and data acquisition system is referred to, is requested to manage 25 plant units, to acquire 1000 analogue signals with sampling rates ranging from a few S/s to 10 MS/s, to acquire images with up to 100 frames per second, to operate with long pulses lasting up to 1 h, and to sustain 200 MB/s data throughput into the data archive with an annual data storage amount of up to 50 TB. SPIDER CODAS software architecture integrates three open-source software frameworks each addressing specific system requirements. Slow control exploits the synergy among EPICS and Siemens S7 programmable controllers. Data handling is by MDSplus a data-centric framework that is geared towards the collection and organization of scientific data. Diagnostics based on imaging drive the design of data throughput and archive size. Fast control is implemented by using MARTe, a data-driven, object-oriented, real-time environment. The paper will describe in detail the progress of the system hardware and software architecture and will show how the software frameworks interact to provide the functions requested by SPIDER CODAS. The paper will focus on how the performance requirements can be met with the described SPIDER CODAS architecture, describing the progress achieved by carrying out prototyping activities

  10. An Iterative and Incremental Approach for E-Learning Ontology Engineering

    Directory of Open Access Journals (Sweden)

    Sudath Rohitha Heiyanthuduwage

    2009-03-01

    Full Text Available Abstract - There is a boost in the interest on ontology with the developments in Semantic Web technologies. Ontologies play a vital role in semantic web. Even though there is lot of work done on ontology, still a standard framework for ontology engineering has not been defined. Even though current ontology engineering methodologies are available they need improvements. The effort of our work is to integrate various methods, techniques, tools and etc to different stages of proposed ontology engineering life cycle to create a comprehensive framework for ontology engineering. Current methodologies discuss ontology engineering stages and collaborative environments with user collaboration. However, discussion on increasing effectiveness and correct inference has been given less attention. More over, these methodologies provide little discussion on usability of domain ontologies. We consider these aspects as more important in our work. Also, ontology engineering has been done for various domains and for various purposes. Our effort is to propose an iterative and incremental approach for ontology engineering especially for e-learning domain with the intention of achieving a higher usability and effectiveness of e-learning systems. This paper introduces different aspects of the proposed ontology engineering framework and evaluation of it.

  11. Iterated non-linear model predictive control based on tubes and contractive constraints.

    Science.gov (United States)

    Murillo, M; Sánchez, G; Giovanini, L

    2016-05-01

    This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Towards a preliminary design of the ITER plasma control system architecture

    International Nuclear Information System (INIS)

    Treutterer, W.; Rapson, C.J.; Raupp, G.; Snipes, J.; Vries, P. de; Winter, A.; Humphreys, D.A.; Walker, M.; Tommasi, G. de; Cinque, M.; Bremond, S.; Moreau, P.; Nouailletas, R.; Felton, R.

    2017-01-01

    Highlights: • ITER control requirements and use scenarios for initial plasma operation have been analysed. • Basic choices from conceptual design could be confirmed. • Architectural design considers dynamic structure changes. • All PCS components are integrated in an exception handling hierarchy. - Abstract: Design of the ITER plasma control system is proceeding towards its next – preliminary design – stage. During the conceptual design in 2013 an overall assessment of high-level control tasks and their relationships has been conducted. The goal of the preliminary design is to show, that a reasonable implementation of the proposed concepts exists which fulfills the high-level requirements and is suitable for realistic use cases. This verification is conducted with focus on the concrete use cases of early operation and first plasma, since these phases are mandatory for ITER startup. In particular, detailed control requirements and functions for commissioning and first plasma operation including breakdown, burn-through and ramp-up in L-mode, as well as for planned or exceptional shutdown are identified. Control functions related to those operational phases and the underlying control system architecture are modeled. The goal is to check whether the flexibility of the conceptual architectural approach is adequate also in consideration of the more elaborate definitions for control functions and their interactions. In addition, architecture shall already be prepared for extension to H-mode operation and burn-control, even if the related control functions are only roughly defined at the moment. As a consequence, the architectural design is amended where necessary and converted into base components and infrastructure services allowing to deploy control and exception handling algorithms for the concrete first-plasma operation.

  13. Towards a preliminary design of the ITER plasma control system architecture

    Energy Technology Data Exchange (ETDEWEB)

    Treutterer, W., E-mail: Wolfgang.Treutterer@ipp.mpg.de [Max-Planck-Institut für Plasmaphysik, Boltzmannstraße 2, 85748 Garching (Germany); Rapson, C.J.; Raupp, G. [Max-Planck-Institut für Plasmaphysik, Boltzmannstraße 2, 85748 Garching (Germany); Snipes, J.; Vries, P. de; Winter, A. [ITER Organization, Route de Vinon sur Verdon, 13067 St Paul Lez Durance (France); Humphreys, D.A.; Walker, M. [General Atomics, PO Box 85608, San Diego, CA 92186-5608 (United States); Tommasi, G. de; Cinque, M. [CREATE/Università di Napoli Federico II, Napoli (Italy); Bremond, S.; Moreau, P.; Nouailletas, R. [Association CEA pour la Fusion Contrôlée, CEA Cadarache, 13108 St Paul les Durance (France); Felton, R. [CCFE Fusion Association, Culham Centre for Fusion Energy, Culham Science Centre, Oxfordshire, OX14 3DB (United Kingdom)

    2017-02-15

    Highlights: • ITER control requirements and use scenarios for initial plasma operation have been analysed. • Basic choices from conceptual design could be confirmed. • Architectural design considers dynamic structure changes. • All PCS components are integrated in an exception handling hierarchy. - Abstract: Design of the ITER plasma control system is proceeding towards its next – preliminary design – stage. During the conceptual design in 2013 an overall assessment of high-level control tasks and their relationships has been conducted. The goal of the preliminary design is to show, that a reasonable implementation of the proposed concepts exists which fulfills the high-level requirements and is suitable for realistic use cases. This verification is conducted with focus on the concrete use cases of early operation and first plasma, since these phases are mandatory for ITER startup. In particular, detailed control requirements and functions for commissioning and first plasma operation including breakdown, burn-through and ramp-up in L-mode, as well as for planned or exceptional shutdown are identified. Control functions related to those operational phases and the underlying control system architecture are modeled. The goal is to check whether the flexibility of the conceptual architectural approach is adequate also in consideration of the more elaborate definitions for control functions and their interactions. In addition, architecture shall already be prepared for extension to H-mode operation and burn-control, even if the related control functions are only roughly defined at the moment. As a consequence, the architectural design is amended where necessary and converted into base components and infrastructure services allowing to deploy control and exception handling algorithms for the concrete first-plasma operation.

  14. Hard exudates segmentation based on learned initial seeds and iterative graph cut.

    Science.gov (United States)

    Kusakunniran, Worapan; Wu, Qiang; Ritthipravat, Panrasee; Zhang, Jian

    2018-05-01

    (Background and Objective): The occurrence of hard exudates is one of the early signs of diabetic retinopathy which is one of the leading causes of the blindness. Many patients with diabetic retinopathy lose their vision because of the late detection of the disease. Thus, this paper is to propose a novel method of hard exudates segmentation in retinal images in an automatic way. (Methods): The existing methods are based on either supervised or unsupervised learning techniques. In addition, the learned segmentation models may often cause miss-detection and/or fault-detection of hard exudates, due to the lack of rich characteristics, the intra-variations, and the similarity with other components in the retinal image. Thus, in this paper, the supervised learning based on the multilayer perceptron (MLP) is only used to identify initial seeds with high confidences to be hard exudates. Then, the segmentation is finalized by unsupervised learning based on the iterative graph cut (GC) using clusters of initial seeds. Also, in order to reduce color intra-variations of hard exudates in different retinal images, the color transfer (CT) is applied to normalize their color information, in the pre-processing step. (Results): The experiments and comparisons with the other existing methods are based on the two well-known datasets, e_ophtha EX and DIARETDB1. It can be seen that the proposed method outperforms the other existing methods in the literature, with the sensitivity in the pixel-level of 0.891 for the DIARETDB1 dataset and 0.564 for the e_ophtha EX dataset. The cross datasets validation where the training process is performed on one dataset and the testing process is performed on another dataset is also evaluated in this paper, in order to illustrate the robustness of the proposed method. (Conclusions): This newly proposed method integrates the supervised learning and unsupervised learning based techniques. It achieves the improved performance, when compared with the

  15. Overview of the preliminary design of the ITER plasma control system

    Science.gov (United States)

    Snipes, J. A.; Albanese, R.; Ambrosino, G.; Ambrosino, R.; Amoskov, V.; Blanken, T. C.; Bremond, S.; Cinque, M.; de Tommasi, G.; de Vries, P. C.; Eidietis, N.; Felici, F.; Felton, R.; Ferron, J.; Formisano, A.; Gribov, Y.; Hosokawa, M.; Hyatt, A.; Humphreys, D.; Jackson, G.; Kavin, A.; Khayrutdinov, R.; Kim, D.; Kim, S. H.; Konovalov, S.; Lamzin, E.; Lehnen, M.; Lukash, V.; Lomas, P.; Mattei, M.; Mineev, A.; Moreau, P.; Neu, G.; Nouailletas, R.; Pautasso, G.; Pironti, A.; Rapson, C.; Raupp, G.; Ravensbergen, T.; Rimini, F.; Schneider, M.; Travere, J.-M.; Treutterer, W.; Villone, F.; Walker, M.; Welander, A.; Winter, A.; Zabeo, L.

    2017-12-01

    An overview of the preliminary design of the ITER plasma control system (PCS) is described here, which focusses on the needs for 1st plasma and early plasma operation in hydrogen/helium (H/He) up to a plasma current of 15 MA with moderate auxiliary heating power in low confinement mode (L-mode). Candidate control schemes for basic magnetic control, including divertor operation and kinetic control of the electron density with gas puffing and pellet injection, were developed. Commissioning of the auxiliary heating systems is included as well as support functions for stray field topology and real-time plasma boundary reconstruction. Initial exception handling schemes for faults of essential plant systems and for disruption protection were developed. The PCS architecture was also developed to be capable of handling basic control for early commissioning and the advanced control functions that will be needed for future high performance operation. A plasma control simulator is also being developed to test and validate control schemes. To handle the complexity of the ITER PCS, a systems engineering approach has been adopted with the development of a plasma control database to keep track of all control requirements.

  16. An overview of control system for the ITER electron cyclotron system

    International Nuclear Information System (INIS)

    Purohit, D.; Bigelow, T.; Billava, D.; Bonicelli, T.; Caughman, J.; Darbos, C.; Denisov, G.; Gandini, F.; Gassmann, T.; Henderson, M.; Journeux, J.Y.; Kajiwara, K.; Kobayashi, N.; Nazare, C.; Oda, Y.; Omori, T.; Rao, S.L.; Rasmussen, D.; Ronden, D.; Saibene, G.

    2011-01-01

    The ITER electron cyclotron (EC) system having capability of up to 26 MW generated power at 170 GHz is being procured by 5 domestic agencies via 10 procurement arrangements. This implies diverse types of equipment and complex interface management. It also places a challenge on control system architecture to entertain the constraints of procurement slicing and meeting the overall functional requirement. The envisioned architecture is to use the local control units (supplied with each procurement) and a supervisory plant controller (by ITER). This offers a reliable control configuration for such delicate and complex EC plant system. The control system is envisioned to monitor the whole plant and perform automated tasks that are today performed via direct human intervention. For example, the automated gyrotron conditioning and active control of the EC plant to respond to requests from the plasma control system (PCS). This later aspect requires rapid shut down of the gyrotrons and power supplies, deviation of the actuators to direct the power from an equatorial to upper launcher and then restart of the power generation for rapid stabilization of the magneto hydrodynamic (MHD) instabilities that occur in high performance plasma operation. The plant controller will be designed for optimized performance with the PCS and the feedback control system used to actively control the power (with modulation capability up to 5 kHz) and launching direction for MHD stabilization.

  17. Assistance tools for generic definition of ITER maintenance tasks and scenarios in advanced supervisory control systems

    International Nuclear Information System (INIS)

    Zieba, Stéphane; Russotto, François-Xavier; Da Silva Simoes, Max; Measson, Yvan

    2013-01-01

    Highlights: ► Improve supervisory control systems for ITER in-vessel and hot cell maintenance. ► Optimize remote handling operations effectiveness, reliability and safety. ► Provide a generic description of the maintenance tasks and scenarios. ► Development of context-based assistances for operators and supervisor. ► Improvement of operator's situation awareness. -- Abstract: This paper concerns the improvement of supervisory control systems in the context of remote handling for the maintenance tasks in ITER. This work aims at providing a single formalism and tools to define in a generic way the ITER maintenance tasks and scenarios for in-vessel and hot cell operations. A three-layered approach is proposed to model these tasks and scenarios. Physical actions are defined for the scene elements. From these physical actions, behaviours are defined to represent high-level functionalities. Finally, interaction modes define the way that behaviours are achieved in terms of human–machine interactions. Case study concerning the blanket maintenance procedure is discussed concerning the contributions of the descriptive model and the context-based assistances to the activities of supervisory control

  18. Wearable Sensor Data Classification for Human Activity Recognition Based on an Iterative Learning Framework

    Directory of Open Access Journals (Sweden)

    Juan Carlos Davila

    2017-06-01

    Full Text Available The design of multiple human activity recognition applications in areas such as healthcare, sports and safety relies on wearable sensor technologies. However, when making decisions based on the data acquired by such sensors in practical situations, several factors related to sensor data alignment, data losses, and noise, among other experimental constraints, deteriorate data quality and model accuracy. To tackle these issues, this paper presents a data-driven iterative learning framework to classify human locomotion activities such as walk, stand, lie, and sit, extracted from the Opportunity dataset. Data acquired by twelve 3-axial acceleration sensors and seven inertial measurement units are initially de-noised using a two-stage consecutive filtering approach combining a band-pass Finite Impulse Response (FIR and a wavelet filter. A series of statistical parameters are extracted from the kinematical features, including the principal components and singular value decomposition of roll, pitch, yaw and the norm of the axial components. The novel interactive learning procedure is then applied in order to minimize the number of samples required to classify human locomotion activities. Only those samples that are most distant from the centroids of data clusters, according to a measure presented in the paper, are selected as candidates for the training dataset. The newly built dataset is then used to train an SVM multi-class classifier. The latter will produce the lowest prediction error. The proposed learning framework ensures a high level of robustness to variations in the quality of input data, while only using a much lower number of training samples and therefore a much shorter training time, which is an important consideration given the large size of the dataset.

  19. Wearable Sensor Data Classification for Human Activity Recognition Based on an Iterative Learning Framework.

    Science.gov (United States)

    Davila, Juan Carlos; Cretu, Ana-Maria; Zaremba, Marek

    2017-06-07

    The design of multiple human activity recognition applications in areas such as healthcare, sports and safety relies on wearable sensor technologies. However, when making decisions based on the data acquired by such sensors in practical situations, several factors related to sensor data alignment, data losses, and noise, among other experimental constraints, deteriorate data quality and model accuracy. To tackle these issues, this paper presents a data-driven iterative learning framework to classify human locomotion activities such as walk, stand, lie, and sit, extracted from the Opportunity dataset. Data acquired by twelve 3-axial acceleration sensors and seven inertial measurement units are initially de-noised using a two-stage consecutive filtering approach combining a band-pass Finite Impulse Response (FIR) and a wavelet filter. A series of statistical parameters are extracted from the kinematical features, including the principal components and singular value decomposition of roll, pitch, yaw and the norm of the axial components. The novel interactive learning procedure is then applied in order to minimize the number of samples required to classify human locomotion activities. Only those samples that are most distant from the centroids of data clusters, according to a measure presented in the paper, are selected as candidates for the training dataset. The newly built dataset is then used to train an SVM multi-class classifier. The latter will produce the lowest prediction error. The proposed learning framework ensures a high level of robustness to variations in the quality of input data, while only using a much lower number of training samples and therefore a much shorter training time, which is an important consideration given the large size of the dataset.

  20. An iterative method for controlling reactive power flow in boundary transformers

    Energy Technology Data Exchange (ETDEWEB)

    Trigo, Angel L.; Martinez, Jose L.; Riquelme, Jesus; Romero, Esther [Department of Electrical Engineering, University of Seville (Spain)

    2011-02-15

    This paper presents an operational tool designed to help the system operator to control the reactive power flow in transmission-subtransmission boundary transformers. The main objective is to determine the minimum number of control actions necessary to ensure that reactive power flows in transmission/subtransmission transformers remain within limits. The proposed iterative procedure combines the use of a linear programming problem and a load flow tool. The linear programming assumes a linear behaviour between dependent and control variables around an operating point, modelled with sensitivities. Experimental results regarding IEEE systems are provided comparing the performance of the proposed approach with that of a conventional optimal power flow. (author)

  1. Towards Current Profile Control in ITER: Potential Approaches and Research Needs

    Science.gov (United States)

    Schuster, E.; Barton, J. E.; Wehner, W. P.

    2014-10-01

    Many challenging plasma control problems still need to be addressed in order for the ITER Plasma Control System (PCS) to be able to successfully achieve the ITER project goals. For instance, setting up a suitable toroidal current density profile is key for one possible advanced scenario characterized by noninductive sustainment of the plasma current and steady-state operation. The nonlinearity and high dimensionality exhibited by the plasma demand a model-based current-profile control synthesis procedure that can accommodate this complexity through embedding the known physics within the design. The development of a model capturing the dynamics of the plasma relevant for control design enables not only the design of feedback controllers for regulation or tracking but also the design of optimal feedforward controllers for a systematic model-based approach to scenario planning, the design of state estimators for a reliable real-time reconstruction of the plasma internal profiles based on limited and noisy diagnostics, and the development of a fast predictive simulation code for closed-loop performance evaluation before implementation. Progress towards control-oriented modeling of the current profile evolution and associated control design has been reported following both data-driven and first-principles-driven approaches. An overview of these two approaches will be provided, as well as a discussion on research needs associated with each one of the model applications described above. Supported by the US Department of Energy under DE-SC0001334 and DE-SC0010661.

  2. Progress in XRCS-Survey plant instrumentation and control design for ITER

    International Nuclear Information System (INIS)

    Varshney, Sanjeev; Jha, Shivakant; Simrock, Stefan; Barnsley, Robin; Martin, Vincent; Mishra, Sapna; Patil, Prabhakant; Patel, Shreyas; Kumar, Vinay

    2016-01-01

    Highlights: • An identification of the major process functions system compliant to Plant Control Design Handbook (PCDH) has been made for XRCS-Survey plant I&C. • I&C Functional Breakdown Structure (FBS) and Operation Procedure (OP) have been drafted using Enterprise architect (EA). • I&C architecture, interface with ITER networks and Plants, configuration of cubicles are discussed towards nine design review deliverables. - Abstract: A real time, plasma impurity survey system based on X-ray Crystal Spectroscopy (XRCS) has been designed for ITER and will be made available in the set of first plasma diagnostics for measuring impurity ion concentrations and their in-flux. For the purpose of developing a component level design of XRCS-Survey plant I&C system that is compliant to the rules and guidelines defined in the Plant Control Design Handbook (PCDH), firstly an identification of the major process functions has been made. The preliminary plant I&C Functional Breakdown Structure (FBS) and Operation Procedure (OP) have been drafted using a system engineering tool, Enterprise Architect (EA). Conceptual I&C architecture, interface with the ITER networks and other Plants have been discussed along with the basic configuration of I&C cubicles aiming towards nine I&C deliverables for the design review.

  3. Progress in XRCS-Survey plant instrumentation and control design for ITER

    Energy Technology Data Exchange (ETDEWEB)

    Varshney, Sanjeev, E-mail: sanjeev.varshney@iter-india.org [ITER-India, Institute for Plasma Research, Bhat, Gandhinagar, 382 428 (India); Jha, Shivakant [ITER-India, Institute for Plasma Research, Bhat, Gandhinagar, 382 428 (India); Simrock, Stefan; Barnsley, Robin; Martin, Vincent [ITER-Organization, Route de Vinon sur Verdon, CS 90 046, 13067 St. Paul-Lez-Durance, Cedex (France); Mishra, Sapna [ITER-India, Institute for Plasma Research, Bhat, Gandhinagar, 382 428 (India); Patil, Prabhakant [ITER-Organization, Route de Vinon sur Verdon, CS 90 046, 13067 St. Paul-Lez-Durance, Cedex (France); Patel, Shreyas; Kumar, Vinay [ITER-India, Institute for Plasma Research, Bhat, Gandhinagar, 382 428 (India)

    2016-11-15

    Highlights: • An identification of the major process functions system compliant to Plant Control Design Handbook (PCDH) has been made for XRCS-Survey plant I&C. • I&C Functional Breakdown Structure (FBS) and Operation Procedure (OP) have been drafted using Enterprise architect (EA). • I&C architecture, interface with ITER networks and Plants, configuration of cubicles are discussed towards nine design review deliverables. - Abstract: A real time, plasma impurity survey system based on X-ray Crystal Spectroscopy (XRCS) has been designed for ITER and will be made available in the set of first plasma diagnostics for measuring impurity ion concentrations and their in-flux. For the purpose of developing a component level design of XRCS-Survey plant I&C system that is compliant to the rules and guidelines defined in the Plant Control Design Handbook (PCDH), firstly an identification of the major process functions has been made. The preliminary plant I&C Functional Breakdown Structure (FBS) and Operation Procedure (OP) have been drafted using a system engineering tool, Enterprise Architect (EA). Conceptual I&C architecture, interface with the ITER networks and other Plants have been discussed along with the basic configuration of I&C cubicles aiming towards nine I&C deliverables for the design review.

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

    International Nuclear Information System (INIS)

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

    2014-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-10-15

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

  6. Control of MHD instabilities by ECCD: ASDEX Upgrade results and implications for ITER

    International Nuclear Information System (INIS)

    Zohm, H.; Gantenbein, G.; Leuterer, F.; Manini, A.; Maraschek, M.; Yu, Q.

    2007-01-01

    The requirements for control of MHD instabilities by electron cyclotron current drive (ECCD) are reviewed. It is shown that a localized current drive is needed for control of both sawteeth and neoclassical tearing modes (NTMs). In the case of NTMs, the deposition width should be smaller than the island width for efficient control. At island widths smaller than the deposition width, as is predicted to occur in ITER, theory suggests that efficient control is possible only by modulating the ECCD power in phase with the island. These predictions are experimentally confirmed in ASDEX Upgrade for NTM control. Narrow deposition has also been used to extend the operational range of NTM stabilization in ASDEX Upgrade to lower q 95 and in the improved H-mode scenario. Our results suggest that, for the ITER ECCD system, good localization of the driven current profile as well as the capability to modulate the ECCD in phase with rotating modes will be needed for efficient MHD control by ECCD

  7. Iterative h-minima-based marker-controlled watershed for cell nucleus segmentation.

    Science.gov (United States)

    Koyuncu, Can Fahrettin; Akhan, Ece; Ersahin, Tulin; Cetin-Atalay, Rengul; Gunduz-Demir, Cigdem

    2016-04-01

    Automated microscopy imaging systems facilitate high-throughput screening in molecular cellular biology research. The first step of these systems is cell nucleus segmentation, which has a great impact on the success of the overall system. The marker-controlled watershed is a technique commonly used by the previous studies for nucleus segmentation. These studies define their markers finding regional minima on the intensity/gradient and/or distance transform maps. They typically use the h-minima transform beforehand to suppress noise on these maps. The selection of the h value is critical; unnecessarily small values do not sufficiently suppress the noise, resulting in false and oversegmented markers, and unnecessarily large ones suppress too many pixels, causing missing and undersegmented markers. Because cell nuclei show different characteristics within an image, the same h value may not work to define correct markers for all the nuclei. To address this issue, in this work, we propose a new watershed algorithm that iteratively identifies its markers, considering a set of different h values. In each iteration, the proposed algorithm defines a set of candidates using a particular h value and selects the markers from those candidates provided that they fulfill the size requirement. Working with widefield fluorescence microscopy images, our experiments reveal that the use of multiple h values in our iterative algorithm leads to better segmentation results, compared to its counterparts. © 2016 International Society for Advancement of Cytometry. © 2016 International Society for Advancement of Cytometry.

  8. EPICS device support module as ATCA system manager for the ITER fast plant system controller

    Energy Technology Data Exchange (ETDEWEB)

    Carvalho, Paulo F., E-mail: pricardofc@ipfn.ist.utl.pt [Associação EURATOM/IST, Instituto de Plasmas e Fusão Nuclear, Instituto Superior Técnico – Universidade Técnica de Lisboa, Lisboa (Portugal); Santos, Bruno; Gonçalves, Bruno; Carvalho, Bernardo B.; Sousa, Jorge; Rodrigues, A.P.; Batista, António J.N.; Correia, Miguel; Combo, Álvaro [Associação EURATOM/IST, Instituto de Plasmas e Fusão Nuclear, Instituto Superior Técnico – Universidade Técnica de Lisboa, Lisboa (Portugal); Correia, Carlos M.B.A. [Centro de Instrumentação, Departamento de Física, Universidade de Coimbra, Coimbra (Portugal); Varandas, Carlos A.F. [Associação EURATOM/IST, Instituto de Plasmas e Fusão Nuclear, Instituto Superior Técnico – Universidade Técnica de Lisboa, Lisboa (Portugal)

    2013-10-15

    Highlights: ► In Nuclear Fusion, demanding security and high-availability requirements call for redundancy to be available. ► ATCA based Nuclear Fusion Systems are composed by several electronic and mechanical component. ► Control and monitoring of ATCA electronic systems are recommended. ► ITER Fast Plant System Controller Project CODAC system prototype. ► EPICS device support module as External ATCA system manager solution. -- Abstract: This paper presents an Enhanced Physics and Industrial Control System (EPICS) device support module for the International Thermonuclear Experimental Reactor (ITER) Fast Plant System Controller (FPSC) project based in Advanced Telecommunications Computing Architecture (ATCA) specification. The developed EPICS device support module provides an External System Manager (ESM) solution for monitoring and control the ITER FPSC ATCA shelf system and data acquisition boards in order to take proper action and report problems to a control room operator or high level management unit in case of any system failure occurrence. EPICS device support module acts as a Channel Access (CA) server to report problems and publish ATCA system data information to the control room operator, high level management unit or other CA network clients such as Control System Studio Operator Interfaces (CSS OPIs), Best Ever Alarm System Toolkit (BEAST), Best Ever Archive Utility (BEAUTY) or other CA client applications. EPICS device support module communicates with the ATCA Shelf manager (ShM) using HTTP protocol to send and receive commands through POST method in order to get and set system and shelf components properties such as fan speeds measurements, temperatures readings, module status and ATCA boards acquisition and configuration parameters. All system properties, states, commands and parameters are available through the EPICS device support module CA server in EPICS Process Variables (PV) and signals format. ATCA ShM receives the HTTP protocol

  9. On the control performance of motors driven by long cables for remote handling at ITER

    International Nuclear Information System (INIS)

    Sol, Enrique del; Meek, Richard; Ruiz Morales, Emilio; Vitelli, Ricardo; Esqué, Salvador

    2016-01-01

    Highlights: • We show the dangerous effects of reflections on the actuator’s system. • We prove how to solve the reflections issue with a commercial LC filter. • We study the filter influence for short cables on two control modes. • We show the filter performance under a real remote handling operation. • We study the excellent performance of the filter for different cable lengths. - Abstract: Pulse Width Modulation (PWM) is nowadays the most used method for controlling a servo-motor. When combining PWM with motors and long cables, such as the ones that will be found at ITER, the standing waves originated are potentially very harmful for both actuator’s life span and control performance. Several methods have been investigated to cope with this issue, such as the use of chokes, filters, snubbers or active modification of the PWM signal. Of all possible locations where an electrical servo-motor could be used at ITER, the most critical scenario arises when mounting a low power motor, with a low gear ratio, in a dexterous manipulator for bilateral teleoperation. In those circumstances cable lengths of more than 150 m are expected between manipulator and control cubicle. In this paper, the effects of long cables in the system safety are analysed on a custom made test bench. The most common solutions to cope with this issue are analysed and a commercial LC filter is selected for further experimentation. An extensive set of experiments are carried out in order to validate the proposed solution for being used on remote handling equipment at ITER.

  10. On the control performance of motors driven by long cables for remote handling at ITER

    Energy Technology Data Exchange (ETDEWEB)

    Sol, Enrique del, E-mail: enrique.delsol@oxfordtechnologies.co.uk [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon OX141RL (United Kingdom); Meek, Richard [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon OX141RL (United Kingdom); Ruiz Morales, Emilio; Vitelli, Ricardo; Esqué, Salvador [Fusion for Energy, Josep Pla, 2, Barcelona 08019 (Spain)

    2016-06-15

    Highlights: • We show the dangerous effects of reflections on the actuator’s system. • We prove how to solve the reflections issue with a commercial LC filter. • We study the filter influence for short cables on two control modes. • We show the filter performance under a real remote handling operation. • We study the excellent performance of the filter for different cable lengths. - Abstract: Pulse Width Modulation (PWM) is nowadays the most used method for controlling a servo-motor. When combining PWM with motors and long cables, such as the ones that will be found at ITER, the standing waves originated are potentially very harmful for both actuator’s life span and control performance. Several methods have been investigated to cope with this issue, such as the use of chokes, filters, snubbers or active modification of the PWM signal. Of all possible locations where an electrical servo-motor could be used at ITER, the most critical scenario arises when mounting a low power motor, with a low gear ratio, in a dexterous manipulator for bilateral teleoperation. In those circumstances cable lengths of more than 150 m are expected between manipulator and control cubicle. In this paper, the effects of long cables in the system safety are analysed on a custom made test bench. The most common solutions to cope with this issue are analysed and a commercial LC filter is selected for further experimentation. An extensive set of experiments are carried out in order to validate the proposed solution for being used on remote handling equipment at ITER.

  11. Full Tokamak discharge simulation and kinetic plasma profile control for ITER

    International Nuclear Information System (INIS)

    Hee Kim, S.

    2009-10-01

    Understanding non-linearly coupled physics between plasma transport and free-boundary equilibrium evolution is essential to operating future tokamak devices, such as ITER and DEMO, in the advanced tokamak operation regimes. To study the non-linearly coupled physics, we need a simulation tool which can self-consistently calculate all the main plasma physics, taking the operational constraints into account. As the main part of this thesis work, we have developed a full tokamak discharge simulator by combining a non-linear free-boundary plasma equilibrium evolution code, DINA-CH, and an advanced transport modelling code, CRONOS. This tokamak discharge simulator has been used to study the feasibility of ITER operation scenarios and several specific issues related to ITER operation. In parallel, DINA-CH has been used to study free-boundary physics questions, such as the magnetic triggering of edge localized modes (ELMs) and plasma dynamic response to disturbances. One of the very challenging tasks in ITER, the active control of kinetic plasma profiles, has also been studied. In the part devoted to free-boundary tokamak discharge simulations, we have studied dynamic responses of the free-boundary plasma equilibrium to either external voltage perturbations or internal plasma disturbances using DINA-CH. Firstly, the opposite plasma behaviour observed in the magnetic triggering of ELMs between TCV and ASDEX Upgrade has been investigated. Both plasmas experience similar local flux surface expansions near the upper G-coil set and passive stabilization loop (PSL) when the ELMs are triggered, due to the presence of the PSLs located inside the vacuum vessel of ASDEX Upgrade. Secondly, plasma dynamic responses to strong disturbances anticipated in ITER are examined to study the capability of the feedback control system in rejecting the disturbances. Specified uncontrolled ELMs were controllable with the feedback control systems. However, the specifications for fast H-L mode

  12. ITER-FEAT magnetic configuration and plasma position/shape control in the nominal PF scenario

    International Nuclear Information System (INIS)

    Gribov, Y.V.; Albanese, R.; Ambrosino, G.

    2001-01-01

    The capability of the ITER-FEAT poloidal field system to support the four 'design' scenarios and the high current 'assessed' scenario have been studied. To operate with highly elongated plasma, the system has segmentation of the central solenoid and a separate fast feedback loop for plasma vertical stabilisation. Within the limits imposed on the coil currents, voltages and power, the poloidal field system provides the required plasma scenario and control capabilities. The separatrix deviation from the required position, in scenarios with minor disruptions is within less than about 100 mm. (author)

  13. Procedural learning during declarative control.

    Science.gov (United States)

    Crossley, Matthew J; Ashby, F Gregory

    2015-09-01

    There is now abundant evidence that human learning and memory are governed by multiple systems. As a result, research is now turning to the next question of how these putative systems interact. For instance, how is overall control of behavior coordinated, and does learning occur independently within systems regardless of what system is in control? Behavioral, neuroimaging, and neuroscience data are somewhat mixed with respect to these questions. Human neuroimaging and animal lesion studies suggest independent learning and are mostly agnostic with respect to control. Human behavioral studies suggest active inhibition of behavioral output but have little to say regarding learning. The results of two perceptual category-learning experiments are described that strongly suggest that procedural learning does occur while the explicit system is in control of behavior and that this learning might be just as good as if the procedural system was controlling the response. These results are consistent with the idea that declarative memory systems inhibit the ability of the procedural system to access motor output systems but do not prevent procedural learning. (c) 2015 APA, all rights reserved).

  14. Wind tunnel tests with combined pitch and free-floating flap control: data-driven iterative feedforward controller tuning

    Directory of Open Access Journals (Sweden)

    S. T. Navalkar

    2016-10-01

    Full Text Available Wind turbine load alleviation has traditionally been addressed in the literature using either full-span pitch control, which has limited bandwidth, or trailing-edge flap control, which typically shows low control authority due to actuation constraints. This paper combines both methods and demonstrates the feasibility and advantages of such a combined control strategy on a scaled prototype in a series of wind tunnel tests. The pitchable blades of the test turbine are instrumented with free-floating flaps close to the tip, designed such that they aerodynamically magnify the low stroke of high-bandwidth actuators. The additional degree of freedom leads to aeroelastic coupling with the blade flexible modes. The inertia of the flaps was tuned such that instability occurs just beyond the operational envelope of the wind turbine; the system can however be stabilised using collocated closed-loop control. A feedforward controller is shown to be capable of significant reduction of the deterministic loads of the turbine. Iterative feedforward tuning, in combination with a stabilising feedback controller, is used to optimise the controller online in an automated manner, to maximise load reduction. Since the system is non-linear, the controller gains vary with wind speed; this paper also shows that iterative feedforward tuning is capable of generating the optimal gain schedule online.

  15. Exploring the knowledge behind predictions in everyday cognition: an iterated learning study.

    Science.gov (United States)

    Stephens, Rachel G; Dunn, John C; Rao, Li-Lin; Li, Shu

    2015-10-01

    Making accurate predictions about events is an important but difficult task. Recent work suggests that people are adept at this task, making predictions that reflect surprisingly accurate knowledge of the distributions of real quantities. Across three experiments, we used an iterated learning procedure to explore the basis of this knowledge: to what extent is domain experience critical to accurate predictions and how accurate are people when faced with unfamiliar domains? In Experiment 1, two groups of participants, one resident in Australia, the other in China, predicted the values of quantities familiar to both (movie run-times), unfamiliar to both (the lengths of Pharaoh reigns), and familiar to one but unfamiliar to the other (cake baking durations and the lengths of Beijing bus routes). While predictions from both groups were reasonably accurate overall, predictions were inaccurate in the selectively unfamiliar domains and, surprisingly, predictions by the China-resident group were also inaccurate for a highly familiar domain: local bus route lengths. Focusing on bus routes, two follow-up experiments with Australia-resident groups clarified the knowledge and strategies that people draw upon, plus important determinants of accurate predictions. For unfamiliar domains, people appear to rely on extrapolating from (not simply directly applying) related knowledge. However, we show that people's predictions are subject to two sources of error: in the estimation of quantities in a familiar domain and extension to plausible values in an unfamiliar domain. We propose that the key to successful predictions is not simply domain experience itself, but explicit experience of relevant quantities.

  16. A fuzzy controller with a robust learning function

    International Nuclear Information System (INIS)

    Tanji, Jun-ichi; Kinoshita, Mitsuo

    1987-01-01

    A self-organizing fuzzy controller is able to use linguistic decision rules of control strategy and has a strong adaptive property by virture of its rule learning function. While a simple linguistic description of the learning algorithm first introduced by Procyk, et al. has much flexibility for applications to a wide range of different processes, its detailed formulation, in particular with control stability and learning process convergence, is not clear. In this paper, we describe the formulation of an analytical basis for a self-organizing fuzzy controller by using a method of model reference adaptive control systems (MRACS) for which stability in the adaptive loop is theoretically proven. A detailed formulation is described regarding performance evaluation and rule modification in the rule learning process of the controller. Furthermore, an improved learning algorithm using adaptive rule is proposed. An adaptive rule gives a modification coefficient for a rule change estimating the effect of disturbance occurrence in performance evaluation. The effect of introducing an adaptive rule to improve the learning convergency is described by using a simple iterative formulation. Simulation tests are presented for an application of the proposed self-organizing fuzzy controller to the pressure control system in a Boiling Water Reactor (BWR) plant. Results with the tests confirm the improved learning algorithm has strong convergent properties, even in a very disturbed environment. (author)

  17. Plasma position and current control system enhancements for the JET ITER-like wall

    Energy Technology Data Exchange (ETDEWEB)

    De Tommasi, G. [Associazione EURATOM-ENEA-CREATE, Univ. di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy); Maviglia, F. [Associazione EURATOM-ENEA-CREATE, Via Claudio 21, 80125 Napoli (Italy); Neto, A.C. [Ass. EURATOM-IST, Instituto de Plasmas e Fusão Nuclear, IST, 1049-001 Lisboa (Portugal); Lomas, P.J.; McCullen, P.; Rimini, F.G. [Euratom-CCFE, Culham Science Centre, OX14 3DB Abingdon (United Kingdom)

    2014-03-15

    Highlights: • JET plasma position and current control system enhanced for the JET ITER like wall. • Vertical stabilization system enhanced to speed up its response and to withstand larger perturbations. • Improved termination management system. • Implementation of the current limit avoidance system. • Implementation of PFX-on-early-task. - Abstract: The upgrade of Joint European Torus (JET) to a new all-metal wall, the so-called ITER-like wall (ILW), has posed a set of new challenges regarding both machine operation and protection. The plasma position and current control (PPCC) system plays a crucial role in minimizing the possibility that the plasma could permanently damage the ILW. The installation of the ILW has driven a number of upgrades of the two PPCC components, namely the Vertical Stabilization (VS) system and the Shape Controller (SC). The VS system has been enhanced in order to speed up its response and to withstand larger perturbations. The SC upgrade includes three new features: an improved termination management system, the current limit avoidance system, and the PFX-on-early-task. This paper describes the PPCC upgrades listed above, focusing on the implementation issues and on the experimental results achieved during the 2011–12 JET experimental campaigns.

  18. Control and data acquisition of the ITER full-scale ion source for the neutral beam test facility

    International Nuclear Information System (INIS)

    Luchetta, Adriano; Manduchi, Gabriele; Taliercio, Cesare; Paolucci, Francesco; Sartori, Filippo; Svensson, Lennart; Labate, Carmelo Vincenzo; Breda, Mauro; Capobianco, Roberto; Molon, Federico; Moressa, Modesto; Simionato, Paola; Zampiva, Enrico; Barbato, Paolo; Polato, Sandro

    2015-01-01

    Highlights: • This paper describes the requirements and architecture of the control and data acquisition system of the ITER full-ion source experiment in the neutral beam test facility. • The system architecture integrates various popular software frameworks. • Slow control is based on the EPICS (Experimental Physics and Industrial Control System) framework. • Fast control is based on the MARTe (Multi-threaded Application Real-Time executor) framework. • Data acquisition is based on the MDSplus framework. - Abstract: The neutral beam test facility, which is under construction in Padova, Italy, is developing the ITER full-scale ion source for the ITER heating neutral beam injectors, referred to as the SPIDER experiment, and the full-size prototype injector, referred to as MITICA. The SPIDER control and data acquisition system (CODAS) has been developed and its construction will start in 2014. Slow control and data acquisition will be based on the ITER CODAC core system software suite that has been designed to facilitate the integration of ITER plant systems with CODAC. Fast control and data acquisition will use solutions specific to the test facility, as the corresponding concepts are not ready-to-use in the ITER design. The ITER hardware catalog for fast control has been taken into consideration. The software development will be based on the integration of MDSplus and MARTe, two framework software packages that are well known in the fusion community, targeting data organization and fast real-time control, respectively. The paper revises the system requirements and the system design and shows the results already achieved in terms of system integration. In addition, the paper will report the experience in the usage of different cooperating software frameworks and in the integration of industrial procured plant systems.

  19. Control and data acquisition of the ITER full-scale ion source for the neutral beam test facility

    Energy Technology Data Exchange (ETDEWEB)

    Luchetta, Adriano, E-mail: adriano.luchetta@igi.cnr.it [Consorzio RFX (CNR, ENEA, INFN, Università di Padova, Acciaierie Venete SpA), Padova (Italy); Manduchi, Gabriele; Taliercio, Cesare [Consorzio RFX (CNR, ENEA, INFN, Università di Padova, Acciaierie Venete SpA), Padova (Italy); Paolucci, Francesco; Sartori, Filippo [Fusion for Energy, Barcelona (Spain); Svensson, Lennart [ITER Organization, Route de Vinon-sur-Verdon, CS 90046 St. Paul Lez Durance (France); Labate, Carmelo Vincenzo [Association ENEA-CREATE, Department of Engineering, University of Naples “Parthenope” (Italy); Breda, Mauro; Capobianco, Roberto; Molon, Federico; Moressa, Modesto; Simionato, Paola; Zampiva, Enrico; Barbato, Paolo; Polato, Sandro [Consorzio RFX (CNR, ENEA, INFN, Università di Padova, Acciaierie Venete SpA), Padova (Italy)

    2015-10-15

    Highlights: • This paper describes the requirements and architecture of the control and data acquisition system of the ITER full-ion source experiment in the neutral beam test facility. • The system architecture integrates various popular software frameworks. • Slow control is based on the EPICS (Experimental Physics and Industrial Control System) framework. • Fast control is based on the MARTe (Multi-threaded Application Real-Time executor) framework. • Data acquisition is based on the MDSplus framework. - Abstract: The neutral beam test facility, which is under construction in Padova, Italy, is developing the ITER full-scale ion source for the ITER heating neutral beam injectors, referred to as the SPIDER experiment, and the full-size prototype injector, referred to as MITICA. The SPIDER control and data acquisition system (CODAS) has been developed and its construction will start in 2014. Slow control and data acquisition will be based on the ITER CODAC core system software suite that has been designed to facilitate the integration of ITER plant systems with CODAC. Fast control and data acquisition will use solutions specific to the test facility, as the corresponding concepts are not ready-to-use in the ITER design. The ITER hardware catalog for fast control has been taken into consideration. The software development will be based on the integration of MDSplus and MARTe, two framework software packages that are well known in the fusion community, targeting data organization and fast real-time control, respectively. The paper revises the system requirements and the system design and shows the results already achieved in terms of system integration. In addition, the paper will report the experience in the usage of different cooperating software frameworks and in the integration of industrial procured plant systems.

  20. Fatigue behavior of an insulation system for the ITER magnets in the load and strain controlled mode

    International Nuclear Information System (INIS)

    Prokopec, R.; Humer, K.; Weber, H.W.

    2007-01-01

    The application of glass-fiber reinforced plastics as insulation materials for fusion magnet coils (e.g. of ITER) requires a full mechanical material characterization under ITER relevant conditions. The tension-tension fatigue test is useful to simulate the pulsed tokamak operation of the ITER coils in the relevant range of 10 4 -10 5 cycles. The fatigue process can be run under load or strain control, which may influence the material behavior under cyclic load conditions. Therefore, investigations were performed at 77 K using an industrial glass-fiber reinforced composite impregnated with epoxy resin. For both the load and the strain controlled mode, R-values of 0.3 and 0.5 and a frequency of 10 Hz were chosen. The results are discussed with respect to the lifetime performance of ITER

  1. Progress on the ITER ECRH upper launcher steering mirror identification and control

    International Nuclear Information System (INIS)

    Collazos, Andres; Bertizzolo, Robert; Chavan, Rene; Dolizy, Frederic; Felici, Federico; Henderson, Mark A.; Landis, Jean-Daniel; Sanchez, Francisco

    2009-01-01

    The main objective of the ITER ECRH upper launcher (UL) is to control magnetohydrodynamic activity, in particular neoclassical tearing modes (NTMs), by driving several MW of EC current near the q = 1, 3/2, 2 flux surfaces, where NTMs are expected to occur. The steering of the EC power is done by the steering mechanism assembly (SMA) that comprises a reflecting mirror and a frictionless and backlash free pneumo-mechanical system actuated with pressurised helium gas. The control requirements for this component in terms of steering accuracy and speed are reviewed. With respect to these requirements, the performance of the first SMA prototype is assessed in a mock up of the UL pneumatic configuration. The expected design characteristics of the SMA have been verified and an overall satisfactory performance has been assessed. Furthermore, the main challenges for the future work, such as the pressure and angular position control, have been identified.

  2. Learn How to Control Asthma

    Science.gov (United States)

    ... Guidelines Asthma & Community Health Learn How to Control Asthma Language: English (US) Español (Spanish) Arabic Chinese Français ... Is Asthma Treated? Select a Language What Is Asthma? Asthma is a disease that affects your lungs. ...

  3. Integrated approach to the development of the ITER control system configuration data

    International Nuclear Information System (INIS)

    Stepanov, D.; Abadie, L.; Bertin, J.; Bourguignon, G.; Darcourt, G.; Liotard, O.

    2012-01-01

    ITER control system (CODAC) will rely on a large number of configuration data, coming from different sources. This information is being created using different tools, stored in various databases and, generally, has different life-cycle. In many cases it is difficult for instrumentation and control (IC) engineers to have a common view on this information or to check data consistency. The plant system profile database, described in this paper, tries to address these issues by gathering all IC-specific information in the same database and providing means to analyze these data. At the design phase, the current ITER infrastructure and CODAC practices have been evaluated, and the following architectural and software decisions have been made: -1) the database back-end should be Microsoft SQL Server; -2) the application should have web interface; -3) business logic and the user interface should be written in Java. Prime Faces should be used for the user interface, Spring for transactional support and Java Hibernate for interaction with the database; and -4) data integration tool should be Talend. The task was launched in September 2010; in February 2011 the first version was put in production, and it was gradually introduced into CODAC processes in the following months

  4. Real-time sawtooth control and neoclassical tearing mode preemption in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Kim, D., E-mail: doohyun.kim@epfl.ch; Goodman, T. P.; Sauter, O. [École Polytechnique Fédérale de Lausanne (EPFL), Centre de Recherches en Physique des Plasmas (CRPP), CH-1015 Lausanne (Switzerland)

    2014-06-15

    Real-time control of multiple plasma actuators is a requirement in advanced tokamaks; for example, for burn control, plasma current profile control and MHD stabilization—electron cyclotron (EC) wave absorption is ideally suited especially for the latter. On ITER, 24 EC sources can be switched between 56 inputs at the torus. In the torus, 5 launchers direct the power to various locations across the plasma profile via 11 steerable mirrors. For optimal usage of the available power, the aiming and polarization of the beams must be adapted to the plasma configuration and the needs of the scenario. Since the EC system performs many competing tasks, present day systems should demonstrate the ability of an EC plant to deal with several targets in parallel and/or to switch smoothly between goals to attain overall satisfaction. Based on pacing and locking experiments performed on TCV (Tokamak à Configuration Variable), the real-time sawtooth control of ITER with this complex set of actuators is analyzed, as an example. It is shown that sawtooth locking and pacing are possible with various levels of powers, leading to different time delays between the end of the EC power phase and the next sawtooth crash. This timing is important since it allows use of the same launchers for neoclassical tearing mode (NTM) preemption at the q = 1.5 or 2 surface, avoiding the need to switch power between launchers. These options are presented. It is also demonstrated that increasing the total EC power does not necessarily increase the range of control because of the geometry of the launchers.

  5. NetCDF based data archiving system applied to ITER Fast Plant System Control prototype

    International Nuclear Information System (INIS)

    Castro, R.; Vega, J.; Ruiz, M.; De Arcas, G.; Barrera, E.; López, J.M.; Sanz, D.; Gonçalves, B.; Santos, B.; Utzel, N.; Makijarvi, P.

    2012-01-01

    Highlights: ► Implementation of a data archiving solution for a Fast Plant System Controller (FPSC) for ITER CODAC. ► Data archiving solution based on scientific NetCDF-4 file format and Lustre storage clustering. ► EPICS control based solution. ► Tests results and detailed analysis of using NetCDF-4 and clustering technologies on fast acquisition data archiving. - Abstract: EURATOM/CIEMAT and Technical University of Madrid (UPM) have been involved in the development of a FPSC (Fast Plant System Control) prototype for ITER, based on PXIe (PCI eXtensions for Instrumentation). One of the main focuses of this project has been data acquisition and all the related issues, including scientific data archiving. Additionally, a new data archiving solution has been developed to demonstrate the obtainable performances and possible bottlenecks of scientific data archiving in Fast Plant System Control. The presented system implements a fault tolerant architecture over a GEthernet network where FPSC data are reliably archived on remote, while remaining accessible to be redistributed, within the duration of a pulse. The storing service is supported by a clustering solution to guaranty scalability, so that FPSC management and configuration may be simplified, and a unique view of all archived data provided. All the involved components have been integrated under EPICS (Experimental Physics and Industrial Control System), implementing in each case the necessary extensions, state machines and configuration process variables. The prototyped solution is based on the NetCDF-4 (Network Common Data Format) file format in order to incorporate important features, such as scientific data models support, huge size files management, platform independent codification, or single-writer/multiple-readers concurrency. In this contribution, a complete description of the above mentioned solution is presented, together with the most relevant results of the tests performed, while focusing in the

  6. 17th Workshop on MHD Stability Control: addressing the disruption challenge for ITER

    Science.gov (United States)

    Buttery, Richard

    2013-08-01

    This annual workshop on magnetohydrodynamic stability control was held on 5-7 November 2012 at Columbia University in the city of New York, in the aftermath of a violent hydrodynamic instability event termed 'Hurricane Sandy'. Despite these challenging circumstances, Columbia University managed an excellent meeting, enabling the full participation of the community. This Workshop has been held since 1996 to help in the development of understanding and control of magnetohydrodynamic (MHD) instabilities for future fusion reactors. It covers a wide range of stability topics—from disruptions, to tearing modes, error fields, edge-localized modes (ELMs), resistive wall modes (RWMs) and ideal MHD—spanning many device types (tokamaks, stellarators and reversed field pinches) to identify commonalities in the physics and a means of control. The theme for 2012 was 'addressing the disruption challenge for ITER', and thus the first day had a heavy focus on both the avoidance and mitigation of disruptions in ITER. Key elements included understanding how to apply 3D fields to maintain stability, as well as managing the disruption process itself through mitigating loads in the thermal quench and handling so called 'runaway electrons'. This culminated in a panel discussion on the disruption mitigation strategy for ITER, which noted that heat load asymmetries during the thermal quench appear to be an artifact of MHD processes, and that runaway electron generation may be inevitable, suggesting research should focus on control and dissipation of the runaway beam. The workshop was combined this year with the annual US-Japan MHD Workshop, with a special section looking more deeply at 'Fundamentals of 3D Perturbed Equilibrium Control', with interesting sessions on 3D equilibrium reconstruction, RWM physics, novel control concepts such as non-magnetic sensing, adaptive control, q operation, and the effects of flow. The final day turned to tearing mode interactions, exploring the state

  7. Intelligent Control of a Sensor-Actuator System via Kernelized Least-Squares Policy Iteration

    Directory of Open Access Journals (Sweden)

    Bo Liu

    2012-02-01

    Full Text Available In this paper a new framework, called Compressive Kernelized Reinforcement Learning (CKRL, for computing near-optimal policies in sequential decision making with uncertainty is proposed via incorporating the non-adaptive data-independent Random Projections and nonparametric Kernelized Least-squares Policy Iteration (KLSPI. Random Projections are a fast, non-adaptive dimensionality reduction framework in which high-dimensionality data is projected onto a random lower-dimension subspace via spherically random rotation and coordination sampling. KLSPI introduce kernel trick into the LSPI framework for Reinforcement Learning, often achieving faster convergence and providing automatic feature selection via various kernel sparsification approaches. In this approach, policies are computed in a low-dimensional subspace generated by projecting the high-dimensional features onto a set of random basis. We first show how Random Projections constitute an efficient sparsification technique and how our method often converges faster than regular LSPI, while at lower computational costs. Theoretical foundation underlying this approach is a fast approximation of Singular Value Decomposition (SVD. Finally, simulation results are exhibited on benchmark MDP domains, which confirm gains both in computation time and in performance in large feature spaces.

  8. MPPT-Based Control Algorithm for PV System Using iteration-PSO under Irregular shadow Conditions

    Directory of Open Access Journals (Sweden)

    M. Abdulkadir

    2017-02-01

    Full Text Available The conventional maximum power point tracking (MPPT techniques can hardly track the global maximum power point (GMPP because the power-voltage characteristics of photovoltaic (PV exhibit multiple local peaks in irregular shadow, and therefore easily fall into the local maximum power point. These conditions make it very challenging, and to tackle this deficiency, an efficient Iteration Particle Swarm Optimization (IPSO has been developed to improve the quality of solution and convergence speed of the traditional PSO, so that it can effectively track the GMPP under irregular shadow conditions. This proposed technique has such advantages as simple structure, fast response and strong robustness, and convenient implementation. It is applied to MPPT control of PV system in irregular shadow to solve the problem of multi-peak optimization in partial shadow. In order to verify the rationality of the proposed algorithm, however, recently the dynamic MPPT performance under varying irradiance conditions has been given utmost attention to the PV society. As the European standard EN 50530 which defines the recommended varying irradiance profiles, was released lately, the corresponding researchers have been required to improve the dynamic MPPT performance. This paper tried to evaluate the dynamic MPPT performance using EN 50530 standard. The simulation results show that iterative-PSO method can fast track the global MPP, increase tracking speed and higher dynamic MPPT efficiency under EN 50530 than the conventional PSO.

  9. Study on poloidal field coil optimization and equilibrium control of ITER

    International Nuclear Information System (INIS)

    Shinya, Kichiro; Sugihara, Masayoshi; Nishio, Satoshi

    1989-03-01

    The purpose of this report is to present general features of the poloidal field coil optimization for the ITER plasma, flexibility analysis for various plasma options and some other aspect of the equilibrium control which is required for understanding plasma operation in more detail. Double null divertor plasma was selected as a main object of the optimization. Single null divertor plasma was assumed to be an alternative, because single null divertor plasma can be operational within the amounts of the total stored energy and ampere-turns of the double null divertor plasma, if it is shaped appropriately. Plasma parameters used in the present analysis are mainly those employed in the preliminary study by the Basic Device Engineering group of the ITER design team. The most part of the optimization study, however, utilizes the parameters proposed for discussion by the Japan team before starting joint design work at Garching. Plasma shape, and solenoid coil shape and size, which maximize available flux swing with reasonable amounts of the stored energy and ampere-turns, are discussed. Location and minimum number of the poloidal field coils with adequate shaping controllability were also discussed for various plasma options. Some other aspect of the equilibrium control, such as separatrix swing, moving null point operation during plasma heating and possible range of li, were evaluated and the guideline for the engineering design was proposed. Finally, fusion power output was estimated for the different pressure profiles and combinations of the average density and temperature, and the magnetic quantities of the scrape-off region was calculated to be available for the future divertor analysis. (author)

  10. Centralized coordinated control to protect the JET ITER-like wall

    International Nuclear Information System (INIS)

    Stephen, A.V.; Arnoux, G.; Budd, T.; Card, P.; Felton, R.; Goodyear, A.; Harling, J.; Kinna, D.; Lomas, P.; McCullen, P.; Thomas, P.; Young, I.; Zastrow, K.D.; Neto, A.; Alves, D.; Valcarcel, D.F.; Jachmich, S.; Devaux, S.

    2012-01-01

    The JET ITER-like wall project (ILW) replaces the first wall carbon fibre composite tiles with beryllium and tungsten tiles which should have improved fuel retention characteristics but are less thermally robust. An enhanced protection system using new control and diagnostic systems has been designed which can modify the pre-planned experimental control to protect the new wall. Key design challenges were to extend the Level-1 supervisory control system to allow configurable responses to thermal problems to be defined without introducing excessive complexity, and to integrate the new functionality with existing control and protection systems efficiently and reliably. Alarms are generated by the vessel thermal map (VTM) system if infra-red camera measurements of tile temperatures are too high and by the plasma wall load system (WALLS) if component power limits are exceeded. The design introduces two new concepts: local protection, which inhibits individual heating components but allows the discharge to proceed, and stop responses, which allow highly configurable early termination of the pulse in the safest way for the plasma conditions and type of alarm. These are implemented via the new real-time protection system (RTPS), a centralized controller which responds to the VTM and WALLS alarms by providing override commands to the plasma shape, current, density and heating controllers. This paper describes the design and implementation of the RTPS system which is built with the Multi-threaded Application Real-Time executor (MARTe) and will present results from initial operations. (authors)

  11. User requirements and conceptual design of the ITER Electron Cyclotron Control System

    Energy Technology Data Exchange (ETDEWEB)

    Carannante, Giuseppe, E-mail: Giuseppe.Carannante@F4E.europa.eu [Fusion for Energy, Josep Pla 2, Barcelona 08019 (Spain); Cavinato, Mario [Fusion for Energy, Josep Pla 2, Barcelona 08019 (Spain); Gandini, Franco [ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St. Paul Lez Durance Cedex (France); Granucci, Gustavo [Istituto di Fisica del Plasma ENEA-CNR-EURATOM, via Cozzi 53, 20125 Milano (Italy); Henderson, Mark; Purohit, Dharmesh [ITER Organization, Route de Vinon-sur-Verdon, CS 90 046, 13067 St. Paul Lez Durance Cedex (France); Saibene, Gabriella; Sartori, Filippo [Fusion for Energy, Josep Pla 2, Barcelona 08019 (Spain); Sozzi, Carlo [Istituto di Fisica del Plasma ENEA-CNR-EURATOM, via Cozzi 53, 20125 Milano (Italy)

    2015-10-15

    The ITER Electron Cyclotron (EC) plant is a complex system, essential for plasma operation. The system is being designed to supply up to 20 MW of power at 170 GHz; it consists of 24 RF sources (or Gyrotrons) connected by switchable transmission lines to four upper and one equatorial launcher. The complexity of the EC plant requires a Plant Controller, which provides the functional and operational interface with CODAC and the Plasma Control System and coordinates the various Subsystem Control Units, i.e. the local controllers of power supplies, Gyrotrons, transmission lines and launchers. A conceptual design of the Electron Cyclotron Control System (ECCS) was developed, starting from the collection of the user requirements, which have then been organized as a set of operational scenarios exploiting the EC system. The design consists in a thorough functional analysis, including also protection functions, and in the development of a conceptual I&C architecture. The main aim of the work was to identify the physics requirements and to translate them into control system requirements, in order to define the interfaces within the components of the ECCS. The definition of these interfaces is urgent because some of the subsystems are already in an advanced design phase. The present paper describes both the methodology used and the resulting design.

  12. Tungsten transport and sources control in JET ITER-like wall H-mode plasmas

    Energy Technology Data Exchange (ETDEWEB)

    Fedorczak, N., E-mail: nicolas.fedorczak@cea.fr [CEA, IRFM, F-13108 Saint-Paul-Lez-Durance (France); Monier-Garbet, P. [CEA, IRFM, F-13108 Saint-Paul-Lez-Durance (France); Pütterich, T. [MPI für Plasmaphysik, EURATOM Association, Boltzmannstrasse 2, 85748 Garching (Germany); Brezinsek, S. [Institute of Energy and Climate Research, Forschungszentrum Jlich, Assoc EURATOM-FZJ, Jlich (Germany); Devynck, P.; Dumont, R.; Goniche, M.; Joffrin, E. [CEA, IRFM, F-13108 Saint-Paul-Lez-Durance (France); Lerche, E. [Association EURATOM-Belgian State, LPP-ERM-KMS, TEC partner, Brussels (Belgium); Euratom/CCFE Fusion Association, Culham Science Centre, Abingdon OX14 3DB (United Kingdom); Lipschultz, B. [York Plasma Institute, University of York, Heslington, York YO10 5DD (United Kingdom); Luna, E. de la [Laboratorio Nacional de Fusin, Asociacin EURATOM/CIEMAT, 28040 Madrid (Spain); Maddison, G. [Culham Centre for Fusion Energy, EURATOM-CCFE Association, Abingdon (United Kingdom); Maggi, C. [MPI für Plasmaphysik, EURATOM Association, Boltzmannstrasse 2, 85748 Garching (Germany); Matthews, G. [Culham Centre for Fusion Energy, EURATOM-CCFE Association, Abingdon (United Kingdom); Nunes, I. [Istituto de plasmas e fusao nuclear, Lisboa (Portugal); Rimini, F. [Culham Centre for Fusion Energy, EURATOM-CCFE Association, Abingdon (United Kingdom); Solano, E.R. [Laboratorio Nacional de Fusin, Asociacin EURATOM/CIEMAT, 28040 Madrid (Spain); Tamain, P. [CEA, IRFM, F-13108 Saint-Paul-Lez-Durance (France); Tsalas, M. [Association EURATOM-Hellenic Republic, NCSR Demokritos 153 10, Attica (Greece); Vries, P. de [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2015-08-15

    A set of discharges performed with the JET ITER-like wall is investigated with respect to control capabilities on tungsten sources and transport. In attached divertor regimes, increasing fueling by gas puff results in higher divertor recycling ion flux, lower divertor tungsten source, higher ELM frequency and lower core plasma radiation, dominated by tungsten ions. Both pedestal flushing by ELMs and divertor screening (including redeposition) are possibly responsible. For specific scenarios, kicks in plasma vertical position can be employed to increase the ELM frequency, which results in slightly lower core radiation. The application of ion cyclotron radio frequency heating at the very center of the plasma is efficient to increase the core electron temperature gradient and flatten electron density profile, resulting in a significantly lower central tungsten peaking. Beryllium evaporation in the main chamber did not reduce the local divertor tungsten source whereas core radiation was reduced by approximately 50%.

  13. Iterative process control and sensor evaluation for deep drawing tools with integrated piezoelectric actuators

    Directory of Open Access Journals (Sweden)

    Bäume Tobias

    2016-01-01

    Full Text Available Due to the design-driven increase in complexity of forming car body parts, it becomes more difficult to ensure a stable forming process. Piezoelectric actuators can influence the material flow of stamping parts effectively. In this article the implementation of piezoelectric actuators in a large scale sheet metal forming tool of a car manufacturer is described. Additionally, it is shown that part quality can be assessed with the help of triangulation laser sensors, which are mounted on the blankholder. The resulting flange draw-in signals were processed and used to adopt the applying actuator force iteratively to reduce the occurrence of cracks. It was shown that process control helped to improve the quality of the stamping parts significantly.

  14. Learning to Teach Elementary Science through Iterative Cycles of Enactment in Culturally and Linguistically Diverse Contexts

    Science.gov (United States)

    Bottoms, SueAnn I.; Ciechanowski, Kathryn M.; Hartman, Brian

    2015-01-01

    Iterative cycles of enactment embedded in culturally and linguistically diverse contexts provide rich opportunities for preservice teachers (PSTs) to enact core practices of science. This study is situated in the larger Families Involved in Sociocultural Teaching and Science, Technology, Engineering and Mathematics (FIESTAS) project, which weaves…

  15. Optimization and Control for Sharing of the ITER Vacuum Vessel Support Force

    International Nuclear Information System (INIS)

    Rozov, V.

    2006-01-01

    The ITER Vacuum Vessel (VV) is a complex body supported in 9 points below lower ports by restraints in the radial, toroidal and vertical directions. The applied load produces a combination of reaction forces, which must be consistent with the design of the supported object. A reasonable sharing of the load among the supports is important for overall performance of the structure and helps to avoid excessive stress at the joints between the VV and lower ports. Optimization has been performed of the sharing of the total horizontal load applied to the ITER VV between radial and toroidal restraints. An effective method of finding simple parametric relationships between the design parameters of supports and the balance of the reaction forces has been developed. This allows purely analytical prediction of the sharing of the reaction forces for any desired stiffness of the applied restraints with no need for finite element structural analysis, and also allows control of the sharing by a proper selection of parameters of the supports. The method is based on the use of elementary mono-directional schemes - equivalent oscillators built for the main global modes, in static problems. The types of schemes and parameters of their members, related to the a-priori unknown stiffness of the VV structure under the supports, are found from consideration of the free vibration problem for the object using a 3D model of the VV with mass simulators - a series of simple eigenvalue analyses with variation of stiffness of the external restraints, that demands quite moderate computational resources. The equivalent schemes for the main modes not only enable simple one-line analytical calculation of the natural frequencies at any desired stiffness of the supports, but also indicate the contributions and balance of stiffness, to be considered in the static problem. The results of assessments of the reaction forces by direct static structural analyses for several cases are in agreement with values

  16. Discrete-Time Stable Generalized Self-Learning Optimal Control With Approximation Errors.

    Science.gov (United States)

    Wei, Qinglai; Li, Benkai; Song, Ruizhuo

    2018-04-01

    In this paper, a generalized policy iteration (GPI) algorithm with approximation errors is developed for solving infinite horizon optimal control problems for nonlinear systems. The developed stable GPI algorithm provides a general structure of discrete-time iterative adaptive dynamic programming algorithms, by which most of the discrete-time reinforcement learning algorithms can be described using the GPI structure. It is for the first time that approximation errors are explicitly considered in the GPI algorithm. The properties of the stable GPI algorithm with approximation errors are analyzed. The admissibility of the approximate iterative control law can be guaranteed if the approximation errors satisfy the admissibility criteria. The convergence of the developed algorithm is established, which shows that the iterative value function is convergent to a finite neighborhood of the optimal performance index function, if the approximate errors satisfy the convergence criterion. Finally, numerical examples and comparisons are presented.

  17. ITER safety studies: The effect of two simultaneous perturbations during a loss of plasma control transient

    International Nuclear Information System (INIS)

    Rivas, J.C.; Dies, J.

    2014-01-01

    Highlights: •We have re-examined the methodology employed in the analysis of the “Loss of plasma transients in ITER” safety reference events. •We show the possible transient effects of a combined malfunction in external heating system and change in plasma confinement. •We show the possible transient effects of a combined malfunction in fuelling system and change in plasma confinement. •We have shown that new steady-states can be achieved that are potentially dangerous for the wall integrity. -- Abstract: The loss of plasma control events in ITER are safety cases investigated to give an upper bound of the worse effects foreseeable from a total failure of the plasma control function. Conservative analyses based on simple 0D models for plasma balance equations and 1D models for wall heat transfer are used to determine the effects of such transients on wall integrity from a thermal point of view. In this contribution, progress in a “two simultaneous perturbations over plasma” approach to the analysis of the loss of plasma control transients in ITER is presented. The effect of variation in confinement time is now considered, and the consequences of this variation are shown over a n–T diagram. The study has been done with the aid of AINA 3.0 code. This code implements the same 0D plasma-1D wall scheme used in previous LOPC studies. The rationale of this study is that, once the occurrence of a loss of plasma transient has been assumed, and due to the uncertainties in plasma physics, it does not seem so unlikely to assume the possibility of finding a new confinement mode during the transient. The cases selected are intended to answer to the question “what would happen if an unexpected change in plasma confinement conditions takes place during a loss of plasma control transient due to a simultaneous malfunction of heating, or fuelling systems?” Even taking into account the simple models used and the uncertainties in plasma physics and design data, the

  18. Complexity control in statistical learning

    Indian Academy of Sciences (India)

    Then we describe how the method of regularization is used to control complexity in learning. We discuss two examples of regularization, one in which the function space used is finite dimensional, and another in which it is a reproducing kernel Hilbert space. Our exposition follows the formulation of Cucker and Smale.

  19. Development and control towards a parallel water hydraulic weld/cut robot for machining processes in ITER vacuum vessel

    International Nuclear Information System (INIS)

    Wu Huapeng; Handroos, Heikki; Pessi, Pekka; Kilkki, Juha; Jones, Lawrence

    2005-01-01

    This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel (VV), consisting of a five degree-of-freedom parallel mechanism, mounted on a carriage driven by two electric motors on a rack. The kinematic design of the robot has been optimised for ITER access and a hydraulically actuated pre-prototype built. A hybrid controller is designed for the robot, including position, speed and pressure feedback loops to achieve high accuracy and high dynamic performances. Finally, the experimental tests are given and discussed

  20. Off-policy integral reinforcement learning optimal tracking control for continuous-time chaotic systems

    International Nuclear Information System (INIS)

    Wei Qing-Lai; Song Rui-Zhuo; Xiao Wen-Dong; Sun Qiu-Ye

    2015-01-01

    This paper estimates an off-policy integral reinforcement learning (IRL) algorithm to obtain the optimal tracking control of unknown chaotic systems. Off-policy IRL can learn the solution of the HJB equation from the system data generated by an arbitrary control. Moreover, off-policy IRL can be regarded as a direct learning method, which avoids the identification of system dynamics. In this paper, the performance index function is first given based on the system tracking error and control error. For solving the Hamilton–Jacobi–Bellman (HJB) equation, an off-policy IRL algorithm is proposed. It is proven that the iterative control makes the tracking error system asymptotically stable, and the iterative performance index function is convergent. Simulation study demonstrates the effectiveness of the developed tracking control method. (paper)

  1. Development of an original active thermography method adapted to ITER plasma facing components control

    Energy Technology Data Exchange (ETDEWEB)

    Durocher, A.; Vignal, N.; Escourbiac, F.; Farjon, J.L.; Schlosser, J. [CEA Cadarache, Dept. de Recherches sur la Fusion Controlee, 13 - Saint-Paul-lez-Durance (France); Cismondi, F. [Toulon Univ., 83 - La Garde (France)

    2004-07-01

    Among all Non-Destructive Examinations (NDE), active infrared thermography is becoming recognised as a technique available today for improving quality control of many materials and structures involved in heat transfer. The infrared thermography allows to characterise the bond between two materials having different thermal physical properties. In order to increase the defect detection limit of the SATIR test bed, several possibilities have been evaluated to improve the infrared thermography inspection. The implementation in 2003 of a micro-bolometer camera and the improving of the thermo-signal process allowed to increase considerably the detection sensitivity of the SATIR facility. The quality, the spatial stability of infrared image and the detection of edge defect have been also improved. The coupling on the same test bed of SATIR method with a lock-in thermography will be evaluated in this paper. An improvement of the global reliability is expected by data merging produced by the two thermal excitation sources. A new enhanced facility named SATIRPACA has been designed for the full Non Destructive Examination of the High Heat Flux ITER components taking into account these main improvements. These systematic acceptance tests obviously need tools for quality control of critical parts. (authors)

  2. Operation and control strategies in pre-series testing of cold circulating pumps for ITER

    International Nuclear Information System (INIS)

    Bhattacharya, R.; Vaghela, H.; Sarkar, B.; Srinivas, M.; Choukekar, K.

    2013-01-01

    Cryo-distribution system of ITER is responsible for the distribution and control of forced-flow supercritical helium for cooling of the superconducting magnets and the cryo-pumps. The requirements of cold circulating pumps (CCP) for mass flow rates and performance are much higher than presently existing and commercially available one used at 4.0 K helium. Design up-scaling with pre-series test of CCP has been proposed including test infrastructure. Operation and control strategies for the test distribution box (TDB) of test infrastructure have been developed and analyzed using steady state and dynamic process simulation to cope with the functional requirements of CCPs. Off-normal scenario with CCP inlet pressure variation is an important concern, dynamic process responses during such scenario have been evaluated to verify the operability of CCP. The paper describes process simulation to cope with the functional requirements of CCPs along with evaluation of off-normal scenario to verify the operability of CCP. (author)

  3. Development of an original active thermography method adapted to ITER plasma facing components control

    International Nuclear Information System (INIS)

    Durocher, A.; Vignal, N.; Escourbiac, F.; Farjon, J.L.; Schlosser, J.; Cismondi, F.

    2004-01-01

    Among all Non-Destructive Examinations (NDE), active infrared thermography is becoming recognised as a technique available today for improving quality control of many materials and structures involved in heat transfer. The infrared thermography allows to characterise the bond between two materials having different thermal physical properties. In order to increase the defect detection limit of the SATIR test bed, several possibilities have been evaluated to improve the infrared thermography inspection. The implementation in 2003 of a micro-bolometer camera and the improving of the thermo-signal process allowed to increase considerably the detection sensitivity of the SATIR facility. The quality, the spatial stability of infrared image and the detection of edge defect have been also improved. The coupling on the same test bed of SATIR method with a lock-in thermography will be evaluated in this paper. An improvement of the global reliability is expected by data merging produced by the two thermal excitation sources. A new enhanced facility named SATIRPACA has been designed for the full Non Destructive Examination of the High Heat Flux ITER components taking into account these main improvements. These systematic acceptance tests obviously need tools for quality control of critical parts. (authors)

  4. Learner-Controlled Scaffolding Linked to Open-Ended Problems in a Digital Learning Environment

    Science.gov (United States)

    Edson, Alden Jack

    2017-01-01

    This exploratory study reports on how students activated learner-controlled scaffolding and navigated through sequences of connected problems in a digital learning environment. A design experiment was completed to (re)design, iteratively develop, test, and evaluate a digital version of an instructional unit focusing on binomial distributions and…

  5. Fast and automatic depth control of iterative bone ablation based on optical coherence tomography data

    Science.gov (United States)

    Fuchs, Alexander; Pengel, Steffen; Bergmeier, Jan; Kahrs, Lüder A.; Ortmaier, Tobias

    2015-07-01

    Laser surgery is an established clinical procedure in dental applications, soft tissue ablation, and ophthalmology. The presented experimental set-up for closed-loop control of laser bone ablation addresses a feedback system and enables safe ablation towards anatomical structures that usually would have high risk of damage. This study is based on combined working volumes of optical coherence tomography (OCT) and Er:YAG cutting laser. High level of automation in fast image data processing and tissue treatment enables reproducible results and shortens the time in the operating room. For registration of the two coordinate systems a cross-like incision is ablated with the Er:YAG laser and segmented with OCT in three distances. The resulting Er:YAG coordinate system is reconstructed. A parameter list defines multiple sets of laser parameters including discrete and specific ablation rates as ablation model. The control algorithm uses this model to plan corrective laser paths for each set of laser parameters and dynamically adapts the distance of the laser focus. With this iterative control cycle consisting of image processing, path planning, ablation, and moistening of tissue the target geometry and desired depth are approximated until no further corrective laser paths can be set. The achieved depth stays within the tolerances of the parameter set with the smallest ablation rate. Specimen trials with fresh porcine bone have been conducted to prove the functionality of the developed concept. Flat bottom surfaces and sharp edges of the outline without visual signs of thermal damage verify the feasibility of automated, OCT controlled laser bone ablation with minimal process time.

  6. Reflections on the Use of Iterative, Agile and Collaborative Approaches for Blended Flipped Learning Development

    Science.gov (United States)

    Owen, Hazel; Dunham, Nicola

    2015-01-01

    E-learning experiences are widely becoming common practice in many schools, tertiary institutions and other organisations. However despite this increased use of technology to enhance learning and the associated investment involved the result does not always equate to more engaged, knowledgeable and skilled learners. We have observed two key…

  7. The effects of technology on making conjectures: linking multiple representations in learning iterations

    OpenAIRE

    San Diego, Jonathan; Aczel, James; Hodgson, Barbara

    2004-01-01

    Numerous studies have suggested that different technologies have different effects on students' learning of mathematics, particularly in facilitating students' graphing skills and preferences for representations. For example, there are claims that students who prefer algebraic representations can experience discomfort in learning mathematics concepts using computers (Weigand and Weller, 2001; Villarreal, 2000) whilst students using calculators preferred graphical representation (Keller and Hi...

  8. Circuit model of the ITER-like antenna for JET and simulation of its control algorithms

    Science.gov (United States)

    Durodié, Frédéric; Dumortier, Pierre; Helou, Walid; Křivská, Alena; Lerche, Ernesto

    2015-12-01

    The ITER-like Antenna (ILA) for JET [1] is a 2 toroidal by 2 poloidal array of Resonant Double Loops (RDL) featuring in-vessel matching capacitors feeding RF current straps in conjugate-T manner, a low impedance quarter-wave impedance transformer, a service stub allowing hydraulic actuator and water cooling services to reach the aforementioned capacitors and a 2nd stage phase-shifter-stub matching circuit allowing to correct/choose the conjugate-T working impedance. Toroidally adjacent RDLs are fed from a 3dB hybrid splitter. It has been operated at 33, 42 and 47MHz on plasma (2008-2009) while it presently estimated frequency range is from 29 to 49MHz. At the time of the design (2001-2004) as well as the experiments the circuit models of the ILA were quite basic. The ILA front face and strap array Topica model was relatively crude and failed to correctly represent the poloidal central septum, Faraday Screen attachment as well as the segmented antenna central septum limiter. The ILA matching capacitors, T-junction, Vacuum Transmission Line (VTL) and Service Stubs were represented by lumped circuit elements and simple transmission line models. The assessment of the ILA results carried out to decide on the repair of the ILA identified that achieving routine full array operation requires a better understanding of the RF circuit, a feedback control algorithm for the 2nd stage matching as well as tighter calibrations of RF measurements. The paper presents the progress in modelling of the ILA comprising a more detailed Topica model of the front face for various plasma Scrape Off Layer profiles, a comprehensive HFSS model of the matching capacitors including internal bellows and electrode cylinders, 3D-EM models of the VTL including vacuum ceramic window, Service stub, a transmission line model of the 2nd stage matching circuit and main transmission lines including the 3dB hybrid splitters. A time evolving simulation using the improved circuit model allowed to design and

  9. Circuit model of the ITER-like antenna for JET and simulation of its control algorithms

    Energy Technology Data Exchange (ETDEWEB)

    Durodié, Frédéric, E-mail: frederic.durodie@rma.ac.be; Křivská, Alena [LPP-ERM/KMS, TEC Partner, Brussels (Belgium); Dumortier, Pierre; Lerche, Ernesto [LPP-ERM/KMS, TEC Partner, Brussels (Belgium); JET, Culham Science Centre, Abingdon, OX14 3DB (United Kingdom); Helou, Walid [CEA, IRFM, F-13108 St-Paul-Lez-Durance (France); Collaboration: EUROfusion Consortium

    2015-12-10

    The ITER-like Antenna (ILA) for JET [1] is a 2 toroidal by 2 poloidal array of Resonant Double Loops (RDL) featuring in-vessel matching capacitors feeding RF current straps in conjugate-T manner, a low impedance quarter-wave impedance transformer, a service stub allowing hydraulic actuator and water cooling services to reach the aforementioned capacitors and a 2nd stage phase-shifter-stub matching circuit allowing to correct/choose the conjugate-T working impedance. Toroidally adjacent RDLs are fed from a 3dB hybrid splitter. It has been operated at 33, 42 and 47MHz on plasma (2008-2009) while it presently estimated frequency range is from 29 to 49MHz. At the time of the design (2001-2004) as well as the experiments the circuit models of the ILA were quite basic. The ILA front face and strap array Topica model was relatively crude and failed to correctly represent the poloidal central septum, Faraday Screen attachment as well as the segmented antenna central septum limiter. The ILA matching capacitors, T-junction, Vacuum Transmission Line (VTL) and Service Stubs were represented by lumped circuit elements and simple transmission line models. The assessment of the ILA results carried out to decide on the repair of the ILA identified that achieving routine full array operation requires a better understanding of the RF circuit, a feedback control algorithm for the 2nd stage matching as well as tighter calibrations of RF measurements. The paper presents the progress in modelling of the ILA comprising a more detailed Topica model of the front face for various plasma Scrape Off Layer profiles, a comprehensive HFSS model of the matching capacitors including internal bellows and electrode cylinders, 3D-EM models of the VTL including vacuum ceramic window, Service stub, a transmission line model of the 2nd stage matching circuit and main transmission lines including the 3dB hybrid splitters. A time evolving simulation using the improved circuit model allowed to design and

  10. Repetitive learning control of continuous chaotic systems

    International Nuclear Information System (INIS)

    Chen Maoyin; Shang Yun; Zhou Donghua

    2004-01-01

    Combining a shift method and the repetitive learning strategy, a repetitive learning controller is proposed to stabilize unstable periodic orbits (UPOs) within chaotic attractors in the sense of least mean square. If nonlinear parts in chaotic systems satisfy Lipschitz condition, the proposed controller can be simplified into a simple proportional repetitive learning controller

  11. Policy Iteration for $H_\\infty $ Optimal Control of Polynomial Nonlinear Systems via Sum of Squares Programming.

    Science.gov (United States)

    Zhu, Yuanheng; Zhao, Dongbin; Yang, Xiong; Zhang, Qichao

    2018-02-01

    Sum of squares (SOS) polynomials have provided a computationally tractable way to deal with inequality constraints appearing in many control problems. It can also act as an approximator in the framework of adaptive dynamic programming. In this paper, an approximate solution to the optimal control of polynomial nonlinear systems is proposed. Under a given attenuation coefficient, the Hamilton-Jacobi-Isaacs equation is relaxed to an optimization problem with a set of inequalities. After applying the policy iteration technique and constraining inequalities to SOS, the optimization problem is divided into a sequence of feasible semidefinite programming problems. With the converged solution, the attenuation coefficient is further minimized to a lower value. After iterations, approximate solutions to the smallest -gain and the associated optimal controller are obtained. Four examples are employed to verify the effectiveness of the proposed algorithm.

  12. Rollout sampling approximate policy iteration

    NARCIS (Netherlands)

    Dimitrakakis, C.; Lagoudakis, M.G.

    2008-01-01

    Several researchers have recently investigated the connection between reinforcement learning and classification. We are motivated by proposals of approximate policy iteration schemes without value functions, which focus on policy representation using classifiers and address policy learning as a

  13. CT dose reduction using Automatic Exposure Control and iterative reconstruction: A chest paediatric phantoms study.

    Science.gov (United States)

    Greffier, Joël; Pereira, Fabricio; Macri, Francesco; Beregi, Jean-Paul; Larbi, Ahmed

    2016-04-01

    To evaluate the impact of Automatic Exposure Control (AEC) on radiation dose and image quality in paediatric chest scans (MDCT), with or without iterative reconstruction (IR). Three anthropomorphic phantoms representing children aged one, five and 10-year-old were explored using AEC system (CARE Dose 4D) with five modulation strength options. For each phantom, six acquisitions were carried out: one with fixed mAs (without AEC) and five each with different modulation strength. Raw data were reconstructed with Filtered Back Projection (FBP) and with two distinct levels of IR using soft and strong kernels. Dose reduction and image quality indices (Noise, SNR, CNR) were measured in lung and soft tissues. Noise Power Spectrum (NPS) was evaluated with a Catphan 600 phantom. The use of AEC produced a significant dose reduction (p<0.01) for all anthropomorphic sizes employed. According to the modulation strength applied, dose delivered was reduced from 43% to 91%. This pattern led to significantly increased noise (p<0.01) and reduced SNR and CNR (p<0.01). However, IR was able to improve these indices. The use of AEC/IR preserved image quality indices with a lower dose delivered. Doses were reduced from 39% to 58% for the one-year-old phantom, from 46% to 63% for the five-year-old phantom, and from 58% to 74% for the 10-year-old phantom. In addition, AEC/IR changed the patterns of NPS curves in amplitude and in spatial frequency. In chest paediatric MDCT, the use of AEC with IR allows one to obtain a significant dose reduction while maintaining constant image quality indices. Copyright © 2016 Associazione Italiana di Fisica Medica. Published by Elsevier Ltd. All rights reserved.

  14. LATUX: An Iterative Workflow for Designing, Validating, and Deploying Learning Analytics Visualizations

    Science.gov (United States)

    Martinez-Maldonado, Roberto; Pardo, Abelardo; Mirriahi, Negin; Yacef, Kalina; Kay, Judy; Clayphan, Andrew

    2015-01-01

    Designing, validating, and deploying learning analytics tools for instructors or students is a challenge that requires techniques and methods from different disciplines, such as software engineering, human-computer interaction, computer graphics, educational design, and psychology. Whilst each has established its own design methodologies, we now…

  15. Accurate in silico identification of protein succinylation sites using an iterative semi-supervised learning technique.

    Science.gov (United States)

    Zhao, Xiaowei; Ning, Qiao; Chai, Haiting; Ma, Zhiqiang

    2015-06-07

    As a widespread type of protein post-translational modifications (PTMs), succinylation plays an important role in regulating protein conformation, function and physicochemical properties. Compared with the labor-intensive and time-consuming experimental approaches, computational predictions of succinylation sites are much desirable due to their convenient and fast speed. Currently, numerous computational models have been developed to identify PTMs sites through various types of two-class machine learning algorithms. These methods require both positive and negative samples for training. However, designation of the negative samples of PTMs was difficult and if it is not properly done can affect the performance of computational models dramatically. So that in this work, we implemented the first application of positive samples only learning (PSoL) algorithm to succinylation sites prediction problem, which was a special class of semi-supervised machine learning that used positive samples and unlabeled samples to train the model. Meanwhile, we proposed a novel succinylation sites computational predictor called SucPred (succinylation site predictor) by using multiple feature encoding schemes. Promising results were obtained by the SucPred predictor with an accuracy of 88.65% using 5-fold cross validation on the training dataset and an accuracy of 84.40% on the independent testing dataset, which demonstrated that the positive samples only learning algorithm presented here was particularly useful for identification of protein succinylation sites. Besides, the positive samples only learning algorithm can be applied to build predictors for other types of PTMs sites with ease. A web server for predicting succinylation sites was developed and was freely accessible at http://59.73.198.144:8088/SucPred/. Copyright © 2015 Elsevier Ltd. All rights reserved.

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

    International Nuclear Information System (INIS)

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

    2012-01-01

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

  17. Tests on a mock-up of the feedback controlled matching options of the ITER ICRH system

    International Nuclear Information System (INIS)

    Grine, D.; Vervier, M.; Messiaen, A.; Dumortier, P.

    2009-01-01

    Automatic control of the matching of the ITER ICRH antenna array on a reference load is presently developed and tested for optimization on a low-powered scaled (1:5) mock-up. Resilience to fast load variations is obtained either by 4 Conjugate-T (CT) or 4 quadrature hybrid circuits, the latter being the reference option. The main results are (i) for the CT option: successful implementation of the simultaneous feedback control of 11 actuators for the matching of the 4 CT and for the control of the array toroidal phasing; (ii) for the hybrid option: the matching and the array current control via feedback control of the decouplers and double stub tuners. This system is being progressively implemented and the simultaneous control of matching and antenna current has already been successfully tested on half of the array for heating and current drive phasings.

  18. ITER CTA newsletter. No. 1

    International Nuclear Information System (INIS)

    2001-01-01

    This ITER CTA newsletter comprises reports on ITER co-ordinated technical activities, information about the Meeting of the ITER CTA project board which took place in Vienna on 16 July 2001, and the Meeting of the expert group on MHD, disruptions and plasma control which was held on 25-26 June 2001 in Funchal, Madeira

  19. A time-domain decomposition iterative method for the solution of distributed linear quadratic optimal control problems

    Science.gov (United States)

    Heinkenschloss, Matthias

    2005-01-01

    We study a class of time-domain decomposition-based methods for the numerical solution of large-scale linear quadratic optimal control problems. Our methods are based on a multiple shooting reformulation of the linear quadratic optimal control problem as a discrete-time optimal control (DTOC) problem. The optimality conditions for this DTOC problem lead to a linear block tridiagonal system. The diagonal blocks are invertible and are related to the original linear quadratic optimal control problem restricted to smaller time-subintervals. This motivates the application of block Gauss-Seidel (GS)-type methods for the solution of the block tridiagonal systems. Numerical experiments show that the spectral radii of the block GS iteration matrices are larger than one for typical applications, but that the eigenvalues of the iteration matrices decay to zero fast. Hence, while the GS method is not expected to convergence for typical applications, it can be effective as a preconditioner for Krylov-subspace methods. This is confirmed by our numerical tests.A byproduct of this research is the insight that certain instantaneous control techniques can be viewed as the application of one step of the forward block GS method applied to the DTOC optimality system.

  20. ITER safety

    International Nuclear Information System (INIS)

    Raeder, J.; Piet, S.; Buende, R.

    1991-01-01

    As part of the series of publications by the IAEA that summarize the results of the Conceptual Design Activities for the ITER project, this document describes the ITER safety analyses. It contains an assessment of normal operation effluents, accident scenarios, plasma chamber safety, tritium system safety, magnet system safety, external loss of coolant and coolant flow problems, and a waste management assessment, while it describes the implementation of the safety approach for ITER. The document ends with a list of major conclusions, a set of topical remarks on technical safety issues, and recommendations for the Engineering Design Activities, safety considerations for siting ITER, and recommendations with regard to the safety issues for the R and D for ITER. Refs, figs and tabs

  1. Statistical learning methods: Basics, control and performance

    Energy Technology Data Exchange (ETDEWEB)

    Zimmermann, J. [Max-Planck-Institut fuer Physik, Foehringer Ring 6, 80805 Munich (Germany)]. E-mail: zimmerm@mppmu.mpg.de

    2006-04-01

    The basics of statistical learning are reviewed with a special emphasis on general principles and problems for all different types of learning methods. Different aspects of controlling these methods in a physically adequate way will be discussed. All principles and guidelines will be exercised on examples for statistical learning methods in high energy and astrophysics. These examples prove in addition that statistical learning methods very often lead to a remarkable performance gain compared to the competing classical algorithms.

  2. Statistical learning methods: Basics, control and performance

    International Nuclear Information System (INIS)

    Zimmermann, J.

    2006-01-01

    The basics of statistical learning are reviewed with a special emphasis on general principles and problems for all different types of learning methods. Different aspects of controlling these methods in a physically adequate way will be discussed. All principles and guidelines will be exercised on examples for statistical learning methods in high energy and astrophysics. These examples prove in addition that statistical learning methods very often lead to a remarkable performance gain compared to the competing classical algorithms

  3. Enhanced Confinement Scenarios Without Large Edge Localized Modes in Tokamaks: Control, Performance, and Extrapolability Issues for ITER

    Energy Technology Data Exchange (ETDEWEB)

    Maingi, R [PPPL

    2014-07-01

    Large edge localized modes (ELMs) typically accompany good H-mode confinement in fusion devices, but can present problems for plasma facing components because of high transient heat loads. Here the range of techniques for ELM control deployed in fusion devices is reviewed. The two baseline strategies in the ITER baseline design are emphasized: rapid ELM triggering and peak heat flux control via pellet injection, and the use of magnetic perturbations to suppress or mitigate ELMs. While both of these techniques are moderately well developed, with reasonable physical bases for projecting to ITER, differing observations between multiple devices are also discussed to highlight the needed community R & D. In addition, recent progress in ELM-free regimes, namely Quiescent H-mode, I-mode, and Enhanced Pedestal H-mode is reviewed, and open questions for extrapolability are discussed. Finally progress and outstanding issues in alternate ELM control techniques are reviewed: supersonic molecular beam injection, edge electron cyclotron heating, lower hybrid heating and/or current drive, controlled periodic jogs of the vertical centroid position, ELM pace-making via periodic magnetic perturbations, ELM elimination with lithium wall conditioning, and naturally occurring small ELM regimes.

  4. Reinforcement Learning for Ramp Control: An Analysis of Learning Parameters

    Directory of Open Access Journals (Sweden)

    Chao Lu

    2016-08-01

    Full Text Available Reinforcement Learning (RL has been proposed to deal with ramp control problems under dynamic traffic conditions; however, there is a lack of sufficient research on the behaviour and impacts of different learning parameters. This paper describes a ramp control agent based on the RL mechanism and thoroughly analyzed the influence of three learning parameters; namely, learning rate, discount rate and action selection parameter on the algorithm performance. Two indices for the learning speed and convergence stability were used to measure the algorithm performance, based on which a series of simulation-based experiments were designed and conducted by using a macroscopic traffic flow model. Simulation results showed that, compared with the discount rate, the learning rate and action selection parameter made more remarkable impacts on the algorithm performance. Based on the analysis, some suggestionsabout how to select suitable parameter values that can achieve a superior performance were provided.

  5. Linear System Control Using Stochastic Learning Automata

    Science.gov (United States)

    Ziyad, Nigel; Cox, E. Lucien; Chouikha, Mohamed F.

    1998-01-01

    This paper explains the use of a Stochastic Learning Automata (SLA) to control switching between three systems to produce the desired output response. The SLA learns the optimal choice of the damping ratio for each system to achieve a desired result. We show that the SLA can learn these states for the control of an unknown system with the proper choice of the error criteria. The results of using a single automaton are compared to using multiple automata.

  6. Development of field simulator to test and qualify the gyrotron local control unit for ITER-India Gyrotron Test Facility

    International Nuclear Information System (INIS)

    Shah, Ronak; Mandge, Deepak; Rathod, Vipal; Parmar, Rajvi; Dilip, E. Sharan; Yadav, Amit; Sharma, Anjali; Rao, S.L.

    2017-01-01

    High power RF sources such as a Gyrotron system are operated at required output parameter by using various auxiliary power supplies, High voltage power supplies, auxiliary services and a dedicated Local Control Unit (LCU). These sub-systems must be operated in synchronous and safe way to control the gyrotron output parameters. The LCU performs remote, synchronous and safe operation of the all the gyrotron sub-systems. Broadly the LCU functions are operational control, data acquisition, protection and safety of the gyrotron system. At ITER-India gyrotron Test Facility (IIGTF) a local control unit (LCU) is being developed to operate the complete gyrotron system. This paper presents the design, development and various features of the field simulator. It also discuss LCU functionality test cases and results obtained using field simulator

  7. Methods for control over learning individual trajectory

    Science.gov (United States)

    Mitsel, A. A.; Cherniaeva, N. V.

    2015-09-01

    The article discusses models, methods and algorithms of determining student's optimal individual educational trajectory. A new method of controlling the learning trajectory has been developed as a dynamic model of learning trajectory control, which uses score assessment to construct a sequence of studied subjects.

  8. Safety studies: Review of loss of plasma control transients in ITER with AINA 3.0 code

    International Nuclear Information System (INIS)

    Rivas, J.C.; Dies, J.

    2013-01-01

    Highlights: ► We have examined the methodology employed in the analysis of the “Loss of plasma transients in ITER” safety reference events. ► We have developed a new methodology based on the study of the plasma operating window. ► We have concluded that the combined effect of different perturbations should be studied also to determine the most severe transients. -- Abstract: The loss of plasma control events in ITER are safety cases investigated to give an upper bound of the worse effects foreseeable from a total failure of the plasma control function. In the past, conservative analyses based on simple 0D models for plasma balance equations and 1D models for wall heat transfer showed that a hypothetical scenario of first wall coolant tubes melting and subsequent entering of water in the vacuum vessel could not be totally excluded. AINA (Analyses of IN vessel Accidents) code is a safety code developed at Fusion Energy Engineering Laboratory (FEEL) in Barcelona. It uses a 0D–1D architecture, similar to that used for previous analyses of ITER loss of plasma control events. The results of this study show the simultaneous effect of two perturbations (overfuelling and overheating) over a plasma transient, and compare it with the isolated effects of each perturbation. It is shown that the combined effect can be more severe, and a method is outlined to locate the most dangerous transients over a nT diagram

  9. Indirect learning control for nonlinear dynamical systems

    Science.gov (United States)

    Ryu, Yeong Soon; Longman, Richard W.

    1993-01-01

    In a previous paper, learning control algorithms were developed based on adaptive control ideas for linear time variant systems. The learning control methods were shown to have certain advantages over their adaptive control counterparts, such as the ability to produce zero tracking error in time varying systems, and the ability to eliminate repetitive disturbances. In recent years, certain adaptive control algorithms have been developed for multi-body dynamic systems such as robots, with global guaranteed convergence to zero tracking error for the nonlinear system euations. In this paper we study the relationship between such adaptive control methods designed for this specific class of nonlinear systems, and the learning control problem for such systems, seeking to converge to zero tracking error in following a specific command repeatedly, starting from the same initial conditions each time. The extension of these methods from the adaptive control problem to the learning control problem is seen to be trivial. The advantages and disadvantages of using learning control based on such adaptive control concepts for nonlinear systems, and the use of other currently available learning control algorithms are discussed.

  10. ITER overview

    International Nuclear Information System (INIS)

    Shimomura, Y.; Aymar, R.; Chuyanov, V.; Huguet, M.; Parker, R.R.

    2001-01-01

    This report summarizes technical works of six years done by the ITER Joint Central Team and Home Teams under terms of Agreement of the ITER Engineering Design Activities. The major products are as follows: complete and detailed engineering design with supporting assessments, industrial-based cost estimates and schedule, non-site specific comprehensive safety and environmental assessment, and technology R and D to validate and qualify design including proof of technologies and industrial manufacture and testing of full size or scalable models of key components. The ITER design is at an advanced stage of maturity and contains sufficient technical information for a construction decision. The operation of ITER will demonstrate the availability of a new energy source, fusion. (author)

  11. ITER Overview

    International Nuclear Information System (INIS)

    Shimomura, Y.; Aymar, R.; Chuyanov, V.; Huguet, M.; Parker, R.

    1999-01-01

    This report summarizes technical works of six years done by the ITER Joint Central Team and Home Teams under terms of Agreement of the ITER Engineering Design Activities. The major products are as follows: complete and detailed engineering design with supporting assessments, industrial-based cost estimates and schedule, non-site specific comprehensive safety and environmental assessment, and technology R and D to validate and qualify design including proof of technologies and industrial manufacture and testing of full size or scalable models of key components. The ITER design is at an advanced stage of maturity and contains sufficient technical information for a construction decision. The operation of ITER will demonstrate the availability of a new energy source, fusion. (author)

  12. Safety-factor profile tailoring by improved electron cyclotron system for sawtooth control and reverse shear scenarios in ITER

    International Nuclear Information System (INIS)

    Zucca, C.; Sauter, O.; Fable, E.; Henderson, M. A.; Polevoi, A.; Farina, D.; Ramponi, G.; Saibene, G.; Zohm, H.

    2008-01-01

    The effect of the predicted local electron cyclotron current driven by the optimized electron cyclotron system on ITER is discussed. A design variant was recently proposed to enlarge the physics program covered by the upper and equatorial launchers. By extending the functionality range of the upper launcher, significant control capabilities of the sawtooth period can be obtained. The upper launcher improvement still allows enough margin to exceed the requirements for neoclassical tearing mode stabilization, for which it was originally designed. The analysis of the sawtooth control is carried on with the ASTRA transport code, coupled with the threshold model by Por-celli, to study the control capabilities of the improved upper launcher on the sawtooth instability. The simulations take into account the significant stabilizing effect of the fusion alpha particles. The sawtooth period can be increased by a factor of 1.5 with co-ECCD outside the q = 1 surface, and decreased by at least 30% with co-ECCD inside q = 1. The present ITER base-line design has the electron cyclotron launchers providing only co-ECCD. The variant for the equatorial launcher proposes the possibility to drive counter-ECCD with 1 of the 3 rows of mirrors: the counter-ECCD can then be balanced with co-ECCD and provide pure ECH with no net driven current. The difference between full co-ECCD off-axis using all 20MW from the equatorial launcher and 20MW co-ECCD driven by 2/3 from the equatorial launcher and 1/3 from the upper launcher is shown to be negligible. Cnt-ECCD also offers greater control of the plasma current density, therefore this analysis addresses the performance of the equatorial launcher to control the central q profile. The equatorial launcher is shown to control very efficiently the value of q 0.2 -q min in advanced scenarios, if one row provides counter-ECCD.

  13. Power and particle control in JT-60SA to support and supplement ITER and DEMO

    International Nuclear Information System (INIS)

    Sakurai, Shinji

    2007-01-01

    JT-60 is planned to be modified as a fully superconducting coil tokamak (JT-60 Super Advanced, JT-60SA). Divertor targets are water-cooled to handle heat flux up to 15 MW/m 2 . JT-60SA allows exploitation of high beta regime with stabilizing shell covered with ferritic plates and internal resistive wall mode (RWM) stabilizing coils. A remote handling system is equipped to maintain in-vessel components even for high dose rate due to a substantial annual neutron production. Divertor cassettes are introduced to be maintained by a remote handling. In the present design, a monoblock type carbon fibre composite (CFC) divertor target will be used to withstand a heat load of ∼15 MW/m 2 . CFC divertor targets and other bolted armor tiles will be mounted on the divertor cassette. All of the plasma facing components including the first wall armor are water-cooled to handle heat load during 100s or more. Divertor heat load and pumping efficiency for an ITER-like configuration has been evaluated, using 2D plasma fluid (SOLDOR) and neutral Monte-Carlo (NEUT2D) code. The pumping speed of 50 m 3 /s is specified at an albedo for neutrals in front of the in-vessel cryopanel. In the simulation for the divertor with a V -shaped corner' like as that in ITER, the plasma detachment occurs near the outer-strike point within the 'V-shaped corner', as well as near the inner-strike point, which results in low peak heat flux density 5.8 MW/m 2 for the case with additional gas puff of 5x10 21 /s compared to 11.4 MW/m 2 for the case without 'V-shaped corner'. (author)

  14. An iterative particle filter approach for coupled hydro-geophysical inversion of a controlled infiltration experiment

    International Nuclear Information System (INIS)

    Manoli, Gabriele; Rossi, Matteo; Pasetto, Damiano; Deiana, Rita; Ferraris, Stefano; Cassiani, Giorgio; Putti, Mario

    2015-01-01

    The modeling of unsaturated groundwater flow is affected by a high degree of uncertainty related to both measurement and model errors. Geophysical methods such as Electrical Resistivity Tomography (ERT) can provide useful indirect information on the hydrological processes occurring in the vadose zone. In this paper, we propose and test an iterated particle filter method to solve the coupled hydrogeophysical inverse problem. We focus on an infiltration test monitored by time-lapse ERT and modeled using Richards equation. The goal is to identify hydrological model parameters from ERT electrical potential measurements. Traditional uncoupled inversion relies on the solution of two sequential inverse problems, the first one applied to the ERT measurements, the second one to Richards equation. This approach does not ensure an accurate quantitative description of the physical state, typically violating mass balance. To avoid one of these two inversions and incorporate in the process more physical simulation constraints, we cast the problem within the framework of a SIR (Sequential Importance Resampling) data assimilation approach that uses a Richards equation solver to model the hydrological dynamics and a forward ERT simulator combined with Archie's law to serve as measurement model. ERT observations are then used to update the state of the system as well as to estimate the model parameters and their posterior distribution. The limitations of the traditional sequential Bayesian approach are investigated and an innovative iterative approach is proposed to estimate the model parameters with high accuracy. The numerical properties of the developed algorithm are verified on both homogeneous and heterogeneous synthetic test cases based on a real-world field experiment

  15. An iterative particle filter approach for coupled hydro-geophysical inversion of a controlled infiltration experiment

    Energy Technology Data Exchange (ETDEWEB)

    Manoli, Gabriele, E-mail: manoli@dmsa.unipd.it [Department of Mathematics, University of Padova, Via Trieste 63, 35121 Padova (Italy); Nicholas School of the Environment, Duke University, Durham, NC 27708 (United States); Rossi, Matteo [Department of Geosciences, University of Padova, Via Gradenigo 6, 35131 Padova (Italy); Pasetto, Damiano [Department of Mathematics, University of Padova, Via Trieste 63, 35121 Padova (Italy); Deiana, Rita [Dipartimento dei Beni Culturali, University of Padova, Piazza Capitaniato 7, 35139 Padova (Italy); Ferraris, Stefano [Interuniversity Department of Regional and Urban Studies and Planning, Politecnico and University of Torino, Viale Mattioli 39, 10125 Torino (Italy); Cassiani, Giorgio [Department of Geosciences, University of Padova, Via Gradenigo 6, 35131 Padova (Italy); Putti, Mario [Department of Mathematics, University of Padova, Via Trieste 63, 35121 Padova (Italy)

    2015-02-15

    The modeling of unsaturated groundwater flow is affected by a high degree of uncertainty related to both measurement and model errors. Geophysical methods such as Electrical Resistivity Tomography (ERT) can provide useful indirect information on the hydrological processes occurring in the vadose zone. In this paper, we propose and test an iterated particle filter method to solve the coupled hydrogeophysical inverse problem. We focus on an infiltration test monitored by time-lapse ERT and modeled using Richards equation. The goal is to identify hydrological model parameters from ERT electrical potential measurements. Traditional uncoupled inversion relies on the solution of two sequential inverse problems, the first one applied to the ERT measurements, the second one to Richards equation. This approach does not ensure an accurate quantitative description of the physical state, typically violating mass balance. To avoid one of these two inversions and incorporate in the process more physical simulation constraints, we cast the problem within the framework of a SIR (Sequential Importance Resampling) data assimilation approach that uses a Richards equation solver to model the hydrological dynamics and a forward ERT simulator combined with Archie's law to serve as measurement model. ERT observations are then used to update the state of the system as well as to estimate the model parameters and their posterior distribution. The limitations of the traditional sequential Bayesian approach are investigated and an innovative iterative approach is proposed to estimate the model parameters with high accuracy. The numerical properties of the developed algorithm are verified on both homogeneous and heterogeneous synthetic test cases based on a real-world field experiment.

  16. Feasibility studies on plasma vertical position control by ex-vessel coils in ITER-like tokamak fusion reactors

    International Nuclear Information System (INIS)

    Nishio, Satoshi; Sugihara, Masayoshi; Shimomura, Yasuo

    1993-01-01

    Feasibility of the plasma vertical position control by control coils installed outside the vacuum vessel (ex-vessel) in a tokamak fusion reactor is examined for an ITER-like device. When a pair of ex-vessel control coils is made of normal conductor material and located near the outmost superconducting (SC) poloidal field (PF) coils, the applied voltage of several hundred volts on the control coils is the maximum allowable value which is limited by the maximum allowable induced voltage and eddy current heating on the SC PF coils, under the conditions that the SC PF coils are connected in series and a partitioning connection is employed for each of these PF coils. A proportional and derivative (PD) controller with and without voltage limitation has been employed to examine the feasibility. Indices of settling time and overshoot are introduced to measure the controllability of the control system. Based on these control schemes and indices, higher elongation (κ=2) and moderate elongation (κ=1.6) plasmas are examined for normal and deteriorated (low beta value and peaked current profile) plasma conditions within the restriction of applied voltage and current of control coils. The effect of the time constant of the passive stabilizer is also examined. The major results are: (1) A plasma with an elongation of 2.0 inevitably requires a passive stabilizer close to the plasma surface, (2) in case of a higher elongation than κ=2, even the ex-vessel control coil system is marginally controllable under normal plasma conditions, while it is difficult to control the deteriorated plasma conditions, (3) the time constant of the passive stabilizer is not an essential parameter for the controllability, (4) when the elongation is reduced down to 1.6, the ex-vessel control coil system can control the plasma even under deteriorated plasma conditions. (orig.)

  17. Mosaic model for sensorimotor learning and control.

    Science.gov (United States)

    Haruno, M; Wolpert, D M; Kawato, M

    2001-10-01

    Humans demonstrate a remarkable ability to generate accurate and appropriate motor behavior under many different and often uncertain environmental conditions. We previously proposed a new modular architecture, the modular selection and identification for control (MOSAIC) model, for motor learning and control based on multiple pairs of forward (predictor) and inverse (controller) models. The architecture simultaneously learns the multiple inverse models necessary for control as well as how to select the set of inverse models appropriate for a given environment. It combines both feedforward and feedback sensorimotor information so that the controllers can be selected both prior to movement and subsequently during movement. This article extends and evaluates the MOSAIC architecture in the following respects. The learning in the architecture was implemented by both the original gradient-descent method and the expectation-maximization (EM) algorithm. Unlike gradient descent, the newly derived EM algorithm is robust to the initial starting conditions and learning parameters. Second, simulations of an object manipulation task prove that the architecture can learn to manipulate multiple objects and switch between them appropriately. Moreover, after learning, the model shows generalization to novel objects whose dynamics lie within the polyhedra of already learned dynamics. Finally, when each of the dynamics is associated with a particular object shape, the model is able to select the appropriate controller before movement execution. When presented with a novel shape-dynamic pairing, inappropriate activation of modules is observed followed by on-line correction.

  18. Integrated simulations of H-mode operation in ITER including core fuelling, divertor detachment and ELM control

    Science.gov (United States)

    Polevoi, A. R.; Loarte, A.; Dux, R.; Eich, T.; Fable, E.; Coster, D.; Maruyama, S.; Medvedev, S. Yu.; Köchl, F.; Zhogolev, V. E.

    2018-05-01

    ELM mitigation to avoid melting of the tungsten (W) divertor is one of the main factors affecting plasma fuelling and detachment control at full current for high Q operation in ITER. Here we derive the ITER operational space, where ELM mitigation to avoid melting of the W divertor monoblocks top surface is not required and appropriate control of W sources and radiation in the main plasma can be ensured through ELM control by pellet pacing. We apply the experimental scaling that relates the maximum ELM energy density deposited at the divertor with the pedestal parameters and this eliminates the uncertainty related with the ELM wetted area for energy deposition at the divertor and enables the definition of the ITER operating space through global plasma parameters. Our evaluation is thus based on this empirical scaling for ELM power loads together with the scaling for the pedestal pressure limit based on predictions from stability codes. In particular, our analysis has revealed that for the pedestal pressure predicted by the EPED1  +  SOLPS scaling, ELM mitigation to avoid melting of the W divertor monoblocks top surface may not be required for 2.65 T H-modes with normalized pedestal densities (to the Greenwald limit) larger than 0.5 to a level of current of 6.5–7.5 MA, which depends on assumptions on the divertor power flux during ELMs and between ELMs that expand the range of experimental uncertainties. The pellet and gas fuelling requirements compatible with control of plasma detachment, core plasma tungsten accumulation and H-mode operation (including post-ELM W transient radiation) have been assessed by 1.5D transport simulations for a range of assumptions regarding W re-deposition at the divertor including the most conservative assumption of zero prompt re-deposition. With such conservative assumptions, the post-ELM W transient radiation imposes a very stringent limit on ELM energy losses and the associated minimum required ELM frequency. Depending on

  19. Learning styles: The learning methods of air traffic control students

    Science.gov (United States)

    Jackson, Dontae L.

    In the world of aviation, air traffic controllers are an integral part in the overall level of safety that is provided. With a number of controllers reaching retirement age, the Air Traffic Collegiate Training Initiative (AT-CTI) was created to provide a stronger candidate pool. However, AT-CTI Instructors have found that a number of AT-CTI students are unable to memorize types of aircraft effectively. This study focused on the basic learning styles (auditory, visual, and kinesthetic) of students and created a teaching method to try to increase memorization in AT-CTI students. The participants were asked to take a questionnaire to determine their learning style. Upon knowing their learning styles, participants attended two classroom sessions. The participants were given a presentation in the first class, and divided into a control and experimental group for the second class. The control group was given the same presentation from the first classroom session while the experimental group had a group discussion and utilized Middle Tennessee State University's Air Traffic Control simulator to learn the aircraft types. Participants took a quiz and filled out a survey, which tested the new teaching method. An appropriate statistical analysis was applied to determine if there was a significant difference between the control and experimental groups. The results showed that even though the participants felt that the method increased their learning, there was no significant difference between the two groups.

  20. Online reinforcement learning control for aerospace systems

    NARCIS (Netherlands)

    Zhou, Y.

    2018-01-01

    Reinforcement Learning (RL) methods are relatively new in the field of aerospace guidance, navigation, and control. This dissertation aims to exploit RL methods to improve the autonomy and online learning of aerospace systems with respect to the a priori unknown system and environment, dynamical

  1. Adaptive ILC with an adaptive iterative learnign gain

    International Nuclear Information System (INIS)

    Ashraf, S.; Muhammad, E.

    2008-01-01

    This paper describes the design of an adaptive ILC (Iterative Learning Controller) with an iterative learning gain. The basic idea behind ILC is that the information obtained from one trial can be used to improve the control input for the next trial. This proposed scheme extends the idea further and suggests that the information obtained from one trial could also be used to improve control algorithm parameters (gain matrices). The scheme converges faster than the conventional ILC. This convergence and hence number of iterations has always been an issue with ILC. This scheme because of its simple mathematical structure can easily be implemented with lower memory and simpler hardware as opposed to other such adaptive schemes which are computationally expensive. (author)

  2. Simultaneous gains tuning in boiler/turbine PID-based controller clusters using iterative feedback tuning methodology.

    Science.gov (United States)

    Zhang, Shu; Taft, Cyrus W; Bentsman, Joseph; Hussey, Aaron; Petrus, Bryan

    2012-09-01

    Tuning a complex multi-loop PID based control system requires considerable experience. In today's power industry the number of available qualified tuners is dwindling and there is a great need for better tuning tools to maintain and improve the performance of complex multivariable processes. Multi-loop PID tuning is the procedure for the online tuning of a cluster of PID controllers operating in a closed loop with a multivariable process. This paper presents the first application of the simultaneous tuning technique to the multi-input-multi-output (MIMO) PID based nonlinear controller in the power plant control context, with the closed-loop system consisting of a MIMO nonlinear boiler/turbine model and a nonlinear cluster of six PID-type controllers. Although simplified, the dynamics and cross-coupling of the process and the PID cluster are similar to those used in a real power plant. The particular technique selected, iterative feedback tuning (IFT), utilizes the linearized version of the PID cluster for signal conditioning, but the data collection and tuning is carried out on the full nonlinear closed-loop system. Based on the figure of merit for the control system performance, the IFT is shown to deliver performance favorably comparable to that attained through the empirical tuning carried out by an experienced control engineer. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  3. Power requirements for electron cyclotron current drive and ion cyclotron resonance heating for sawtooth control in ITER

    Science.gov (United States)

    Chapman, I. T.; Graves, J. P.; Sauter, O.; Zucca, C.; Asunta, O.; Buttery, R. J.; Coda, S.; Goodman, T.; Igochine, V.; Johnson, T.; Jucker, M.; La Haye, R. J.; Lennholm, M.; Contributors, JET-EFDA

    2013-06-01

    13 MW of electron cyclotron current drive (ECCD) power deposited inside the q = 1 surface is likely to reduce the sawtooth period in ITER baseline scenario below the level empirically predicted to trigger neoclassical tearing modes (NTMs). However, since the ECCD control scheme is solely predicated upon changing the local magnetic shear, it is prudent to plan to use a complementary scheme which directly decreases the potential energy of the kink mode in order to reduce the sawtooth period. In the event that the natural sawtooth period is longer than expected, due to enhanced α particle stabilization for instance, this ancillary sawtooth control can be provided from >10MW of ion cyclotron resonance heating (ICRH) power with a resonance just inside the q = 1 surface. Both ECCD and ICRH control schemes would benefit greatly from active feedback of the deposition with respect to the rational surface. If the q = 1 surface can be maintained closer to the magnetic axis, the efficacy of ECCD and ICRH schemes significantly increases, the negative effect on the fusion gain is reduced, and off-axis negative-ion neutral beam injection (NNBI) can also be considered for sawtooth control. Consequently, schemes to reduce the q = 1 radius are highly desirable, such as early heating to delay the current penetration and, of course, active sawtooth destabilization to mediate small frequent sawteeth and retain a small q = 1 radius. Finally, there remains a residual risk that the ECCD + ICRH control actuators cannot keep the sawtooth period below the threshold for triggering NTMs (since this is derived only from empirical scaling and the control modelling has numerous caveats). If this is the case, a secondary control scheme of sawtooth stabilization via ECCD + ICRH + NNBI, interspersed with deliberate triggering of a crash through auxiliary power reduction and simultaneous pre-emptive NTM control by off-axis ECCD has been considered, permitting long transient periods with high fusion

  4. ITER licensing

    International Nuclear Information System (INIS)

    Gordon, C.W.

    2005-01-01

    ITER was fortunate to have four countries interested in ITER siting to the point where licensing discussions were initiated. This experience uncovered the challenges of licensing a first of a kind, fusion machine under different licensing regimes and helped prepare the way for the site specific licensing process. These initial steps in licensing ITER have allowed for refining the safety case and provide confidence that the design and safety approach will be licensable. With site-specific licensing underway, the necessary regulatory submissions have been defined and are well on the way to being completed. Of course, there is still work to be done and details to be sorted out. However, the informal international discussions to bring both the proponent and regulatory authority up to a common level of understanding have laid the foundation for a licensing process that should proceed smoothly. This paper provides observations from the perspective of the International Team. (author)

  5. Learning to Control Advanced Life Support Systems

    Science.gov (United States)

    Subramanian, Devika

    2004-01-01

    Advanced life support systems have many interacting processes and limited resources. Controlling and optimizing advanced life support systems presents unique challenges. In particular, advanced life support systems are nonlinear coupled dynamical systems and it is difficult for humans to take all interactions into account to design an effective control strategy. In this project. we developed several reinforcement learning controllers that actively explore the space of possible control strategies, guided by rewards from a user specified long term objective function. We evaluated these controllers using a discrete event simulation of an advanced life support system. This simulation, called BioSim, designed by Nasa scientists David Kortenkamp and Scott Bell has multiple, interacting life support modules including crew, food production, air revitalization, water recovery, solid waste incineration and power. They are implemented in a consumer/producer relationship in which certain modules produce resources that are consumed by other modules. Stores hold resources between modules. Control of this simulation is via adjusting flows of resources between modules and into/out of stores. We developed adaptive algorithms that control the flow of resources in BioSim. Our learning algorithms discovered several ingenious strategies for maximizing mission length by controlling the air and water recycling systems as well as crop planting schedules. By exploiting non-linearities in the overall system dynamics, the learned controllers easily out- performed controllers written by human experts. In sum, we accomplished three goals. We (1) developed foundations for learning models of coupled dynamical systems by active exploration of the state space, (2) developed and tested algorithms that learn to efficiently control air and water recycling processes as well as crop scheduling in Biosim, and (3) developed an understanding of the role machine learning in designing control systems for

  6. Partial volume effect correction in PET using regularized iterative deconvolution with variance control based on local topology

    International Nuclear Information System (INIS)

    Kirov, A S; Schmidtlein, C R; Piao, J Z

    2008-01-01

    Correcting positron emission tomography (PET) images for the partial volume effect (PVE) due to the limited resolution of PET has been a long-standing challenge. Various approaches including incorporation of the system response function in the reconstruction have been previously tested. We present a post-reconstruction PVE correction based on iterative deconvolution using a 3D maximum likelihood expectation-maximization (MLEM) algorithm. To achieve convergence we used a one step late (OSL) regularization procedure based on the assumption of local monotonic behavior of the PET signal following Alenius et al. This technique was further modified to selectively control variance depending on the local topology of the PET image. No prior 'anatomic' information is needed in this approach. An estimate of the noise properties of the image is used instead. The procedure was tested for symmetric and isotropic deconvolution functions with Gaussian shape and full width at half-maximum (FWHM) ranging from 6.31 mm to infinity. The method was applied to simulated and experimental scans of the NEMA NU 2 image quality phantom with the GE Discovery LS PET/CT scanner. The phantom contained uniform activity spheres with diameters ranging from 1 cm to 3.7 cm within uniform background. The optimal sphere activity to variance ratio was obtained when the deconvolution function was replaced by a step function few voxels wide. In this case, the deconvolution method converged in ∼3-5 iterations for most points on both the simulated and experimental images. For the 1 cm diameter sphere, the contrast recovery improved from 12% to 36% in the simulated and from 21% to 55% in the experimental data. Recovery coefficients between 80% and 120% were obtained for all larger spheres, except for the 13 mm diameter sphere in the simulated scan (68%). No increase in variance was observed except for a few voxels neighboring strong activity gradients and inside the largest spheres. Testing the method for

  7. W transport and accumulation control in the termination phase of JET H-mode discharges and implications for ITER

    Science.gov (United States)

    Köchl, F.; Loarte, A.; de la Luna, E.; Parail, V.; Corrigan, G.; Harting, D.; Nunes, I.; Reux, C.; Rimini, F. G.; Polevoi, A.; Romanelli, M.; Contributors, JET

    2018-07-01

    Tokamak operation with W PFCs is associated with specific challenges for impurity control, which may be particularly demanding in the transition from stationary H-mode to L-mode. To address W control issues in this phase, dedicated experiments have been performed at JET including the variation of the decrease of the power and current, gas fuelling and central ion cyclotron heating (ICRH), and applying active ELM control by vertical kicks. The experimental results obtained demonstrate the key role of maintaining ELM control to control the W concentration in the exit phase of H-modes with slow (ITER-like) ramp-down of the neutral beam injection power in JET. For these experiments, integrated fully predictive core+edge+SOL transport modelling studies applying discrete models for the description of transients such as sawteeth and ELMs have been performed for the first time with the JINTRAC suite of codes for the entire transition from stationary H-mode until the time when the plasma would return to L-mode focusing on the W transport behaviour. Simulations have shown that the existing models can appropriately reproduce the plasma profile evolution in the core, edge and SOL as well as W accumulation trends in the termination phase of JET H-mode discharges as function of the applied ICRH and ELM control schemes, substantiating the ambivalent effect of ELMs on W sputtering on one side and on edge transport affecting core W accumulation on the other side. The sensitivity with respect to NB particle and momentum sources has also been analysed and their impact on neoclassical W transport has been found to be crucial to reproduce the observed W accumulation characteristics in JET discharges. In this paper the results of the JET experiments, the comparison with JINTRAC modelling and the adequacy of the models to reproduce the experimental results are described and conclusions are drawn regarding the applicability of these models for the extrapolation of the applied W

  8. An Iterative Approach for Distributed Model Predictive Control of Irrigation Canals

    NARCIS (Netherlands)

    Doan, D.; Keviczky, T.; Negenborn, R.R.; De Schutter, B.

    2009-01-01

    Optimization techniques have played a fundamental role in designing automatic control systems for the most part of the past half century. This dependence is ever more obvious in today’s wide-spread use of online optimization-based control methods, such as Model Predictive Control (MPC) [1]. The

  9. D324-1 ITER design task on plasma control. 1995 - 1996

    International Nuclear Information System (INIS)

    Lister, J.B.; Ward, D.J.; Llobet, X.; Martin, Y.; Bosshard, P.

    1996-07-01

    The report deals with the following topics: - work carried out under phase I and proposition for work which could be carried out under phase II, -linearity of the plasma response of the TSC code, - shape control considering voltage and current saturation, - non-linear simulations without feedback, -model of errors on the estimators of the control parameters, - protective and corrective strategy control modes. (author) figs., tabs., refs

  10. ITER plant systems

    International Nuclear Information System (INIS)

    Kolbasov, B.; Barnes, C.; Blevins, J.

    1991-01-01

    As part of a series of documents published by the IAEA that summarize the results of the Conceptual Design Activities for the ITER project, this publication describes the conceptual design of the ITER plant systems, in particular (i) the heat transport system, (ii) the electrical distribution system, (iii) the requirements for radioactive equipment handling, the hot cell, and waste management, (iv) the supply system for fluids and operational chemicals, (v) the qualitative analyses of failure scenarios and methods of burn stability control and emergency shutdown control, (vi) analyses of tokamak building functions and design requirements, (vii) a plant layout, and (viii) site requirements. Refs, figs and tabs

  11. Learning-Based Adaptive Optimal Tracking Control of Strict-Feedback Nonlinear Systems.

    Science.gov (United States)

    Gao, Weinan; Jiang, Zhong-Ping; Weinan Gao; Zhong-Ping Jiang; Gao, Weinan; Jiang, Zhong-Ping

    2018-06-01

    This paper proposes a novel data-driven control approach to address the problem of adaptive optimal tracking for a class of nonlinear systems taking the strict-feedback form. Adaptive dynamic programming (ADP) and nonlinear output regulation theories are integrated for the first time to compute an adaptive near-optimal tracker without any a priori knowledge of the system dynamics. Fundamentally different from adaptive optimal stabilization problems, the solution to a Hamilton-Jacobi-Bellman (HJB) equation, not necessarily a positive definite function, cannot be approximated through the existing iterative methods. This paper proposes a novel policy iteration technique for solving positive semidefinite HJB equations with rigorous convergence analysis. A two-phase data-driven learning method is developed and implemented online by ADP. The efficacy of the proposed adaptive optimal tracking control methodology is demonstrated via a Van der Pol oscillator with time-varying exogenous signals.

  12. Vibration control of an IVVS long-reach deployer using unknown visual features from inside the ITER vessel

    Energy Technology Data Exchange (ETDEWEB)

    Dubus, G., E-mail: gregory.dubus@f4e.europa.e [Fusion for Energy, Remote Handling group, Josep Pla 2, Torres Diagonal Litoral B3, Barcelona E-08019 (Spain); David, O.; Measson, Y. [CEA LIST, Interactive Robotics Unit, 18 route du Panorama, BP6, Fontenay-aux-Roses F-92265 (France)

    2010-12-15

    The In-Vessel Viewing System (IVVS) project assumes that a long reach deployer equipped with a probe penetrates the ITER chamber to perform periodic inspections. By giving the operator the capability and flexibility to examine unplanned targets, man-in-the-loop technology would be very helpful. But vibrations due to the high flexibility of the structure are probably the main problem in such a master-slave mode, which therefore needs the integration of a high level compensation scheme. However the ITER RH equipment will be confronted with strong electromagnetic interferences as well as a cumulated radiation dose up to several MGy. Short of costly developments, these constraints limit the use of dedicated electronics such as accelerometers or strain gauges. Our main idea is to control the vibrational behaviour of the flexible carrier without considering any extra sensor apart from its embedded probe. In this pre-study we propose to use the kind of rad-hardened viewing system already developed for the AIA demonstrator in order to feed an oscillation observer with visual information. The visual data are extracted from the environment without a priori knowledge of the examined scene. Our approach is quite open-ended and can be extended to other flexible systems. Moreover it has been designed to damp the oscillatory behaviour of the arm whatever its origins may be. As a consequence it should yield good performance when vibrations result from a critical trajectory imposed by the operator, from an interaction with the environment, or from internal dynamics of the carried process, e.g. the rotating prism of the IVVS 3D Inspection System. Experimental results validate the proposed strategy.

  13. Vibration control of an IVVS long-reach deployer using unknown visual features from inside the ITER vessel

    International Nuclear Information System (INIS)

    Dubus, G.; David, O.; Measson, Y.

    2010-01-01

    The In-Vessel Viewing System (IVVS) project assumes that a long reach deployer equipped with a probe penetrates the ITER chamber to perform periodic inspections. By giving the operator the capability and flexibility to examine unplanned targets, man-in-the-loop technology would be very helpful. But vibrations due to the high flexibility of the structure are probably the main problem in such a master-slave mode, which therefore needs the integration of a high level compensation scheme. However the ITER RH equipment will be confronted with strong electromagnetic interferences as well as a cumulated radiation dose up to several MGy. Short of costly developments, these constraints limit the use of dedicated electronics such as accelerometers or strain gauges. Our main idea is to control the vibrational behaviour of the flexible carrier without considering any extra sensor apart from its embedded probe. In this pre-study we propose to use the kind of rad-hardened viewing system already developed for the AIA demonstrator in order to feed an oscillation observer with visual information. The visual data are extracted from the environment without a priori knowledge of the examined scene. Our approach is quite open-ended and can be extended to other flexible systems. Moreover it has been designed to damp the oscillatory behaviour of the arm whatever its origins may be. As a consequence it should yield good performance when vibrations result from a critical trajectory imposed by the operator, from an interaction with the environment, or from internal dynamics of the carried process, e.g. the rotating prism of the IVVS 3D Inspection System. Experimental results validate the proposed strategy.

  14. Measuring strategic control in artificial grammar learning.

    Science.gov (United States)

    Norman, Elisabeth; Price, Mark C; Jones, Emma

    2011-12-01

    In response to concerns with existing procedures for measuring strategic control over implicit knowledge in artificial grammar learning (AGL), we introduce a more stringent measurement procedure. After two separate training blocks which each consisted of letter strings derived from a different grammar, participants either judged the grammaticality of novel letter strings with respect to only one of these two grammars (pure-block condition), or had the target grammar varying randomly from trial to trial (novel mixed-block condition) which required a higher degree of conscious flexible control. Random variation in the colour and font of letters was introduced to disguise the nature of the rule and reduce explicit learning. Strategic control was observed both in the pure-block and mixed-block conditions, and even among participants who did not realise the rule was based on letter identity. This indicated detailed strategic control in the absence of explicit learning. Copyright © 2011 Elsevier Inc. All rights reserved.

  15. Analysis of the phase control of the ITER ICRH antenna array. Influence on the load resilience and radiated power spectrum

    Energy Technology Data Exchange (ETDEWEB)

    Messiaen, A., E-mail: a.messiaen@fz-juelich.de; Ongena, J.; Vervier, M. [Laboratory for Plasma Physics, ERM-KMS, TEC partner, Cycle, B1000-Brussels (Belgium); Swain, D. [US ITER Team, ORNL (United States)

    2015-12-10

    The paper analyses how the phasing of the ITER ICRH 24 strap array evolves from the power sources up to the strap currents of the antenna. The study of the phasing control and coherence through the feeding circuits with prematching and automatic matching and decoupling network is made by modeling starting from the TOPICA matrix of the antenna array for a low coupling plasma profile and for current drive phasing (worst case for mutual coupling effects). The main results of the analysis are: (i) the strap current amplitude is well controlled by the antinode V{sub max} amplitude of the feeding lines, (ii) the best toroidal phasing control is done by the adjustment of the mean phase of V{sub max} of each poloidal straps column, (iii) with well adjusted system the largest strap current phasing error is ±20°, (iv) the effect on load resilience remains well below the maximum affordable VSWR of the generators, (v) the effect on the radiated power spectrum versus k{sub //} computed by means of the coupling code ANTITER II remains small for the considered cases.

  16. Trellis and turbo coding iterative and graph-based error control coding

    CERN Document Server

    Schlegel, Christian B

    2015-01-01

    This new edition has been extensively revised to reflect the progress in error control coding over the past few years. Over 60% of the material has been completely reworked, and 30% of the material is original. Convolutional, turbo, and low density parity-check (LDPC) coding and polar codes in a unified framework. Advanced research-related developments such as spatial coupling. A focus on algorithmic and implementation aspects of error control coding.

  17. AMYGDALA MICROCIRCUITS CONTROLLING LEARNED FEAR

    Science.gov (United States)

    Duvarci, Sevil; Pare, Denis

    2014-01-01

    We review recent work on the role of intrinsic amygdala networks in the regulation of classically conditioned defensive behaviors, commonly known as conditioned fear. These new developments highlight how conditioned fear depends on far more complex networks than initially envisioned. Indeed, multiple parallel inhibitory and excitatory circuits are differentially recruited during the expression versus extinction of conditioned fear. Moreover, shifts between expression and extinction circuits involve coordinated interactions with different regions of the medial prefrontal cortex. However, key areas of uncertainty remain, particularly with respect to the connectivity of the different cell types. Filling these gaps in our knowledge is important because much evidence indicates that human anxiety disorders results from an abnormal regulation of the networks supporting fear learning. PMID:24908482

  18. Iterative solution to the optimal control of depletion problem in pressurized water reactors

    International Nuclear Information System (INIS)

    Colletti, J.P.

    1981-01-01

    A method is described for determining the optimal time and spatial dependence of control absorbers in the core of a pressurized water reactor over a single refueling cycle. The reactor is modeled in two dimensions with many regions using two-group diffusion theory. The problem is formulated as an optimal control problem with the cycle length fixed and the initial reactor state known. Constraints are placed on the regionwise normalized powers, control absorber concentrations, and the critical soluble boron concentration of the core. The cost functional contains two terms which may be used individually or together. One term maximizes the end-of-cycle (EOC) critical soluble boron concentration, and the other minimizes the norm of the distance between the actual and a target EOC burnup distribution. Results are given for several test problems which are based on a three-region model of the Three Mile Island Unit 1 reactor. The resulting optimal control strategies are bang-bang and lead to EOC states with the power peaking at its maximum and no control absorbers remaining in the core. Throughout the cycle the core soluble boron concentration is zero

  19. Quasilinear Extreme Learning Machine Model Based Internal Model Control for Nonlinear Process

    Directory of Open Access Journals (Sweden)

    Dazi Li

    2015-01-01

    Full Text Available A new strategy for internal model control (IMC is proposed using a regression algorithm of quasilinear model with extreme learning machine (QL-ELM. Aimed at the chemical process with nonlinearity, the learning process of the internal model and inverse model is derived. The proposed QL-ELM is constructed as a linear ARX model with a complicated nonlinear coefficient. It shows some good approximation ability and fast convergence. The complicated coefficients are separated into two parts. The linear part is determined by recursive least square (RLS, while the nonlinear part is identified through extreme learning machine. The parameters of linear part and the output weights of ELM are estimated iteratively. The proposed internal model control is applied to CSTR process. The effectiveness and accuracy of the proposed method are extensively verified through numerical results.

  20. The ITER activity

    International Nuclear Information System (INIS)

    Glass, A.J.

    1991-01-01

    The International Thermonuclear Experimental Reactor (ITER) project is a collaboration among four parties, the United States, the Soviet Union, Japan, and the European Communities, to demonstrate the scientific and technological feasibility of fusion power for peaceful purposes. ITER will demonstrate this through the construction of a tokamak fusion reactor capable of generating 1000 megawatts of fusion power. The ITER project has three missions, as follows: (1) Physics mission -- to demonstrate ignition and controlled burn, with pulse durations from 200 to 1000 S; (2) Technology mission -- to demonstrate the technologies essential to a reactor in an integrated system, operating with high reliability and availability in pulsed operation, with steady-state operation as the ultimate goal; and (3) Testing mission -- to test nuclear and high-heat-flux components at flux levels for 1 mw/m 2 , and fluences of order 1 mw-yr/m 2

  1. Learning System Center App Controller

    CERN Document Server

    Naeem, Nasir

    2015-01-01

    This book is intended for IT professionals working with Hyper-V, Azure cloud, VMM, and private cloud technologies who are looking for a quick way to get up and running with System Center 2012 R2 App Controller. To get the most out of this book, you should be familiar with Microsoft Hyper-V technology. Knowledge of Virtual Machine Manager is helpful but not mandatory.

  2. Filtering sensory information with XCSF: improving learning robustness and robot arm control performance.

    Science.gov (United States)

    Kneissler, Jan; Stalph, Patrick O; Drugowitsch, Jan; Butz, Martin V

    2014-01-01

    It has been shown previously that the control of a robot arm can be efficiently learned using the XCSF learning classifier system, which is a nonlinear regression system based on evolutionary computation. So far, however, the predictive knowledge about how actual motor activity changes the state of the arm system has not been exploited. In this paper, we utilize the forward velocity kinematics knowledge of XCSF to alleviate the negative effect of noisy sensors for successful learning and control. We incorporate Kalman filtering for estimating successive arm positions, iteratively combining sensory readings with XCSF-based predictions of hand position changes over time. The filtered arm position is used to improve both trajectory planning and further learning of the forward velocity kinematics. We test the approach on a simulated kinematic robot arm model. The results show that the combination can improve learning and control performance significantly. However, it also shows that variance estimates of XCSF prediction may be underestimated, in which case self-delusional spiraling effects can hinder effective learning. Thus, we introduce a heuristic parameter, which can be motivated by theory, and which limits the influence of XCSF's predictions on its own further learning input. As a result, we obtain drastic improvements in noise tolerance, allowing the system to cope with more than 10 times higher noise levels.

  3. Software protocol design: Communication and control in a multi-task robot machine for ITER vacuum vessel assembly and maintenance

    International Nuclear Information System (INIS)

    Li, Ming; Wu, Huapeng; Handroos, Heikki; Yang, Guangyou; Wang, Yongbo

    2015-01-01

    Highlights: • A high-level protocol is proposed for the data inter-transmission. • The protocol design is task-oriented for the robot control in the software system. • The protocol functions as a role of middleware in the software. • The protocol running stand-alone as an independent process in the software provides greater security. • Providing a reference design protocol for the multi-task robot machine in the industry. - Abstract: A specific communication and control protocol for software design of a multi-task robot machine is proposed. In order to fulfill the requirements on the complicated multi machining functions and the high performance motion control, the software design of robot is divided into two main parts accordingly, which consists of the user-oriented HMI part and robot control-oriented real-time control system. The two parts of software are deployed in the different hardware for the consideration of run-time performance, which forms a client–server-control architecture. Therefore a high-level task-oriented protocol is designed for the data inter-communication between the HMI part and the control system part, in which all the transmitting data related to a machining task is divided into three categories: trajectory-oriented data, task control-oriented data and status monitoring-oriented data. The protocol consists of three sub-protocols accordingly – a trajectory protocol, task control protocol and status protocol – which are deployed over the Ethernet and run as independent processes in both the client and server computers. The protocols are able to manage the vast amounts of data streaming due to the multi machining functions in a more efficient way. Since the protocol is functioning in the software as a role of middleware, and providing the data interface standards for the developing groups of two parts of software, it also permits greater focus of both software parts developers on their own requirements-oriented design. By

  4. Software protocol design: Communication and control in a multi-task robot machine for ITER vacuum vessel assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Li, Ming, E-mail: ming.li@lut.fi [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wu, Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Yang, Guangyou [School of Mechanical Engineering, Hubei University of Technology, Wuhan (China); Wang, Yongbo [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland)

    2015-10-15

    Highlights: • A high-level protocol is proposed for the data inter-transmission. • The protocol design is task-oriented for the robot control in the software system. • The protocol functions as a role of middleware in the software. • The protocol running stand-alone as an independent process in the software provides greater security. • Providing a reference design protocol for the multi-task robot machine in the industry. - Abstract: A specific communication and control protocol for software design of a multi-task robot machine is proposed. In order to fulfill the requirements on the complicated multi machining functions and the high performance motion control, the software design of robot is divided into two main parts accordingly, which consists of the user-oriented HMI part and robot control-oriented real-time control system. The two parts of software are deployed in the different hardware for the consideration of run-time performance, which forms a client–server-control architecture. Therefore a high-level task-oriented protocol is designed for the data inter-communication between the HMI part and the control system part, in which all the transmitting data related to a machining task is divided into three categories: trajectory-oriented data, task control-oriented data and status monitoring-oriented data. The protocol consists of three sub-protocols accordingly – a trajectory protocol, task control protocol and status protocol – which are deployed over the Ethernet and run as independent processes in both the client and server computers. The protocols are able to manage the vast amounts of data streaming due to the multi machining functions in a more efficient way. Since the protocol is functioning in the software as a role of middleware, and providing the data interface standards for the developing groups of two parts of software, it also permits greater focus of both software parts developers on their own requirements-oriented design. By

  5. Physics fundamentals for ITER

    International Nuclear Information System (INIS)

    Rosenbluth, M.N.

    1999-01-01

    The design of an experimental thermonuclear reactor requires both cutting-edge technology and physics predictions precise enough to carry forward the design. The past few years of worldwide physics studies have seen great progress in understanding, innovation and integration. We will discuss this progress and the remaining issues in several key physics areas. (1) Transport and plasma confinement. A worldwide database has led to an 'empirical scaling law' for tokamaks which predicts adequate confinement for the ITER fusion mission, albeit with considerable but acceptable uncertainty. The ongoing revolution in computer capabilities has given rise to new gyrofluid and gyrokinetic simulations of microphysics which may be expected in the near future to attain predictive accuracy. Important databases on H-mode characteristics and helium retention have also been assembled. (2) Divertors, heat removal and fuelling. A novel concept for heat removal - the radiative, baffled, partially detached divertor - has been designed for ITER. Extensive two-dimensional (2D) calculations have been performed and agree qualitatively with recent experiments. Preliminary studies of the interaction of this configuration with core confinement are encouraging and the success of inside pellet launch provides an attractive alternative fuelling method. (3) Macrostability. The ITER mission can be accomplished well within ideal magnetohydrodynamic (MHD) stability limits, except for internal kink modes. Comparisons with JET, as well as a theoretical model including kinetic effects, predict such sawteeth will be benign in ITER. Alternative scenarios involving delayed current penetration or off-axis current drive may be employed if required. The recent discovery of neoclassical beta limits well below ideal MHD limits poses a threat to performance. Extrapolation to reactor scale is as yet unclear. In theory such modes are controllable by current drive profile control or feedback and experiments should

  6. Machine Learning for Flapping Wing Flight Control

    NARCIS (Netherlands)

    Goedhart, Menno; van Kampen, E.; Armanini, S.F.; de Visser, C.C.; Chu, Q.

    2018-01-01

    Flight control of Flapping Wing Micro Air Vehicles is challenging, because of their complex dynamics and variability due to manufacturing inconsistencies. Machine Learning algorithms can be used to tackle these challenges. A Policy Gradient algorithm is used to tune the gains of a

  7. Approaches to Learning to Control Dynamic Uncertainty

    Directory of Open Access Journals (Sweden)

    Magda Osman

    2015-10-01

    Full Text Available In dynamic environments, when faced with a choice of which learning strategy to adopt, do people choose to mostly explore (maximizing their long term gains or exploit (maximizing their short term gains? More to the point, how does this choice of learning strategy influence one’s later ability to control the environment? In the present study, we explore whether people’s self-reported learning strategies and levels of arousal (i.e., surprise, stress correspond to performance measures of controlling a Highly Uncertain or Moderately Uncertain dynamic environment. Generally, self-reports suggest a preference for exploring the environment to begin with. After which, those in the Highly Uncertain environment generally indicated they exploited more than those in the Moderately Uncertain environment; this difference did not impact on performance on later tests of people’s ability to control the dynamic environment. Levels of arousal were also differentially associated with the uncertainty of the environment. Going beyond behavioral data, our model of dynamic decision-making revealed that, in actual fact, there was no difference in exploitation levels between those in the highly uncertain or moderately uncertain environments, but there were differences based on sensitivity to negative reinforcement. We consider the implications of our findings with respect to learning and strategic approaches to controlling dynamic uncertainty.

  8. Modeling of divertor particle and heat loads during application of resonant magnetic perturbation fields for ELM control in ITER

    Energy Technology Data Exchange (ETDEWEB)

    Schmitz, O., E-mail: o.schmitz@fz-juelich.de [Forschungszentrum Jülich, IEK-4, Association EURATOM-FZJ, Jülich (Germany); Becoulet, M. [CEA/IRFM, Cadarache, 13108 St. Paul-lez-Durance Cedex (France); Cahyna, P. [IPP AS CR, Za Slovankou 3, 18200 Prague 8 (Czech Republic); Evans, T.E. [General Atomics, P.O. Box 85608, San Diego, CA 92186-5608 (United States); Feng, Y. [Max-Planck-Institut für Plasmaphysik, Greifswald (Germany); Frerichs, H.; Kirschner, A. [Forschungszentrum Jülich, IEK-4, Association EURATOM-FZJ, Jülich (Germany); Kukushkin, A. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Laengner, R. [Forschungszentrum Jülich, IEK-4, Association EURATOM-FZJ, Jülich (Germany); Lunt, T. [Max-Planck-Institut für Plasmaphysik, Greifswald (Germany); Loarte, A.; Pitts, R. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France); Reiser, D.; Reiter, D. [Forschungszentrum Jülich, IEK-4, Association EURATOM-FZJ, Jülich (Germany); Saibene, G. [Fusion for Energy Joint Undertaking, Barcelona (Spain); Samm, U. [Forschungszentrum Jülich, IEK-4, Association EURATOM-FZJ, Jülich (Germany)

    2013-07-15

    First results from three-dimensional modeling of the divertor heat and particle flux pattern during application of resonant magnetic perturbation fields as ELM control scheme in ITER with the EMC3-Eirene fluid plasma and kinetic neutral transport code are discussed. The formation of a helical magnetic footprint breaks the toroidal symmetry of the heat and particle fluxes. Expansion of the flux pattern as far as 60 cm away from the unperturbed strike line is seen with vacuum RMP fields, resulting in a preferable heat flux spreading. Inclusion of plasma response reduces the radial extension of the heat and particle fluxes and results in a heat flux peaking closer to the unperturbed level. A strong reduction of the particle confinement is found. 3D flow channels are identified as a consistent reason due to direct parallel outflow from inside of the separatrix. Their radial inward expansion and hence the level of particle pump out is shown to be dependent on the perturbation level.

  9. Iterative feedback bio-printing-derived cell-laden hydrogel scaffolds with optimal geometrical fidelity and cellular controllability.

    Science.gov (United States)

    Wang, Ling; Xu, Ming-En; Luo, Li; Zhou, Yongyong; Si, Peijian

    2018-02-12

    For three-dimensional bio-printed cell-laden hydrogel tissue constructs, the well-designed internal porous geometry is tailored to obtain the desired structural and cellular properties. However, significant differences often exist between the designed and as-printed scaffolds because of the inherent characteristics of hydrogels and cells. In this study, an iterative feedback bio-printing (IFBP) approach based on optical coherence tomography (OCT) for the fabrication of cell-laden hydrogel scaffolds with optimal geometrical fidelity and cellular controllability was proposed. A custom-made swept-source OCT (SS-OCT) system was applied to characterize the printed scaffolds quantitatively. Based on the obtained empirical linear formula from the first experimental feedback loop, we defined the most appropriate design constraints and optimized the printing process to improve the geometrical fidelity. The effectiveness of IFBP was verified from the second run using gelatin/alginate hydrogel scaffolds laden with C3A cells. The mismatch of the morphological parameters greatly decreased from 40% to within 7%, which significantly optimized the cell viability, proliferation, and morphology, as well as the representative expression of hepatocyte markers, including CYP3A4 and albumin, of the printed cell-laden hydrogel scaffolds. The demonstrated protocol paves the way for the mass fabrication of cell-laden hydrogel scaffolds, engineered tissues, and scaled-up applications of the 3D bio-printing technique.

  10. US ITER Management Plan

    International Nuclear Information System (INIS)

    1991-12-01

    This US ITER Management Plan is the plan for conducting the Engineering Design Activities within the US. The plan applies to all design, analyses, and associated physics and technology research and development (R ampersand D) required to support the program. The plan defines the management considerations associated with these activities. The plan also defines the management controls that the project participants will follow to establish, implement, monitor, and report these activities. The activities are to be conducted by the project in accordance with this plan. The plan will be updated to reflect the then-current management approach required to meet the project objectives. The plan will be reviewed at least annually for possible revision. Section 2 presents the ITER objectives, a brief description of the ITER concept as developed during the Conceptual Design Activities, and comments on the Engineering Design Activities. Section 3 discusses the planned international organization for the Engineering Design Activities, from which the tasks will flow to the US Home Team. Section 4 describes the US ITER management organization and responsibilities during the Engineering Design Activities. Section 5 describes the project management and control to be used to perform the assigned tasks during the Engineering Design Activities. Section 6 presents the references. Several appendices are provided that contain detailed information related to the front material

  11. Game-Theoretic Learning in Distributed Control

    KAUST Repository

    Marden, Jason R.

    2018-01-05

    In distributed architecture control problems, there is a collection of interconnected decision-making components that seek to realize desirable collective behaviors through local interactions and by processing local information. Applications range from autonomous vehicles to energy to transportation. One approach to control of such distributed architectures is to view the components as players in a game. In this approach, two design considerations are the components’ incentives and the rules that dictate how components react to the decisions of other components. In game-theoretic language, the incentives are defined through utility functions, and the reaction rules are online learning dynamics. This chapter presents an overview of this approach, covering basic concepts in game theory, special game classes, measures of distributed efficiency, utility design, and online learning rules, all with the interpretation of using game theory as a prescriptive paradigm for distributed control design.

  12. The Iterative Development and Use of an Online Problem-Based Learning Module for Preservice and Inservice Teachers

    Science.gov (United States)

    Rillero, Peter; Camposeco, Laurie

    2018-01-01

    Teachers' problem-based learning knowledge, abilities, and attitudes are important factors in successful K--12 PBL implementations. This article describes the development and use of a free, online module entitled "Design a Problem-Based Learning Experience." The module production, aligned with theories of andragogy, was a partnership…

  13. Digital control for nuclear reactors - lessons learned

    International Nuclear Information System (INIS)

    Bernard, J.A.; Aviles, B.N.; Lanning, D.D.

    1992-01-01

    Lessons learned during the course of the now decade-old MIT program on the digital control of nuclear reactors are enumerated. Relative to controller structure, these include the importance of a separate safety system, the need for signal validation, the role of supervisory algorithms, the significance of command validation, and the relevance of automated reasoning. Relative to controller implementation, these include the value of nodal methods to the creation of real-time reactor physics and thermal hydraulic models, the advantages to be gained from the use of real-time system models, and the importance of a multi-tiered structure to the simultaneous achievement of supervisory, global, and local control. Block diagrams are presented of proposed controllers and selected experimental and simulation-study results are shown. In addition, a history is given of the MIT program on reactor digital control

  14. Concurrent Learning of Control in Multi agent Sequential Decision Tasks

    Science.gov (United States)

    2018-04-17

    Concurrent Learning of Control in Multi-agent Sequential Decision Tasks The overall objective of this project was to develop multi-agent reinforcement... learning (MARL) approaches for intelligent agents to autonomously learn distributed control policies in decentral- ized partially observable... learning of policies in Dec-POMDPs, established performance bounds, evaluated these algorithms both theoretically and empirically, The views

  15. A simple time-delayed method to control chaotic systems

    International Nuclear Information System (INIS)

    Chen Maoyin; Zhou Donghua; Shang Yun

    2004-01-01

    Based on the adaptive iterative learning strategy, a simple time-delayed controller is proposed to stabilize unstable periodic orbits (UPOs) embedded in chaotic attractors. This controller includes two parts: one is a linear feedback part; the other is an adaptive iterative learning estimation part. Theoretical analysis and numerical simulation show the effectiveness of this controller

  16. ITER council proceedings: 2001

    International Nuclear Information System (INIS)

    2001-01-01

    Continuing the ITER EDA, two further ITER Council Meetings were held since the publication of ITER EDA documentation series no, 20, namely the ITER Council Meeting on 27-28 February 2001 in Toronto, and the ITER Council Meeting on 18-19 July in Vienna. That Meeting was the last one during the ITER EDA. This volume contains records of these Meetings, including: Records of decisions; List of attendees; ITER EDA status report; ITER EDA technical activities report; MAC report and advice; Final report of ITER EDA; and Press release

  17. Iterative learning control with basis functions for media positioning in scanning inkjet printers

    NARCIS (Netherlands)

    Bolder, J.J.; Lemmen, B.P.; Koekebakker, S.H.; Oomen, T.A.E.; Bosgra, O.H.; Steinbuch, M.

    2012-01-01

    In printing systems, the positioning accuracy of the medium with respect to the print heads directly impacts print quality. In a regular document inkjet printer, the main task of the media positioning drive is to shift the medium after the printhead has finished a pass. Most media have the tendency

  18. Tunnel Ventilation Control Using Reinforcement Learning Methodology

    Science.gov (United States)

    Chu, Baeksuk; Kim, Dongnam; Hong, Daehie; Park, Jooyoung; Chung, Jin Taek; Kim, Tae-Hyung

    The main purpose of tunnel ventilation system is to maintain CO pollutant concentration and VI (visibility index) under an adequate level to provide drivers with comfortable and safe driving environment. Moreover, it is necessary to minimize power consumption used to operate ventilation system. To achieve the objectives, the control algorithm used in this research is reinforcement learning (RL) method. RL is a goal-directed learning of a mapping from situations to actions without relying on exemplary supervision or complete models of the environment. The goal of RL is to maximize a reward which is an evaluative feedback from the environment. In the process of constructing the reward of the tunnel ventilation system, two objectives listed above are included, that is, maintaining an adequate level of pollutants and minimizing power consumption. RL algorithm based on actor-critic architecture and gradient-following algorithm is adopted to the tunnel ventilation system. The simulations results performed with real data collected from existing tunnel ventilation system and real experimental verification are provided in this paper. It is confirmed that with the suggested controller, the pollutant level inside the tunnel was well maintained under allowable limit and the performance of energy consumption was improved compared to conventional control scheme.

  19. ITER safety challenges and opportunities

    International Nuclear Information System (INIS)

    Piet, S.J.

    1992-01-01

    This paper reports on results of the Conceptual Design Activity (CDA) for the International Thermonuclear Experimental Reactor (ITER) suggest challenges and opportunities. ITER is capable of meeting anticipated regulatory dose limits, but proof is difficult because of large radioactive inventories needing stringent radioactivity confinement. Much research and development (R ampersand D) and design analysis is needed to establish that ITER meets regulatory requirements. There is a further oportunity to do more to prove more of fusion's potential safety and environmental advantages and maximize the amount of ITER technology on the path toward fusion power plants. To fulfill these tasks, three programmatic challenges and three technical challenges must be overcome. The first step is to fund a comprehensive safety and environmental ITER R ampersand D plan. Second is to strengthen safety and environment work and personnel in the international team. Third is to establish an external consultant group to advise the ITER Joint Team on designing ITER to meet safety requirements for siting by any of the Parties. The first of three key technical challenges is plasma engineering - burn control, plasma shutdown, disruptions, tritium burn fraction, and steady state operation. The second is the divertor, including tritium inventory, activation hazards, chemical reactions, and coolant disturbances. The third technical challenge is optimization of design requirements considering safety risk, technical risk, and cost

  20. Development of an iterative 3D reconstruction method for the control of heavy-ion oncotherapy with PET

    International Nuclear Information System (INIS)

    Lauckner, K.

    1999-06-01

    The dissertation reports the approach and work for developing and implementing an image space reconstruction method that allows to check the 3D activity distribution and detect possible deviations from irradiation planning data. Other than usual PET scanners, the BASTEI instrument is equipped with two detectors positioned at opposite sides above and below the patient, so that there is enough space for suitable positioning of patient and radiation source. Due to the restricted field of view of the positron camera, the 3D imaging process is subject to displacement-dependent variations, creating bad reconstruction conditions. In addition, the counting rate is lower by two or three orders of magnitude than the usual counting rates of nuclear-medicine PET applications. This is why an iterative 3D algorithm is needed. Two iterative methods known from conventional PET were examined for their suitability and compared with respect to results. The MLEM algorithm proposed by Shepp and Vardi interprets the measured data as a random sample of independent variables of Poisson distributions, to be used for assessing the unknown activity distribution. A disadvantage of this algorithm is the considerable calculation effort required. For minimizing the calculation effort, and in order to make iterative statistical methods applicable to measured 3D data, Daube-Whitherspoon and Muehllehner developed the Iterative Image Space Reconstruction Algorithm, ISRA, derived through modification of the sequence of development steps of the MLEM algorithm. Problem solution with ISRA is based on least square deviation method, other than with the MLEM algorithm which uses the best probability method. (orig./CB) [de

  1. Comparison of preconditioned Krylov subspace iteration methods for PDE-constrained optimization problems - Poisson and convection-diffusion control

    Czech Academy of Sciences Publication Activity Database

    Axelsson, Owe; Farouq, S.; Neytcheva, M.

    2016-01-01

    Roč. 73, č. 3 (2016), s. 631-633 ISSN 1017-1398 R&D Projects: GA MŠk ED1.1.00/02.0070 Institutional support: RVO:68145535 Keywords : PDE-constrained optimization problems * finite elements * iterative solution methods Subject RIV: BA - General Mathematics Impact factor: 1.241, year: 2016 http://link.springer.com/article/10.1007%2Fs11075-016-0111-1

  2. Self-learning fuzzy logic controllers based on reinforcement

    International Nuclear Information System (INIS)

    Wang, Z.; Shao, S.; Ding, J.

    1996-01-01

    This paper proposes a new method for learning and tuning Fuzzy Logic Controllers. The self-learning scheme in this paper is composed of Bucket-Brigade and Genetic Algorithm. The proposed method is tested on the cart-pole system. Simulation results show that our approach has good learning and control performance

  3. ITER EDA status

    International Nuclear Information System (INIS)

    Aymar, R.

    2001-01-01

    The Project has focused on drafting the Plant Description Document (PDD), which will be published as the Technical Basis for the ITER Final Design Report (FDR), and its related documentation in time for the ITER review process. The preparations have involved continued intensive detailed design work, analyses and assessments by the Home Teams and the Joint Central Team, who have co-operated closely and efficiently. The main technical document has been completed in time for circulation, as planned, to TAC members for their review at TAC-17 (19-22 February 2001). Some of the supporting documents, such as the Plant Design Specification (PDS), Design Requirements and Guidelines (DRG1 and DRG2), and the Plant Safety Requirement (PSR) are also available for reference in draft form. A summary paper of the PDD for the Council's information is available as a separate document. A new documentation structure for the Project has been established. This hierarchical structure for documentation facilitates the entire organization in a way that allows better change control and avoids duplications. The initiative was intended to make this documentation system valid for the construction and operation phases of ITER. As requested, the Director and the JCT have been assisting the Explorations to plan for future joint technical activities during the Negotiations, and to consider technical issues important for ITER construction and operation for their introduction in the draft of a future joint implementation agreement. As charged by the Explorers, the Director has held discussions with the Home Team Leaders in order to prepare for the staffing of the International Team and Participants Teams during the Negotiations (Co-ordinated Technical Activities, CTA) and also in view of informing all ITER staff about their future directions in a timely fashion. One important element of the work was the completion by the Parties' industries of costing studies of about 83 ''procurement packages

  4. The Capacity Building programmes of GITEWS – visions, goals, lessons learned, and re-iterated needs and demands

    Directory of Open Access Journals (Sweden)

    T. Schlurmann

    2011-02-01

    exposed to coastal hazards is still pending. Local authorities and researchers in tentative affected regions are now trained and enabled to disseminate and apply their knowledge and planning experience to other coastal regions in the area to help facilitating and multiplying effective disaster management plans and strategies. Yet, the Capacity Building framework within GITEWS also elucidated gaps in the early warning chain so that updated and to some extent re-iterated needs and demands in Capacity Building programs in any future research or development cooperation project are presented and discussed.

  5. Cognitive Models for Learning to Control Dynamic Systems

    National Research Council Canada - National Science Library

    Eberhart, Russ; Hu, Xiaohui; Chen, Yaobin

    2008-01-01

    Report developed under STTR contract for topic "Cognitive models for learning to control dynamic systems" demonstrated a swarm intelligence learning algorithm and its application in unmanned aerial vehicle (UAV) mission planning...

  6. Metrology for ITER Assembly

    International Nuclear Information System (INIS)

    Bogusch, E.

    2006-01-01

    The overall dimensions of the ITER Tokamak and the particular assembly sequence preclude the use of conventional optical metrology, mechanical jigs and traditional dimensional control equipment, as used for the assembly of smaller, previous generation, fusion devices. This paper describes the state of the art of the capabilities of available metrology systems, with reference to the previous experience in Fusion engineering and in other industries. Two complementary procedures of transferring datum from the primary datum network on the bioshield to the secondary datum s inside the VV with the desired accuracy of about 0.1 mm is described, one method using the access directly through the ports and the other using transfer techniques, developed during the co-operation with ITER/EFDA. Another important task described is the development of a method for the rapid and easy measurement of the gaps between sectors, required for the production of the customised splice plates between them. The scope of the paper includes the evaluation of the composition and cost of the systems and team of technical staff required to meet the requirements of the assembly procedure. The results from a practical, full-scale demonstration of the methodologies used, using the proposed equipment, is described. This work has demonstrated the feasibility of achieving the necessary accuracies for the successful building of ITER. (author)

  7. The ITER tritium systems

    International Nuclear Information System (INIS)

    Glugla, M.; Antipenkov, A.; Beloglazov, S.; Caldwell-Nichols, C.; Cristescu, I.R.; Cristescu, I.; Day, C.; Doerr, L.; Girard, J.-P.; Tada, E.

    2007-01-01

    ITER is the first fusion machine fully designed for operation with equimolar deuterium-tritium mixtures. The tokamak vessel will be fuelled through gas puffing and pellet injection, and the Neutral Beam heating system will introduce deuterium into the machine. Employing deuterium and tritium as fusion fuel will cause alpha heating of the plasma and will eventually provide energy. Due to the small burn-up fraction in the vacuum vessel a closed deuterium-tritium loop is required, along with all the auxiliary systems necessary for the safe handling of tritium. The ITER inner fuel cycle systems are designed to process considerable and unprecedented deuterium-tritium flow rates with high flexibility and reliability. High decontamination factors for effluent and release streams and low tritium inventories in all systems are needed to minimize chronic and accidental emissions. A multiple barrier concept assures the confinement of tritium within its respective processing components; atmosphere and vent detritiation systems are essential elements in this concept. Not only the interfaces between the primary fuel cycle systems - being procured through different Participant Teams - but also those to confinement systems such as Atmosphere Detritiation or those to fuelling and pumping - again procured through different Participant Teams - and interfaces to buildings are calling for definition and for detailed analysis to assure proper design integration. Considering the complexity of the ITER Tritium Plant configuration management and interface control will be a challenging task

  8. ITER council proceedings: 1998

    International Nuclear Information System (INIS)

    1999-01-01

    This volume contains documents of the 13th and the 14th ITER council meeting as well as of the 1st extraordinary ITER council meeting. Documents of the ITER meetings held in Vienna and Yokohama during 1998 are also included. The contents include an outline of the ITER objectives, the ITER parameters and design overview as well as operating scenarios and plasma performance. Furthermore, design features, safety and environmental characteristics are given

  9. Locus of control and online learning

    Directory of Open Access Journals (Sweden)

    Suretha Esterhuysen

    2004-10-01

    Full Text Available The integration of online learning in university courses is considered to be both inevitable and necessary. Thus there is an increasing need to raise awareness among educators and course designers about the critical issues impacting on online learning. The aim of this study, therefore, was to assess the differences between two groups of first-year Business Sciences learners (online and conventional learners in terms of biographic and demographic characteristics and locus of control. The study population consisted of 586 first-year learners of whom 185 completed the Locus of Control Inventory (LCI. The results show that the two groups of learners do not differ statistically significantly from each other with respect to locus of control. The findings and their implications are also discussed. Opsomming Die integrasie van aanlyn-leer in universiteitskursusse word beskou as sowel onafwendbaar as noodsaaklik. Daar is dus ’n toenemende behoefte om bewustheid onder opvoedkundiges en kursusontwerpers te kweek oor die kritiese aspekte wat ’n impak op aanlyn-leer het (Morgan, 1996. Daarom was die doel van hierdie ondersoek om die verskille tussen twee groepe eerstejaarleerders in Bestuurs- en Ekonomiese Wetenskap (aanlyn en konvensionele leerders te bepaal ten opsigte van biografiese en demografiese eienskappe en lokus van beheer. Die populasie het bestaan uit 586 eerstejaarleerders waarvan 185 die Lokus van Beheer Vraelys voltooi het. Die resultate toon dat die twee groepe leerders nie statisties beduidend van mekaar verskil het met betrekking tot lokus van beheer nie. Die bevindinge en implikasies word ook bespreek.

  10. A Tale of Two Chambers: Iterative Approaches and Lessons Learned from Life Support Systems Testing in Altitude Chambers

    Science.gov (United States)

    Callini, Gianluca

    2016-01-01

    With a brand new fire set ablaze by a serendipitous convergence of events ranging from a science fiction novel and movie ("The Martian"), to ground-breaking recent discoveries of flowing water on its surface, the drive for the journey to Mars seems to be in a higher gear than ever before. We are developing new spacecraft and support systems to take humans to the Red Planet, while scientists on Earth continue using the International Space Station as a laboratory to evaluate the effects of long duration space flight on the human body. Written from the perspective of a facility test director rather than a researcher, and using past and current life support systems tests as examples, this paper seeks to provide an overview on how facility teams approach testing, the kind of information they need to ensure efficient collaborations and successful tests, and how, together with researchers and principal investigators, we can collectively apply what we learn to execute future tests.

  11. IHadoop: Asynchronous iterations for MapReduce

    KAUST Repository

    Elnikety, Eslam Mohamed Ibrahim

    2011-11-01

    MapReduce is a distributed programming frame-work designed to ease the development of scalable data-intensive applications for large clusters of commodity machines. Most machine learning and data mining applications involve iterative computations over large datasets, such as the Web hyperlink structures and social network graphs. Yet, the MapReduce model does not efficiently support this important class of applications. The architecture of MapReduce, most critically its dataflow techniques and task scheduling, is completely unaware of the nature of iterative applications; tasks are scheduled according to a policy that optimizes the execution for a single iteration which wastes bandwidth, I/O, and CPU cycles when compared with an optimal execution for a consecutive set of iterations. This work presents iHadoop, a modified MapReduce model, and an associated implementation, optimized for iterative computations. The iHadoop model schedules iterations asynchronously. It connects the output of one iteration to the next, allowing both to process their data concurrently. iHadoop\\'s task scheduler exploits inter-iteration data locality by scheduling tasks that exhibit a producer/consumer relation on the same physical machine allowing a fast local data transfer. For those iterative applications that require satisfying certain criteria before termination, iHadoop runs the check concurrently during the execution of the subsequent iteration to further reduce the application\\'s latency. This paper also describes our implementation of the iHadoop model, and evaluates its performance against Hadoop, the widely used open source implementation of MapReduce. Experiments using different data analysis applications over real-world and synthetic datasets show that iHadoop performs better than Hadoop for iterative algorithms, reducing execution time of iterative applications by 25% on average. Furthermore, integrating iHadoop with HaLoop, a variant Hadoop implementation that caches

  12. IHadoop: Asynchronous iterations for MapReduce

    KAUST Repository

    Elnikety, Eslam Mohamed Ibrahim; El Sayed, Tamer S.; Ramadan, Hany E.

    2011-01-01

    MapReduce is a distributed programming frame-work designed to ease the development of scalable data-intensive applications for large clusters of commodity machines. Most machine learning and data mining applications involve iterative computations over large datasets, such as the Web hyperlink structures and social network graphs. Yet, the MapReduce model does not efficiently support this important class of applications. The architecture of MapReduce, most critically its dataflow techniques and task scheduling, is completely unaware of the nature of iterative applications; tasks are scheduled according to a policy that optimizes the execution for a single iteration which wastes bandwidth, I/O, and CPU cycles when compared with an optimal execution for a consecutive set of iterations. This work presents iHadoop, a modified MapReduce model, and an associated implementation, optimized for iterative computations. The iHadoop model schedules iterations asynchronously. It connects the output of one iteration to the next, allowing both to process their data concurrently. iHadoop's task scheduler exploits inter-iteration data locality by scheduling tasks that exhibit a producer/consumer relation on the same physical machine allowing a fast local data transfer. For those iterative applications that require satisfying certain criteria before termination, iHadoop runs the check concurrently during the execution of the subsequent iteration to further reduce the application's latency. This paper also describes our implementation of the iHadoop model, and evaluates its performance against Hadoop, the widely used open source implementation of MapReduce. Experiments using different data analysis applications over real-world and synthetic datasets show that iHadoop performs better than Hadoop for iterative algorithms, reducing execution time of iterative applications by 25% on average. Furthermore, integrating iHadoop with HaLoop, a variant Hadoop implementation that caches

  13. Control of neoclassical tearing mode by electron cyclotron current drive and non-resonant helical field application in ITER

    International Nuclear Information System (INIS)

    Taniguchi, Satoshi; Yamazaki, Kozo; Oishi, Tetsutarou; Arimoto, Hideki; Shoji, Tatsuo

    2010-01-01

    On tokamak plasmas like ITER, it is necessary to stabilize neoclassical tearing mode (NTM) because the NTM reduces plasma temperature and fusion power output. For the analysis of stabilizing NTM in fusion plasmas, the electron cyclotron current drive (ECCD) and the non-resonant external helical field (NRHF) application are simulated using the 1.5-dimensional equilibrium/transport simulation code (TOTAL code). The 3/2 NTM is stabilized by only external helical field, but the 2/1 mode is not stabilized by only external helical field in the present model. The stabilization time becomes shorter by the combination of ECCD and NRHF than that by ECCD alone. (author)

  14. WE-G-18A-04: 3D Dictionary Learning Based Statistical Iterative Reconstruction for Low-Dose Cone Beam CT Imaging

    International Nuclear Information System (INIS)

    Bai, T; Yan, H; Shi, F; Jia, X; Jiang, Steve B.; Lou, Y; Xu, Q; Mou, X

    2014-01-01

    Purpose: To develop a 3D dictionary learning based statistical reconstruction algorithm on graphic processing units (GPU), to improve the quality of low-dose cone beam CT (CBCT) imaging with high efficiency. Methods: A 3D dictionary containing 256 small volumes (atoms) of 3x3x3 voxels was trained from a high quality volume image. During reconstruction, we utilized a Cholesky decomposition based orthogonal matching pursuit algorithm to find a sparse representation on this dictionary basis of each patch in the reconstructed image, in order to regularize the image quality. To accelerate the time-consuming sparse coding in the 3D case, we implemented our algorithm in a parallel fashion by taking advantage of the tremendous computational power of GPU. Evaluations are performed based on a head-neck patient case. FDK reconstruction with full dataset of 364 projections is used as the reference. We compared the proposed 3D dictionary learning based method with a tight frame (TF) based one using a subset data of 121 projections. The image qualities under different resolutions in z-direction, with or without statistical weighting are also studied. Results: Compared to the TF-based CBCT reconstruction, our experiments indicated that 3D dictionary learning based CBCT reconstruction is able to recover finer structures, to remove more streaking artifacts, and is less susceptible to blocky artifacts. It is also observed that statistical reconstruction approach is sensitive to inconsistency between the forward and backward projection operations in parallel computing. Using high a spatial resolution along z direction helps improving the algorithm robustness. Conclusion: 3D dictionary learning based CBCT reconstruction algorithm is able to sense the structural information while suppressing noise, and hence to achieve high quality reconstruction. The GPU realization of the whole algorithm offers a significant efficiency enhancement, making this algorithm more feasible for potential

  15. WE-G-18A-04: 3D Dictionary Learning Based Statistical Iterative Reconstruction for Low-Dose Cone Beam CT Imaging

    Energy Technology Data Exchange (ETDEWEB)

    Bai, T [Xi' an Jiaotong University, Xi' an (China); UT Southwestern Medical Center, Dallas, TX (United States); Yan, H; Shi, F; Jia, X; Jiang, Steve B. [UT Southwestern Medical Center, Dallas, TX (United States); Lou, Y [University of California Irvine, Irvine, CA (United States); Xu, Q; Mou, X [Xi' an Jiaotong University, Xi' an (China)

    2014-06-15

    Purpose: To develop a 3D dictionary learning based statistical reconstruction algorithm on graphic processing units (GPU), to improve the quality of low-dose cone beam CT (CBCT) imaging with high efficiency. Methods: A 3D dictionary containing 256 small volumes (atoms) of 3x3x3 voxels was trained from a high quality volume image. During reconstruction, we utilized a Cholesky decomposition based orthogonal matching pursuit algorithm to find a sparse representation on this dictionary basis of each patch in the reconstructed image, in order to regularize the image quality. To accelerate the time-consuming sparse coding in the 3D case, we implemented our algorithm in a parallel fashion by taking advantage of the tremendous computational power of GPU. Evaluations are performed based on a head-neck patient case. FDK reconstruction with full dataset of 364 projections is used as the reference. We compared the proposed 3D dictionary learning based method with a tight frame (TF) based one using a subset data of 121 projections. The image qualities under different resolutions in z-direction, with or without statistical weighting are also studied. Results: Compared to the TF-based CBCT reconstruction, our experiments indicated that 3D dictionary learning based CBCT reconstruction is able to recover finer structures, to remove more streaking artifacts, and is less susceptible to blocky artifacts. It is also observed that statistical reconstruction approach is sensitive to inconsistency between the forward and backward projection operations in parallel computing. Using high a spatial resolution along z direction helps improving the algorithm robustness. Conclusion: 3D dictionary learning based CBCT reconstruction algorithm is able to sense the structural information while suppressing noise, and hence to achieve high quality reconstruction. The GPU realization of the whole algorithm offers a significant efficiency enhancement, making this algorithm more feasible for potential

  16. Online Learning Flight Control for Intelligent Flight Control Systems (IFCS)

    Science.gov (United States)

    Niewoehner, Kevin R.; Carter, John (Technical Monitor)

    2001-01-01

    The research accomplishments for the cooperative agreement 'Online Learning Flight Control for Intelligent Flight Control Systems (IFCS)' include the following: (1) previous IFC program data collection and analysis; (2) IFC program support site (configured IFC systems support network, configured Tornado/VxWorks OS development system, made Configuration and Documentation Management Systems Internet accessible); (3) Airborne Research Test Systems (ARTS) II Hardware (developed hardware requirements specification, developing environmental testing requirements, hardware design, and hardware design development); (4) ARTS II software development laboratory unit (procurement of lab style hardware, configured lab style hardware, and designed interface module equivalent to ARTS II faceplate); (5) program support documentation (developed software development plan, configuration management plan, and software verification and validation plan); (6) LWR algorithm analysis (performed timing and profiling on algorithm); (7) pre-trained neural network analysis; (8) Dynamic Cell Structures (DCS) Neural Network Analysis (performing timing and profiling on algorithm); and (9) conducted technical interchange and quarterly meetings to define IFC research goals.

  17. ITER Council proceedings: 1993

    International Nuclear Information System (INIS)

    1994-01-01

    Records of the third ITER Council Meeting (IC-3), held on 21-22 April 1993, in Tokyo, Japan, and the fourth ITER Council Meeting (IC-4) held on 29 September - 1 October 1993 in San Diego, USA, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA), such as the text of the draft of Protocol 2 further elaborated in ''ITER EDA Agreement and Protocol 2'' (ITER EDA Documentation Series No. 5), recommendations on future work programmes: a description of technology R and D tasks; the establishment of a trust fund for the ITER EDA activities; arrangements for Visiting Home Team Personnel; the general framework for the involvement of other countries in the ITER EDA; conditions for the involvement of Canada in the Euratom Contribution to the ITER EDA; and other attachments as parts of the Records of Decision of the aforementioned ITER Council Meetings

  18. ITER council proceedings: 2000

    International Nuclear Information System (INIS)

    2001-01-01

    No ITER Council Meetings were held during 2000. However, two ITER EDA Meetings were held, one in Tokyo, January 19-20, and one in Moscow, June 29-30. The parties participating in these meetings were those that partake in the extended ITER EDA, namely the EU, the Russian Federation, and Japan. This document contains, a/o, the records of these meetings, the list of attendees, the agenda, the ITER EDA Status Reports issued during these meetings, the TAC (Technical Advisory Committee) reports and recommendations, the MAC Reports and Advice (also for the July 1999 Meeting), the ITER-FEAT Outline Design Report, the TAC Reports and Recommendations both meetings), Site requirements and Site Design Assumptions, the Tentative Sequence of technical Activities 2000-2001, Report of the ITER SWG-P2 on Joint Implementation of ITER, EU/ITER Canada Proposal for New ITER Identification

  19. ITER council proceedings: 1993

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-12-31

    Records of the third ITER Council Meeting (IC-3), held on 21-22 April 1993, in Tokyo, Japan, and the fourth ITER Council Meeting (IC-4) held on 29 September - 1 October 1993 in San Diego, USA, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA), such as the text of the draft of Protocol 2 further elaborated in ``ITER EDA Agreement and Protocol 2`` (ITER EDA Documentation Series No. 5), recommendations on future work programmes: a description of technology R and D tastes; the establishment of a trust fund for the ITER EDA activities; arrangements for Visiting Home Team Personnel; the general framework for the involvement of other countries in the ITER EDA; conditions for the involvement of Canada in the Euratom Contribution to the ITER EDA; and other attachments as parts of the Records of Decision of the aforementioned ITER Council Meetings.

  20. Learning, Leading and Letting go of Control

    DEFF Research Database (Denmark)

    Jensen, Annie Aarup; Kjær-Rasmussen, Lone Krogh; Iversen, Ann-Merete

    Learning, leading and letting go of control – Learner Led Approaches in Education Annie Aarup Jensen, Lone Krogh Kjær-Rasmussen, Ann-Merete Iversen and Anni Stavnskær Pedersen Abstract The aim of the paper is to introduce a new term in teaching in Higher Education: Learner Led Approaches...... in Education: LED. The sources of inspiration are many as are the experiences we draw from. Problem-based project work (PBL) being one, various classical teacher centered methods, and last but not least a variety of methods aiming towards developing creativity, innovational skills and entrepreneurship. LED...... is inspired by collaboration between professors from Aalborg University, Cornwall College and University College of Northern Denmark. Moravec (2008) claims that educational systems still operate in 1.0 or perhaps 2.0 mode while the surrounding cultures and societies operate in 3.0 mode. The amount...

  1. The ITER remote maintenance system

    International Nuclear Information System (INIS)

    Tesini, A.; Palmer, J.

    2007-01-01

    ITER is a joint international research and development project that aims to demonstrate the scientific and technological feasibility of fusion power. As soon as the plasma operation begins using tritium, the replacement of the vacuum vessel internal components will need to be done with remote handling techniques. To accomplish these operations ITER has equipped itself with a Remote Maintenance System; this includes the Remote Handling equipment set and the Hot Cell facility. Both need to work in a cooperative way, with the aim of minimizing the machine shutdown periods and to maximize the machine availability. The ITER Remote Handling equipment set is required to be available, robust, reliable and retrievable. The machine components, to be remotely handle-able, are required to be designed simply so as to ease their maintenance. The baseline ITER Remote Handling equipment is described. The ITER Hot Cell Facility is required to provide a controlled and shielded area for the execution of repair operations (carried out using dedicated remote handling equipment) on those activated components which need to be returned to service, inside the vacuum vessel. The Hot Cell provides also the equipment and space for the processing and temporary storage of the operational and decommissioning radwaste. A conceptual ITER Hot Cell Facility is described. (orig.)

  2. The ITER reduced cost design

    International Nuclear Information System (INIS)

    Aymar, R.

    2000-01-01

    Six years of joint work under the international thermonuclear experimental reactor (ITER) EDA agreement yielded a mature design for ITER which met the objectives set for it (ITER final design report (FDR)), together with a corpus of scientific and technological data, large/full scale models or prototypes of key components/systems and progress in understanding which both validated the specific design and are generally applicable to a next step, reactor-oriented tokamak on the road to the development of fusion as an energy source. In response to requests from the parties to explore the scope for addressing ITER's programmatic objective at reduced cost, the study of options for cost reduction has been the main feature of ITER work since summer 1998, using the advances in physics and technology databases, understandings, and tools arising out of the ITER collaboration to date. A joint concept improvement task force drawn from the joint central team and home teams has overseen and co-ordinated studies of the key issues in physics and technology which control the possibility of reducing the overall investment and simultaneously achieving the required objectives. The aim of this task force is to achieve common understandings of these issues and their consequences so as to inform and to influence the best cost-benefit choice, which will attract consensus between the ITER partners. A report to be submitted to the parties by the end of 1999 will present key elements of a specific design of minimum capital investment, with a target cost saving of about 50% the cost of the ITER FDR design, and a restricted number of design variants. Outline conclusions from the work of the task force are presented in terms of physics, operations, and design of the main tokamak systems. Possible implications for the way forward are discussed

  3. ITER diagnostic system: Vacuum interface

    International Nuclear Information System (INIS)

    Patel, K.M.; Udintsev, V.S.; Hughes, S.; Walker, C.I.; Andrew, P.; Barnsley, R.; Bertalot, L.; Drevon, J.M.; Encheva, A.; Kashchuk, Y.; Maquet, Ph.; Pearce, R.; Taylor, N.; Vayakis, G.; Walsh, M.J.

    2013-01-01

    Diagnostics play an essential role for the successful operation of the ITER tokamak. They provide the means to observe control and to measure plasma during the operation of ITER tokamak. The components of the diagnostic system in the ITER tokamak will be installed in the vacuum vessel, in the cryostat, in the upper, equatorial and divertor ports, in the divertor cassettes and racks, as well as in various buildings. Diagnostic components that are placed in a high radiation environment are expected to operate for the life of ITER. There are approx. 45 diagnostic systems located on ITER. Some diagnostics incorporate direct or independently pumped extensions to maintain their necessary vacuum conditions. They require a base pressure less than 10 −7 Pa, irrespective of plasma operation, and a leak rate of less than 10 −10 Pa m 3 s −1 . In all the cases it is essential to maintain the ITER closed fuel cycle. These directly coupled diagnostic systems are an integral part of the ITER vacuum containment and are therefore subject to the same design requirements for tritium and active gas confinement, for all normal and accidental conditions. All the diagnostics, whether or not pumped, incorporate penetration of the vacuum boundary (i.e. window assembly, vacuum feedthrough etc.) and demountable joints. Monitored guard volumes are provided for all elements of the vacuum boundary that are judged to be vulnerable by virtue of their construction, material, load specification etc. Standard arrangements are made for their construction and for the monitoring, evacuating and leak testing of these volumes. Diagnostic systems are incorporated at more than 20 ports on ITER. This paper will describe typical and particular arrangements of pumped diagnostic and monitored guard volume. The status of the diagnostic vacuum systems, which are at the start of their detailed design, will be outlined and the specific features of the vacuum systems in ports and extensions will be described

  4. ITER diagnostic system: Vacuum interface

    Energy Technology Data Exchange (ETDEWEB)

    Patel, K.M., E-mail: Kaushal.Patel@iter.org [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-Lez-Durance (France); Udintsev, V.S.; Hughes, S.; Walker, C.I.; Andrew, P.; Barnsley, R.; Bertalot, L. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-Lez-Durance (France); Drevon, J.M. [Bertin Technologies, BP 22, 13762 Aix-en Provence cedex 3 (France); Encheva, A. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-Lez-Durance (France); Kashchuk, Y. [Institution “PROJECT CENTER ITER”, 1, Akademika Kurchatova pl., Moscow (Russian Federation); Maquet, Ph. [Bertin Technologies, BP 22, 13762 Aix-en Provence cedex 3 (France); Pearce, R.; Taylor, N.; Vayakis, G.; Walsh, M.J. [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul-Lez-Durance (France)

    2013-10-15

    Diagnostics play an essential role for the successful operation of the ITER tokamak. They provide the means to observe control and to measure plasma during the operation of ITER tokamak. The components of the diagnostic system in the ITER tokamak will be installed in the vacuum vessel, in the cryostat, in the upper, equatorial and divertor ports, in the divertor cassettes and racks, as well as in various buildings. Diagnostic components that are placed in a high radiation environment are expected to operate for the life of ITER. There are approx. 45 diagnostic systems located on ITER. Some diagnostics incorporate direct or independently pumped extensions to maintain their necessary vacuum conditions. They require a base pressure less than 10{sup −7} Pa, irrespective of plasma operation, and a leak rate of less than 10{sup −10} Pa m{sup 3} s{sup −1}. In all the cases it is essential to maintain the ITER closed fuel cycle. These directly coupled diagnostic systems are an integral part of the ITER vacuum containment and are therefore subject to the same design requirements for tritium and active gas confinement, for all normal and accidental conditions. All the diagnostics, whether or not pumped, incorporate penetration of the vacuum boundary (i.e. window assembly, vacuum feedthrough etc.) and demountable joints. Monitored guard volumes are provided for all elements of the vacuum boundary that are judged to be vulnerable by virtue of their construction, material, load specification etc. Standard arrangements are made for their construction and for the monitoring, evacuating and leak testing of these volumes. Diagnostic systems are incorporated at more than 20 ports on ITER. This paper will describe typical and particular arrangements of pumped diagnostic and monitored guard volume. The status of the diagnostic vacuum systems, which are at the start of their detailed design, will be outlined and the specific features of the vacuum systems in ports and extensions

  5. Exploring Learner Autonomy: Language Learning Locus of Control in Multilinguals

    Science.gov (United States)

    Peek, Ron

    2016-01-01

    By using data from an online language learning beliefs survey (n?=?841), defining language learning experience in terms of participants' multilingualism, and using a domain-specific language learning locus of control (LLLOC) instrument, this article examines whether more experienced language learners can also be seen as more autonomous language…

  6. Impact of the plasma response in three-dimensional edge plasma transport modelling for RMP ELM control scenarios at ITER

    Science.gov (United States)

    Schmitz, Oliver

    2014-10-01

    The constrains used in magneto-hydrodynamic (MHD) modeling of the plasma response to external resonant magnetic perturbation (RMP) fields have a profound impact on the three-dimensional (3-D) shape of the plasma boundary induced by RMP fields. In this contribution, the consequences of the plasma response on the actual 3D boundary structure and transport during RMP application at ITER are investigated. The 3D fluid plasma and kinetic neutral transport code EMC3-Eirene is used for edge transport modeling. Plasma response modeling is conducted with the M3D-C1 code using a single fluid, non-linear and a two fluid, linear MHD constrain. These approaches are compared to results with an ideal MHD like plasma response. A 3D plasma boundary is formed for all cases consisting of magnetic finger structures at the X-point intersecting the divertor surface in a helical footprint pattern. The width of the helical footprint pattern is largely reduced compared to vacuum magnetic fields when using the ideal MHD like screening model. This yields increasing peak heat fluxes in contrast to a beneficial heat flux spreading seen with vacuum fields. The particle pump out as well as loss of thermal energy is reduced by a factor of two compared to vacuum fields. In contrast, the impact of the plasma response obtained from both MHD constrains in M3D-C1 is nearly negligible at the plasma boundary and only a small modification of the magnetic footprint topology is detected. Accordingly, heat and particle fluxes on the target plates as well as the edge transport characteristics are comparable to the vacuum solution. This span of modeling results with different plasma response models highlights the importance of thoroughly validating both, plasma response and 3D edge transport models for a robust extrapolation towards ITER. Supported by ITER Grant IO/CT/11/4300000497 and F4E Grant GRT-055 (PMS-PE) and by Start-Up Funds of the University of Wisconsin - Madison.

  7. A Multiple-Iterated Dual Control Model for Groundwater Exploitation and Water Level Based on the Optimal Allocation Model of Water Resources

    Directory of Open Access Journals (Sweden)

    Junqiu Liu

    2018-04-01

    Full Text Available In order to mitigate environmental and ecological impacts resulting from groundwater overexploitation, we developed a multiple-iterated dual control model consisting of four modules for groundwater exploitation and water level. First, a water resources allocation model integrating calculation module of groundwater allowable withdrawal was built to predict future groundwater recharge and discharge. Then, the results were input into groundwater numerical model to simulate water levels. Groundwater exploitation was continuously optimized using the critical groundwater level as the feedback, and a groundwater multiple-iterated technique was applied to the feedback process. The proposed model was successfully applied to a typical region in Shenyang in northeast China. Results showed the groundwater numerical model was verified in simulating water levels, with a mean absolute error of 0.44 m, an average relative error of 1.33%, and a root-mean-square error of 0.46 m. The groundwater exploitation reduced from 290.33 million m3 to 116.76 million m3 and the average water level recovered from 34.27 m to 34.72 m in planning year. Finally, we proposed the strategies for water resources management in which the water levels should be controlled within the critical groundwater level. The developed model provides a promising approach for water resources allocation and sustainable groundwater management, especially for those regions with overexploited groundwater.

  8. The control of tonic pain by active relief learning.

    Science.gov (United States)

    Zhang, Suyi; Mano, Hiroaki; Lee, Michael; Yoshida, Wako; Kawato, Mitsuo; Robbins, Trevor W; Seymour, Ben

    2018-02-27

    Tonic pain after injury characterises a behavioural state that prioritises recovery. Although generally suppressing cognition and attention, tonic pain needs to allow effective relief learning to reduce the cause of the pain. Here, we describe a central learning circuit that supports learning of relief and concurrently suppresses the level of ongoing pain. We used computational modelling of behavioural, physiological and neuroimaging data in two experiments in which subjects learned to terminate tonic pain in static and dynamic escape-learning paradigms. In both studies, we show that active relief-seeking involves a reinforcement learning process manifest by error signals observed in the dorsal putamen. Critically, this system uses an uncertainty ('associability') signal detected in pregenual anterior cingulate cortex that both controls the relief learning rate, and endogenously and parametrically modulates the level of tonic pain. The results define a self-organising learning circuit that reduces ongoing pain when learning about potential relief. © 2018, Zhang et al.

  9. The control of tonic pain by active relief learning

    Science.gov (United States)

    Mano, Hiroaki; Lee, Michael; Yoshida, Wako; Kawato, Mitsuo; Robbins, Trevor W

    2018-01-01

    Tonic pain after injury characterises a behavioural state that prioritises recovery. Although generally suppressing cognition and attention, tonic pain needs to allow effective relief learning to reduce the cause of the pain. Here, we describe a central learning circuit that supports learning of relief and concurrently suppresses the level of ongoing pain. We used computational modelling of behavioural, physiological and neuroimaging data in two experiments in which subjects learned to terminate tonic pain in static and dynamic escape-learning paradigms. In both studies, we show that active relief-seeking involves a reinforcement learning process manifest by error signals observed in the dorsal putamen. Critically, this system uses an uncertainty (‘associability’) signal detected in pregenual anterior cingulate cortex that both controls the relief learning rate, and endogenously and parametrically modulates the level of tonic pain. The results define a self-organising learning circuit that reduces ongoing pain when learning about potential relief. PMID:29482716

  10. Active controllers and the time duration to learn a task

    Science.gov (United States)

    Repperger, D. W.; Goodyear, C.

    1986-01-01

    An active controller was used to help train naive subjects involved in a compensatory tracking task. The controller is called active in this context because it moves the subject's hand in a direction to improve tracking. It is of interest here to question whether the active controller helps the subject to learn a task more rapidly than the passive controller. Six subjects, inexperienced to compensatory tracking, were run to asymptote root mean square error tracking levels with an active controller or a passive controller. The time required to learn the task was defined several different ways. The results of the different measures of learning were examined across pools of subjects and across controllers using statistical tests. The comparison between the active controller and the passive controller as to their ability to accelerate the learning process as well as reduce levels of asymptotic tracking error is reported here.

  11. Analysis of ITER upper port plug remote handling maintenance scenarios

    International Nuclear Information System (INIS)

    Koning, J.F.; Baar, M.R. de; Elzendoorn, B.S.Q.; Heemskerk, C.J.M.; Ronden, D.M.S.; Schuth, W.J.

    2012-01-01

    Highlights: ► Remote Handling Study Centre: providing RH compatibility analysis. ► Simulation: virtual reality including kinematics and realtime physics simulator. ► Applied on analysis of RH compatibility of Upper Launcher component replacement. ► Resulting in lowered maintenance procedure time and lessons learned. - Abstract: The ITER tokamak has a modular design, with port plugs, blanket modules and divertor cassettes. This set-up allows for maintenance of diagnostics, heating systems and first wall elements. The maintenance can be done in situ, or in the Hot Cell. Safe and effective remote handling (RH) will be ensured by the RH requirements and standards. Compliance is verified through remote handling compatibility assessments at the ITER Design Review milestones. The Remote Handling Study Centre at FOM Institute DIFFER is created to study ITER RH maintenance processes at different levels of complexity, from relatively simple situational awareness checks using snap-shots in the CAD system, time studies using virtual reality (VR) animations, to extensive operational sequence validation with multiple operators in real-time. The multi-operator facility mimics an RH work-cell as presently foreseen in the ITER RH control room. Novel VR technology is used to create a realistic setting in which a team of RH operators can interact with virtual ITER environments. A physics engine is used to emulate real-time contact interaction as to provide realistic haptic feed-back. Complex interactions between the RH operators and the control room system software are tested. RH task performance is quantified and operational resource usage estimated. The article provides a description and lessons learned from a recent study on replacement of the Steering Mirror Assembly on the ECRH (Electron Cyclotron Resonance Heating) Upper Launcher port plug.

  12. Analysis of ITER upper port plug remote handling maintenance scenarios

    Energy Technology Data Exchange (ETDEWEB)

    Koning, J.F., E-mail: j.f.koning@heemskerk-innovative.nl [FOM Institute DIFFER - Dutch Institute for Fundamental Energy Research, Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster and ITER-NL, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Baar, M.R. de; Elzendoorn, B.S.Q. [FOM Institute DIFFER - Dutch Institute for Fundamental Energy Research, Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster and ITER-NL, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Heemskerk, C.J.M. [Heemskerk Innovative Technology, Noordwijk (Netherlands); Ronden, D.M.S.; Schuth, W.J. [FOM Institute DIFFER - Dutch Institute for Fundamental Energy Research, Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster and ITER-NL, PO Box 1207, 3430 BE Nieuwegein (Netherlands)

    2012-08-15

    Highlights: Black-Right-Pointing-Pointer Remote Handling Study Centre: providing RH compatibility analysis. Black-Right-Pointing-Pointer Simulation: virtual reality including kinematics and realtime physics simulator. Black-Right-Pointing-Pointer Applied on analysis of RH compatibility of Upper Launcher component replacement. Black-Right-Pointing-Pointer Resulting in lowered maintenance procedure time and lessons learned. - Abstract: The ITER tokamak has a modular design, with port plugs, blanket modules and divertor cassettes. This set-up allows for maintenance of diagnostics, heating systems and first wall elements. The maintenance can be done in situ, or in the Hot Cell. Safe and effective remote handling (RH) will be ensured by the RH requirements and standards. Compliance is verified through remote handling compatibility assessments at the ITER Design Review milestones. The Remote Handling Study Centre at FOM Institute DIFFER is created to study ITER RH maintenance processes at different levels of complexity, from relatively simple situational awareness checks using snap-shots in the CAD system, time studies using virtual reality (VR) animations, to extensive operational sequence validation with multiple operators in real-time. The multi-operator facility mimics an RH work-cell as presently foreseen in the ITER RH control room. Novel VR technology is used to create a realistic setting in which a team of RH operators can interact with virtual ITER environments. A physics engine is used to emulate real-time contact interaction as to provide realistic haptic feed-back. Complex interactions between the RH operators and the control room system software are tested. RH task performance is quantified and operational resource usage estimated. The article provides a description and lessons learned from a recent study on replacement of the Steering Mirror Assembly on the ECRH (Electron Cyclotron Resonance Heating) Upper Launcher port plug.

  13. The ITER project technological challenges

    CERN Multimedia

    CERN. Geneva; Lister, Joseph; Marquina, Miguel A; Todesco, Ezio

    2005-01-01

    The first lecture reminds us of the ITER challenges, presents hard engineering problems, typically due to mechanical forces and thermal loads and identifies where the physics uncertainties play a significant role in the engineering requirements. The second lecture presents soft engineering problems of measuring the plasma parameters, feedback control of the plasma and handling the physics data flow and slow controls data flow from a large experiment like ITER. The last three lectures focus on superconductors for fusion. The third lecture reviews the design criteria and manufacturing methods for 6 milestone-conductors of large fusion devices (T-7, T-15, Tore Supra, LHD, W-7X, ITER). The evolution of the designer approach and the available technologies are critically discussed. The fourth lecture is devoted to the issue of performance prediction, from a superconducting wire to a large size conductor. The role of scaling laws, self-field, current distribution, voltage-current characteristic and transposition are...

  14. ITER council proceedings: 1995

    International Nuclear Information System (INIS)

    1996-01-01

    Records of the 8. ITER Council Meeting (IC-8), held on 26-27 July 1995, in San Diego, USA, and the 9. ITER Council Meeting (IC-9) held on 12-13 December 1995, in Garching, Germany, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA) and the ITER Interim Design Report Package and Relevant Documents. Figs, tabs

  15. ITER council proceedings: 1999

    International Nuclear Information System (INIS)

    1999-01-01

    In 1999 the ITER meeting in Cadarache (10-11 March 1999) and the Programme Directors Meeting in Grenoble (28-29 July 1999) took place. Both meetings were exclusively devoted to ITER engineering design activities and their agendas covered all issues important for the development of ITER. This volume presents the documents of these two important meetings

  16. ITER council proceedings: 1996

    International Nuclear Information System (INIS)

    1997-01-01

    Records of the 10. ITER Council Meeting (IC-10), held on 26-27 July 1996, in St. Petersburg, Russia, and the 11. ITER Council Meeting (IC-11) held on 17-18 December 1996, in Tokyo, Japan, are presented, giving essential information on the evolution of the ITER Engineering Design Activities (EDA) and the cost review and safety analysis. Figs, tabs

  17. ITER EDA technical activities

    International Nuclear Information System (INIS)

    Aymar, R.

    1998-01-01

    Six years of technical work under the ITER EDA Agreement have resulted in a design which constitutes a complete description of the ITER device and of its auxiliary systems and facilities. The ITER Council commented that the Final Design Report provides the first comprehensive design of a fusion reactor based on well established physics and technology

  18. ITER radio frequency systems

    International Nuclear Information System (INIS)

    Bosia, G.

    1998-01-01

    Neutral Beam Injection and RF heating are two of the methods for heating and current drive in ITER. The three ITER RF systems, which have been developed during the EDA, offer several complementary services and are able to fulfil ITER operational requirements

  19. Learning feedforward controller for a mobile robot vehicle

    NARCIS (Netherlands)

    Starrenburg, J.G.; Starrenburg, J.G.; van Luenen, W.T.C.; van Luenen, W.T.C.; Oelen, W.; Oelen, W.; van Amerongen, J.

    1996-01-01

    This paper describes the design and realisation of an on-line learning posetracking controller for a three-wheeled mobile robot vehicle. The controller consists of two components. The first is a constant-gain feedback component, designed on the basis of a second-order model. The second is a learning

  20. Continuous residual reinforcement learning for traffic signal control optimization

    NARCIS (Netherlands)

    Aslani, Mohammad; Seipel, Stefan; Wiering, Marco

    2018-01-01

    Traffic signal control can be naturally regarded as a reinforcement learning problem. Unfortunately, it is one of the most difficult classes of reinforcement learning problems owing to its large state space. A straightforward approach to address this challenge is to control traffic signals based on

  1. Adaptive learning fuzzy control of a mobile robot

    International Nuclear Information System (INIS)

    Tsukada, Akira; Suzuki, Katsuo; Fujii, Yoshio; Shinohara, Yoshikuni

    1989-11-01

    In this report a problem is studied to construct a fuzzy controller for a mobile robot to move autonomously along a given reference direction curve, for which control rules are generated and acquired through an adaptive learning process. An adaptive learning fuzzy controller has been developed for a mobile robot. Good properties of the controller are shown through the travelling experiments of the mobile robot. (author)

  2. ITER and world chaos; Iter ou le bouleversement du monde

    Energy Technology Data Exchange (ETDEWEB)

    Pourcel, Eric

    2012-02-15

    ITER is the International Thermonuclear Experimental Reactor: the author here develops three scenarios linked to the control of nuclear fusion as a method of producing electrical energy that could take over from fossil fuels in the twenty-First century. His expose shows the likely strategic disarray that might result

  3. ITER EDA newsletter. V. 5, no. 6

    International Nuclear Information System (INIS)

    1996-06-01

    This issue of the ITER Engineering Design Activities Newsletter contains a report on the Tenth Meeting of the ITER Technical Advisory Committee; on the papers relevant to the ITER project that were presented during the 12th International Conference on Plasma-Surface Interactions in Controlled Fusion Devices held at St. Raphael, France, on 20-24 May 1996; and a note on the interrelationship between ITER and the PSI Conference, initiated more than twenty years ago by surface and solid-state physicists

  4. ITER safety challenges and opportunities

    International Nuclear Information System (INIS)

    Piet, S.J.

    1991-01-01

    Results of the Conceptual Design Activity (CDA) for the International Thermonuclear Experimental Reactor (ITER) suggest challenges and opportunities. ''ITER is capable of meeting anticipated regulatory dose limits,'' but proof is difficult because of large radioactive inventories needing stringent radioactivity confinement. We need much research and development (R ampersand D) and design analysis to establish that ITER meets regulatory requirements. We have a further opportunity to do more to prove more of fusion's potential safety and environmental advantages and maximize the amount of ITER technology on the path toward fusion power plants. To fulfill these tasks, we need to overcome three programmatic challenges and three technical challenges. The first programmatic challenge is to fund a comprehensive safety and environmental ITER R ampersand D plan. Second is to strengthen safety and environment work and personnel in the international team. Third is to establish an external consultant group to advise the ITER Joint Team on designing ITER to meet safety requirements for siting by any of the Parties. The first of the three key technical challenges is plasma engineering -- burn control, plasma shutdown, disruptions, tritium burn fraction, and steady state operation. The second is the divertor, including tritium inventory, activation hazards, chemical reactions, and coolant disturbances. The third technical challenge is optimization of design requirements considering safety risk, technical risk, and cost. Some design requirements are now too strict; some are too lax. Fuel cycle design requirements are presently too strict, mandating inappropriate T separation from H and D. Heat sink requirements are presently too lax; they should be strengthened to ensure that maximum loss of coolant accident temperatures drop

  5. Integrated Programme Control Systems: Lessons Learned

    Energy Technology Data Exchange (ETDEWEB)

    Brown, C. W. [Babcock International Group PLC (formerly UKAEA Ltd) B21 Forss, Thurso, Caithness, Scotland (United Kingdom)

    2013-08-15

    Dounreay was the UK's centre of fast reactor research and development from 1955 until 1994 and is now Scotland's largest nuclear clean up and demolition project. After four decades of research, Dounreay is now a site of construction, demolition and waste management, designed to return the site to as near as practicable to its original condition. Dounreay has a turnover in the region of Pounds 150 million a year and employs approximately 900 people. It subcontracts work to 50 or so companies in the supply chain and this provides employment for a similar number of people. The plan for decommissioning the site anticipates all redundant buildings will be cleared in the short term. The target date to achieve interim end state by 2039 is being reviewed in light of Government funding constraints, and will be subject to change through the NDA led site management competition. In the longer term, controls will be put in place on the use of contaminated land until 2300. In supporting the planning, management and organisational aspects for this complex decommissioning programme an integrated programme controls system has been developed and deployed. This consists of a combination of commercial and bespoke tools integrated to support all aspects of programme management, namely scope, schedule, cost, estimating and risk in order to provide baseline and performance management data based upon the application of earned value management principles. Through system evolution and lessons learned, the main benefits of this approach are management data consistency, rapid communication of live information, and increased granularity of data providing summary and detailed reports which identify performance trends that lead to corrective actions. The challenges of such approach are effective use of the information to realise positive changes, balancing the annual system support and development costs against the business needs, and maximising system performance. (author)

  6. ITER-FEAT safety

    International Nuclear Information System (INIS)

    Gordon, C.W.; Bartels, H.-W.; Honda, T.; Raeder, J.; Topilski, L.; Iseli, M.; Moshonas, K.; Taylor, N.; Gulden, W.; Kolbasov, B.; Inabe, T.; Tada, E.

    2001-01-01

    Safety has been an integral part of the design process for ITER since the Conceptual Design Activities of the project. The safety approach adopted in the ITER-FEAT design and the complementary assessments underway, to be documented in the Generic Site Safety Report (GSSR), are expected to help demonstrate the attractiveness of fusion and thereby set a good precedent for future fusion power reactors. The assessments address ITER's radiological hazards taking into account fusion's favourable safety characteristics. The expectation that ITER will need regulatory approval has influenced the entire safety design and assessment approach. This paper summarises the ITER-FEAT safety approach and assessments underway. (author)

  7. ITER council proceedings: 1997

    International Nuclear Information System (INIS)

    1997-01-01

    This volume of the ITER EDA Documentation Series presents records of the 12th ITER Council Meeting, IC-12, which took place on 23-24 July, 1997 in Tampere, Finland. The Council received from the Parties (EU, Japan, Russia, US) positive responses on the Detailed Design Report. The Parties stated their willingness to contribute to fulfil their obligations in contributing to the ITER EDA. The summary discussions among the Parties led to the consensus that in July 1998 the ITER activities should proceed for additional three years with a general intent to enable an efficient start of possible, future ITER construction

  8. Episodic reinforcement learning control approach for biped walking

    Directory of Open Access Journals (Sweden)

    Katić Duško

    2012-01-01

    Full Text Available This paper presents a hybrid dynamic control approach to the realization of humanoid biped robotic walk, focusing on the policy gradient episodic reinforcement learning with fuzzy evaluative feedback. The proposed structure of controller involves two feedback loops: a conventional computed torque controller and an episodic reinforcement learning controller. The reinforcement learning part includes fuzzy information about Zero-Moment- Point errors. Simulation tests using a medium-size 36-DOF humanoid robot MEXONE were performed to demonstrate the effectiveness of our method.

  9. Adaptive Trajectory Tracking Control using Reinforcement Learning for Quadrotor

    Directory of Open Access Journals (Sweden)

    Wenjie Lou

    2016-02-01

    Full Text Available Inaccurate system parameters and unpredicted external disturbances affect the performance of non-linear controllers. In this paper, a new adaptive control algorithm under the reinforcement framework is proposed to stabilize a quadrotor helicopter. Based on a command-filtered non-linear control algorithm, adaptive elements are added and learned by policy-search methods. To predict the inaccurate system parameters, a new kernel-based regression learning method is provided. In addition, Policy learning by Weighting Exploration with the Returns (PoWER and Return Weighted Regression (RWR are utilized to learn the appropriate parameters for adaptive elements in order to cancel the effect of external disturbance. Furthermore, numerical simulations under several conditions are performed, and the ability of adaptive trajectory-tracking control with reinforcement learning are demonstrated.

  10. Investigation of Drive-Reinforcement Learning and Application of Learning to Flight Control

    Science.gov (United States)

    1993-08-01

    WL-TR-93-1153 INVESTIGATION OF DRIVE-REINFORCEMEN% LEARNING AND APPLICATION OF LEARNING TO FLIGHT CONTROL AD-A277 442 WALTER L. BAKER (ED), STEPHEN ...OF LEARNING TO FUIGHT CONTROL PE 62204 ___ ___ ___ ___ __ ___ ___ ___ ___ ___ ___ __ PR 2003 6. AUTHOR(S) TA 05 WALTER L. BAKER (ED), STEPHEN C. ATKINS...34 Computers and Thought, E. A. Freigenbaum and J. Feldman (eds.), Mc- Graw Hill, New York, (1959). [19] Holland, J. H., "Escaping Brittleness: The Possibility

  11. The ITER CODAC conceptual design

    International Nuclear Information System (INIS)

    Lister, J.B.; Farthing, J.W.; Greenwald, M.; Yonekawa, I.

    2007-01-01

    CODAC orchestrates the activity of 60-90 Plant Systems in normal ITER operation. Interlock Systems protect ITER from potentially damaging operating off-normal conditions. Safety Systems protect the personnel and the environment and will be subject to licensing. The principal challenges to be met in the design and implementation of CODAC include: complexity, reliability, transparent access respecting security, a high experiment data rate and data volume since ITER is an experimental reactor, scientific exploitation from multiple Participant Team Experiment Sites and the long 35-year period for construction and operation. Complexity is addressed by prescribing the communication interfaces to the Plant Systems and prescribing the technical implementation within the Plant Systems. Plant Systems export to CODAC all the information on their construction and operation as 'self-description'. Complexity is also addressed by automating the operation of ITER and of the plasma, using a structured data description of 'Operation Schedules' which encompass all non-manual control, including Plasma Control. Reliability is addressed by maximising code reuse and maximising the use of existing products thereby minimising in-house development. The design is hierarchical and modular in both hardware and software. The latter facilitates evolution of methods during the project lifetime. Guaranteeing security while maximising access is addressed by flow separation. Out-flowing data, including experimental signals and the status of ITER plant is risk-free. In-flowing commands and data originate from Experiment Sites. The Cadarache Experiment Site is equated with the Remote Experiment Sites and a rigorous 'Operation Request Gatekeeper' is provided. The high data rates and data volumes are handled with high performance networks. Global Area Networks allow Participant Teams to access all CODAC data and applications. Scientific exploitation of ITER will remain a human as well as technical

  12. ITER Operating Limits and Conditions

    International Nuclear Information System (INIS)

    Ciattaglia, S.; Barabaschi, P.; Carretero, J.A.

    2006-01-01

    The Operating Limits and Conditions (OLCs) are operating parameters and conditions, chosen among all system/components, which together define the domain of the safe operation of ITER in all foreseen ITER status (operation, maintenance, commissioning). At the same time they are selected to guarantee the required operation flexibility which is a critical factor for the success of an experimental machine such as ITER. System and components important for personnel or public safety (Safety Important Class, SIC) are identified from the overall plant safety analysis on functional importance to safety of the components. SIC classification has to be presented already inside the preliminary safety analysis report and approved by the licensing safety authority before the relevant construction. OLCs comprise the safety limits, i.e. that if exceeded could result in a potential safety hazard, the relevant settings that determine the intervention of SIC systems and the operational limits on equipment which warn from or stop a functional departure from a planned operational status that could challenge equipment and functions. The safety limits have to indicate clearly states that leave the nominal safety state of ITER; they are derived from the safety analysis of ITER. OLCs can represent in some cases few parameters grouping together. Some operational conditions, e.g. inventories, will be controlled through no real time measurements and procedures. Operating experience from present tokamaks, in particular JET, and from nuclear plants is considered at the maximum possible extent. This paper presents the guidelines to develop the ITER OLCs with particular reference to safety limits. A few examples are reported as well as open issues on some OLCs control and measurement and the relevant R-and-D planned to solve the issues. (author)

  13. Efficient model learning methods for actor-critic control.

    Science.gov (United States)

    Grondman, Ivo; Vaandrager, Maarten; Buşoniu, Lucian; Babuska, Robert; Schuitema, Erik

    2012-06-01

    We propose two new actor-critic algorithms for reinforcement learning. Both algorithms use local linear regression (LLR) to learn approximations of the functions involved. A crucial feature of the algorithms is that they also learn a process model, and this, in combination with LLR, provides an efficient policy update for faster learning. The first algorithm uses a novel model-based update rule for the actor parameters. The second algorithm does not use an explicit actor but learns a reference model which represents a desired behavior, from which desired control actions can be calculated using the inverse of the learned process model. The two novel methods and a standard actor-critic algorithm are applied to the pendulum swing-up problem, in which the novel methods achieve faster learning than the standard algorithm.

  14. Learning, Leading, and Letting Go of Control

    DEFF Research Database (Denmark)

    Iversen, Ann-Merete; Pedersen, Anni Stavnskær; Kjær-Rasmussen, Lone Krogh

    2015-01-01

    The article introduces a new term in higher education: learner-led approaches in education (LED). This does not represent a single approach or dogma to replace existing dogmas, but a way of approaching learning and education that mirrors the complexity of society as it develops. LED is based...... on the assumption that all students have their own unique approach to learning and therefore have the potential to design learning processes that are meaningful for them. This removes focus from the teacher and the teaching to the learner and the learning. It builds on the student’s motivation and experienced...... meaningfulness as a driving force, and hence the term learner led. The methods applied in LED change over time, as different learners and teachers together co-create and design methods and approaches appropriate at that particular time, in that particular context and for that particular student or group...

  15. Fixed structure feedforward controller design exploiting iterative trials: application to a wafer stage and a desktop printer

    NARCIS (Netherlands)

    Meulen, van der S.H.; Tousain, R.L.; Bosgra, O.H.

    2008-01-01

    In this paper, the feedforward controller design problem for high-precision electromechanical servo systems that execute finite time tasks is addressed. The presented procedure combines the selection of the fixed structure of the feedforward controller and the optimization of the controller

  16. Measuring strategic control in implicit learning: how and why?

    OpenAIRE

    Norman, Elisabeth

    2015-01-01

    Several methods have been developed for measuring the extent to which implicitly learned knowledge can be applied in a strategic, flexible manner. Examples include generation exclusion tasks in Serial Reaction Time (SRT) learning (Goschke, 1998; Destrebecqz and Cleeremans, 2001) and 2-grammar classification tasks in Artificial Grammar Learning (AGL; Dienes et al., 1995; Norman et al., 2011). Strategic control has traditionally been used as a criterion for determining whether acquired knowledg...

  17. Discrete Learning Control with Application to Hydraulic Actuators

    DEFF Research Database (Denmark)

    Andersen, Torben Ole; Pedersen, Henrik Clemmensen; Hansen, Michael R.

    2015-01-01

    In this paper the robustness of a class of learning control algorithms to state disturbances, output noise, and errors in initial conditions is studied. We present a simple learning algorithm and exhibit, via a concise proof, bounds on the asymptotic trajectory errors for the learned input...... and the corresponding state and output trajectories. Furthermore, these bounds are continuous functions of the bounds on the initial condition errors, state disturbance, and output noise, and the bounds are zero in the absence of these disturbances....

  18. Optimal and Autonomous Control Using Reinforcement Learning: A Survey.

    Science.gov (United States)

    Kiumarsi, Bahare; Vamvoudakis, Kyriakos G; Modares, Hamidreza; Lewis, Frank L

    2018-06-01

    This paper reviews the current state of the art on reinforcement learning (RL)-based feedback control solutions to optimal regulation and tracking of single and multiagent systems. Existing RL solutions to both optimal and control problems, as well as graphical games, will be reviewed. RL methods learn the solution to optimal control and game problems online and using measured data along the system trajectories. We discuss Q-learning and the integral RL algorithm as core algorithms for discrete-time (DT) and continuous-time (CT) systems, respectively. Moreover, we discuss a new direction of off-policy RL for both CT and DT systems. Finally, we review several applications.

  19. Towards autonomous neuroprosthetic control using Hebbian reinforcement learning.

    Science.gov (United States)

    Mahmoudi, Babak; Pohlmeyer, Eric A; Prins, Noeline W; Geng, Shijia; Sanchez, Justin C

    2013-12-01

    Our goal was to design an adaptive neuroprosthetic controller that could learn the mapping from neural states to prosthetic actions and automatically adjust adaptation using only a binary evaluative feedback as a measure of desirability/undesirability of performance. Hebbian reinforcement learning (HRL) in a connectionist network was used for the design of the adaptive controller. The method combines the efficiency of supervised learning with the generality of reinforcement learning. The convergence properties of this approach were studied using both closed-loop control simulations and open-loop simulations that used primate neural data from robot-assisted reaching tasks. The HRL controller was able to perform classification and regression tasks using its episodic and sequential learning modes, respectively. In our experiments, the HRL controller quickly achieved convergence to an effective control policy, followed by robust performance. The controller also automatically stopped adapting the parameters after converging to a satisfactory control policy. Additionally, when the input neural vector was reorganized, the controller resumed adaptation to maintain performance. By estimating an evaluative feedback directly from the user, the HRL control algorithm may provide an efficient method for autonomous adaptation of neuroprosthetic systems. This method may enable the user to teach the controller the desired behavior using only a simple feedback signal.

  20. Divertor development for ITER

    International Nuclear Information System (INIS)

    Janeschitz, G.; Ando, T.; Antipenkov, A.; Barabash, V.; Chiocchio, S.; Federici, G.; Ibbott, C.; Jakeman, R.; Matera, R.; Martin, E.; Parker, R.; Tivey, R.; Pacher, H.D.

    1998-01-01

    The requirements for the ITER divertor design, i.e. power and He ash exhaust, neutral leakage control, lifetime, disruption load resistance and exchange by remote handling, are described in this paper. These requirements and the physics requirements for detached and semi-attached operation result in the vertical target configuration. This is realised by a concept incorporating 60 cassettes carrying the high heat flux components. The armour choice for these components is CFC monoblock in the strike zone near at the lower part of the vertical target, and a W brush elsewhere. Cooling is by swirl tubes or hypervapotrons depending on the component. The status of the heat sink and joining technology R and D is given. Finally, the resulting design of the high heat flux components is presented. (orig.)

  1. Locus of control and learning strategies as predictors of academic ...

    African Journals Online (AJOL)

    The aim of the research was to determine the relationships which exist between academic success, learning strategies and locus of control. In order to achieve this aim a small-scale quantitative study, utilising two inventories, was done. The first measuring instrument is the Learning and Study Strategies Inventory, which is ...

  2. Short-Term Memory, Executive Control, and Children's Route Learning

    Science.gov (United States)

    Purser, Harry R. M.; Farran, Emily K.; Courbois, Yannick; Lemahieu, Axelle; Mellier, Daniel; Sockeel, Pascal; Blades, Mark

    2012-01-01

    The aim of this study was to investigate route-learning ability in 67 children aged 5 to 11 years and to relate route-learning performance to the components of Baddeley's model of working memory. Children carried out tasks that included measures of verbal and visuospatial short-term memory and executive control and also measures of verbal and…

  3. Learned Helplessness: A Theory for the Age of Personal Control.

    Science.gov (United States)

    Peterson, Christopher; And Others

    Experiences with uncontrollable events may lead to the expectation that future events will elude control, resulting in disruptions in motivation, emotion, and learning. This text explores this phenomenon, termed learned helplessness, tracking it from its discovery to its entrenchment in the psychological canon. The volume summarizes and integrates…

  4. Indicators for successful learning in air traffic control training

    NARCIS (Netherlands)

    Van Meeuwen, Ludo; Brand-Gruwel, Saskia; Van Merriënboer, Jeroen; De Bock, Jeano; Kirschner, Paul A.

    2011-01-01

    Van Meeuwen, L. W., Brand-Gruwel, S., Van Merriënboer, J. J. G., De Bock, J. J. P. R., & Kirschner, P. A. (2010, August). Indicators for successful learning in air traffic control training. Paper presented at the 5th EARLI SIG 14 Learning and Professional Development Conference. Munich, Germany.

  5. Systems control with generalized probabilistic fuzzy-reinforcement learning

    NARCIS (Netherlands)

    Hinojosa, J.; Nefti, S.; Kaymak, U.

    2011-01-01

    Reinforcement learning (RL) is a valuable learning method when the systems require a selection of control actions whose consequences emerge over long periods for which input-output data are not available. In most combinations of fuzzy systems and RL, the environment is considered to be

  6. Fuzzy self-learning control for magnetic servo system

    Science.gov (United States)

    Tarn, J. H.; Kuo, L. T.; Juang, K. Y.; Lin, C. E.

    1994-01-01

    It is known that an effective control system is the key condition for successful implementation of high-performance magnetic servo systems. Major issues to design such control systems are nonlinearity; unmodeled dynamics, such as secondary effects for copper resistance, stray fields, and saturation; and that disturbance rejection for the load effect reacts directly on the servo system without transmission elements. One typical approach to design control systems under these conditions is a special type of nonlinear feedback called gain scheduling. It accommodates linear regulators whose parameters are changed as a function of operating conditions in a preprogrammed way. In this paper, an on-line learning fuzzy control strategy is proposed. To inherit the wealth of linear control design, the relations between linear feedback and fuzzy logic controllers have been established. The exercise of engineering axioms of linear control design is thus transformed into tuning of appropriate fuzzy parameters. Furthermore, fuzzy logic control brings the domain of candidate control laws from linear into nonlinear, and brings new prospects into design of the local controllers. On the other hand, a self-learning scheme is utilized to automatically tune the fuzzy rule base. It is based on network learning infrastructure; statistical approximation to assign credit; animal learning method to update the reinforcement map with a fast learning rate; and temporal difference predictive scheme to optimize the control laws. Different from supervised and statistical unsupervised learning schemes, the proposed method learns on-line from past experience and information from the process and forms a rule base of an FLC system from randomly assigned initial control rules.

  7. Iteration and accelerator dynamics

    International Nuclear Information System (INIS)

    Peggs, S.

    1987-10-01

    Four examples of iteration in accelerator dynamics are studied in this paper. The first three show how iterations of the simplest maps reproduce most of the significant nonlinear behavior in real accelerators. Each of these examples can be easily reproduced by the reader, at the minimal cost of writing only 20 or 40 lines of code. The fourth example outlines a general way to iteratively solve nonlinear difference equations, analytically or numerically

  8. Future plan of ITER

    International Nuclear Information System (INIS)

    Kitsunezaki, Akio

    1998-01-01

    In cooperation of four countries, Japan, USA, EU and Russia, ITER plan has been proceeding as ''the conceptual design activities'' from 1988 to 1990 and ''the industrial design activities'' since 1992. To construct ITER, the legal and work side of ITER operation has been investigated by four countries. However, their economic conditions have been changed to be wrong. So that, construction of ITER can not begin after end of industrial design activities in 1998. Accordingly, they determined to continue the industrial design activities more three years in order to study low cost options and to test the superconductive model·coil. (S.Y.)

  9. ITER test programme

    International Nuclear Information System (INIS)

    Abdou, M.; Baker, C.; Casini, G.

    1991-01-01

    ITER has been designed to operate in two phases. The first phase which lasts for 6 years, is devoted to machine checkout and physics testing. The second phase lasts for 8 years and is devoted primarily to technology testing. This report describes the technology test program development for ITER, the ancillary equipment outside the torus necessary to support the test modules, the international collaboration aspects of conducting the test program on ITER, the requirements on the machine major parameters and the R and D program required to develop the test modules for testing in ITER. 15 refs, figs and tabs

  10. Adaptive Vibration Suppression System: An Iterative Control Law for a Piezoelectric Actuator Shunted by a Negative Capacitor

    Czech Academy of Sciences Publication Activity Database

    Kodejska, M.; Mokrý, Pavel; Linhart, V.; Václavík, Jan; Sluka, T.

    2012-01-01

    Roč. 59, č. 12 (2012), s. 2785-2796 ISSN 0885-3010 R&D Projects: GA MŠk(CZ) ED2.1.00/03.0079 Institutional support: RVO:61389021 Keywords : ELASTICITY CONTROL * HARMONIC EXCITATIONS * STRUCTURAL VIBRATION * FEEDBACK-CONTROL * CIRCUITS * MEMBRANE Subject RIV: BI - Acoustics Impact factor: 1.822, year: 2012

  11. Application of parsimonious learning feedforward control to mechatronic systems

    NARCIS (Netherlands)

    de Vries, Theodorus J.A.; Velthuis, W.J.R.; Idema, L.J.

    2001-01-01

    For motion control, learning feedforward controllers (LFFCs) should be applied when accurate process modelling is difficult. When controlling such processes with LFFCs in the form of multidimensional B-spline networks, large network sizes and a poor generalising ability may result, known as the

  12. Traffic light control by multiagent reinforcement learning systems

    NARCIS (Netherlands)

    Bakker, B.; Whiteson, S.; Kester, L.; Groen, F.C.A.; Babuška, R.; Groen, F.C.A.

    2010-01-01

    Traffic light control is one of the main means of controlling road traffic. Improving traffic control is important because it can lead to higher traffic throughput and reduced traffic congestion. This chapter describes multiagent reinforcement learning techniques for automatic optimization of

  13. Traffic Light Control by Multiagent Reinforcement Learning Systems

    NARCIS (Netherlands)

    Bakker, B.; Whiteson, S.; Kester, L.J.H.M.; Groen, F.C.A.

    2010-01-01

    Traffic light control is one of the main means of controlling road traffic. Improving traffic control is important because it can lead to higher traffic throughput and reduced traffic congestion. This chapter describes multiagent reinforcement learning techniques for automatic optimization of

  14. Project-Based Learning in Programmable Logic Controller

    Science.gov (United States)

    Seke, F. R.; Sumilat, J. M.; Kembuan, D. R. E.; Kewas, J. C.; Muchtar, H.; Ibrahim, N.

    2018-02-01

    Project-based learning is a learning method that uses project activities as the core of learning and requires student creativity in completing the project. The aims of this study is to investigate the influence of project-based learning methods on students with a high level of creativity in learning the Programmable Logic Controller (PLC). This study used experimental methods with experimental class and control class consisting of 24 students, with 12 students of high creativity and 12 students of low creativity. The application of project-based learning methods into the PLC courses combined with the level of student creativity enables the students to be directly involved in the work of the PLC project which gives them experience in utilizing PLCs for the benefit of the industry. Therefore, it’s concluded that project-based learning method is one of the superior learning methods to apply on highly creative students to PLC courses. This method can be used as an effort to improve student learning outcomes and student creativity as well as to educate prospective teachers to become reliable educators in theory and practice which will be tasked to create qualified human resources candidates in order to meet future industry needs.

  15. Changing pulse-shape basis for molecular learning control

    International Nuclear Information System (INIS)

    Cardoza, David; Langhojer, Florian; Trallero-Herrero, Carlos; Weinacht, Thomas; Monti, Oliver L.A.

    2004-01-01

    We interpret the results of a molecular fragmentation learning control experiment. We show that in the case of a system where control can be related to the structure of the optimal pulse matching the vibrational dynamics of the molecule, a simple change of pulse-shape basis in which the learning algorithm performs the search can reduce the dimensionality of the search space to one or two degrees of freedom

  16. Learning, attentional control, and action video games.

    Science.gov (United States)

    Green, C S; Bavelier, D

    2012-03-20

    While humans have an incredible capacity to acquire new skills and alter their behavior as a result of experience, enhancements in performance are typically narrowly restricted to the parameters of the training environment, with little evidence of generalization to different, even seemingly highly related, tasks. Such specificity is a major obstacle for the development of many real-world training or rehabilitation paradigms, which necessarily seek to promote more general learning. In contrast to these typical findings, research over the past decade has shown that training on 'action video games' produces learning that transfers well beyond the training task. This has led to substantial interest among those interested in rehabilitation, for instance, after stroke or to treat amblyopia, or training for various precision-demanding jobs, for instance, endoscopic surgery or piloting unmanned aerial drones. Although the predominant focus of the field has been on outlining the breadth of possible action-game-related enhancements, recent work has concentrated on uncovering the mechanisms that underlie these changes, an important first step towards the goal of designing and using video games for more definite purposes. Game playing may not convey an immediate advantage on new tasks (increased performance from the very first trial), but rather the true effect of action video game playing may be to enhance the ability to learn new tasks. Such a mechanism may serve as a signature of training regimens that are likely to produce transfer of learning. Copyright © 2012 Elsevier Ltd. All rights reserved.

  17. Learning, attentional control and action video games

    Science.gov (United States)

    Green, C.S.; Bavelier, D.

    2012-01-01

    While humans have an incredible capacity to acquire new skills and alter their behavior as a result of experience, enhancements in performance are typically narrowly restricted to the parameters of the training environment, with little evidence of generalization to different, even seemingly highly related, tasks. Such specificity is a major obstacle for the development of many real-world training or rehabilitation paradigms, which necessarily seek to promote more general learning. In contrast to these typical findings, research over the past decade has shown that training on ‘action video games’ produces learning that transfers well beyond the training task. This has led to substantial interest among those interested in rehabilitation, for instance, after stroke or to treat amblyopia, or training for various precision-demanding jobs, for instance, endoscopic surgery or piloting unmanned aerial drones. Although the predominant focus of the field has been on outlining the breadth of possible action-game-related enhancements, recent work has concentrated on uncovering the mechanisms that underlie these changes, an important first step towards the goal of designing and using video games for more definite purposes. Game playing may not convey an immediate advantage on new tasks (increased performance from the very first trial), but rather the true effect of action video game playing may be to enhance the ability to learn new tasks. Such a mechanism may serve as a signature of training regimens that are likely to produce transfer of learning. PMID:22440805

  18. Development of a control system for a heavy object handling manipulator. Application to a remote maintenance system for ITER blanket module

    International Nuclear Information System (INIS)

    Yoshimi, Takashi; Tsuji, Kouichi; Miyagawa, Shinichi; Kubo, Tomomi; Kakudate, Satoshi; Tada, Eisuke

    2001-01-01

    This paper describes a control system for the heavy object handling manipulator. It has been developed for the blanket module remote maintenance system of ITER (International Thermonuclear Fusion Experimental Reactor). A rail-mounted vehicle-type manipulator is proposed for the precise handling of a blanket module which is about 4 tons in weight. Basically, this manipulator is controlled by teaching-playback technique. When grasping or releasing the module, the manipulator sags and the position of the end-effector changes about 50 [mm]. Applying only the usual teaching-playback control makes the smooth operation of setting/removing modules to/from the vacuum vessel wall difficult due to this position change. To solve this proper problem of heavy object handling manipulator, we have developed a system which uses motion patterns generated from two kinds of teaching points. These motion patterns for setting/removing heavy objects are generated by combining teaching points for positioning the manipulator with and without grasping the object. When these motion patterns are applied, the manipulator can transfer the object's weight smoothly at the setting/removing point. This developed system has been applied to the real-scale mock-up of the vehicle manipulator and through the actual module setting/removing experiments, we have verified its effectiveness and realized smooth maintenance operation. (author)

  19. Joint Machine Learning and Game Theory for Rate Control in High Efficiency Video Coding.

    Science.gov (United States)

    Gao, Wei; Kwong, Sam; Jia, Yuheng

    2017-08-25

    In this paper, a joint machine learning and game theory modeling (MLGT) framework is proposed for inter frame coding tree unit (CTU) level bit allocation and rate control (RC) optimization in High Efficiency Video Coding (HEVC). First, a support vector machine (SVM) based multi-classification scheme is proposed to improve the prediction accuracy of CTU-level Rate-Distortion (R-D) model. The legacy "chicken-and-egg" dilemma in video coding is proposed to be overcome by the learning-based R-D model. Second, a mixed R-D model based cooperative bargaining game theory is proposed for bit allocation optimization, where the convexity of the mixed R-D model based utility function is proved, and Nash bargaining solution (NBS) is achieved by the proposed iterative solution search method. The minimum utility is adjusted by the reference coding distortion and frame-level Quantization parameter (QP) change. Lastly, intra frame QP and inter frame adaptive bit ratios are adjusted to make inter frames have more bit resources to maintain smooth quality and bit consumption in the bargaining game optimization. Experimental results demonstrate that the proposed MLGT based RC method can achieve much better R-D performances, quality smoothness, bit rate accuracy, buffer control results and subjective visual quality than the other state-of-the-art one-pass RC methods, and the achieved R-D performances are very close to the performance limits from the FixedQP method.

  20. Robust Control Methods for On-Line Statistical Learning

    Directory of Open Access Journals (Sweden)

    Capobianco Enrico

    2001-01-01

    Full Text Available The issue of controlling that data processing in an experiment results not affected by the presence of outliers is relevant for statistical control and learning studies. Learning schemes should thus be tested for their capacity of handling outliers in the observed training set so to achieve reliable estimates with respect to the crucial bias and variance aspects. We describe possible ways of endowing neural networks with statistically robust properties by defining feasible error criteria. It is convenient to cast neural nets in state space representations and apply both Kalman filter and stochastic approximation procedures in order to suggest statistically robustified solutions for on-line learning.

  1. Generalized projective synchronization of chaotic systems via adaptive learning control

    International Nuclear Information System (INIS)

    Yun-Ping, Sun; Jun-Min, Li; Hui-Lin, Wang; Jiang-An, Wang

    2010-01-01

    In this paper, a learning control approach is applied to the generalized projective synchronisation (GPS) of different chaotic systems with unknown periodically time-varying parameters. Using the Lyapunov–Krasovskii functional stability theory, a differential-difference mixed parametric learning law and an adaptive learning control law are constructed to make the states of two different chaotic systems asymptotically synchronised. The scheme is successfully applied to the generalized projective synchronisation between the Lorenz system and Chen system. Moreover, numerical simulations results are used to verify the effectiveness of the proposed scheme. (general)

  2. ITER EDA newsletter. V. 9, no. 6

    International Nuclear Information System (INIS)

    2000-06-01

    This newsletter contains the reports of the twelfth meeting of the ITER physics expert group on diagnostics and the 14. international conference on plasma-surface interactions in controlled fusion devices. Individual abstracts have been prepared

  3. Motor skill learning, retention, and control deficits in Parkinson's disease.

    Directory of Open Access Journals (Sweden)

    Lisa Katharina Pendt

    Full Text Available Parkinson's disease, which affects the basal ganglia, is known to lead to various impairments of motor control. Since the basal ganglia have also been shown to be involved in learning processes, motor learning has frequently been investigated in this group of patients. However, results are still inconsistent, mainly due to skill levels and time scales of testing. To bridge across the time scale problem, the present study examined de novo skill learning over a long series of practice sessions that comprised early and late learning stages as well as retention. 19 non-demented, medicated, mild to moderate patients with Parkinson's disease and 19 healthy age and gender matched participants practiced a novel throwing task over five days in a virtual environment where timing of release was a critical element. Six patients and seven control participants came to an additional long-term retention testing after seven to nine months. Changes in task performance were analyzed by a method that differentiates between three components of motor learning prominent in different stages of learning: Tolerance, Noise and Covariation. In addition, kinematic analysis related the influence of skill levels as affected by the specific motor control deficits in Parkinson patients to the process of learning. As a result, patients showed similar learning in early and late stages compared to the control subjects. Differences occurred in short-term retention tests; patients' performance constantly decreased after breaks arising from poorer release timing. However, patients were able to overcome the initial timing problems within the course of each practice session and could further improve their throwing performance. Thus, results demonstrate the intact ability to learn a novel motor skill in non-demented, medicated patients with Parkinson's disease and indicate confounding effects of motor control deficits on retention performance.

  4. United States rejoin ITER

    International Nuclear Information System (INIS)

    Roberts, M.

    2003-01-01

    Upon pressure from the United States Congress, the US Department of Energy had to withdraw from further American participation in the ITER Engineering Design Activities after the end of its commitment to the EDA in July 1998. In the years since that time, changes have taken place in both the ITER activity and the US fusion community's position on burning plasma physics. Reflecting the interest in the United States in pursuing burning plasma physics, the DOE's Office of Science commissioned three studies as part of its examination of the option of entering the Negotiations on the Agreement on the Establishment of the International Fusion Energy Organization for the Joint Implementation of the ITER Project. These were a National Academy Review Panel Report supporting the burning plasma mission; a Fusion Energy Sciences Advisory Committee (FESAC) report confirming the role of ITER in achieving fusion power production, and The Lehman Review of the ITER project costing and project management processes (for the latter one, see ITER CTA Newsletter, no. 15, December 2002). All three studies have endorsed the US return to the ITER activities. This historical decision was announced by DOE Secretary Abraham during his remarks to employees of the Department's Princeton Plasma Physics Laboratory. The United States will be working with the other Participants in the ITER Negotiations on the Agreement and is preparing to participate in the ITA

  5. On the use of iterative techniques for feedforward control of transverse angle and position jitter in linear particle beam accelerators

    International Nuclear Information System (INIS)

    Barr, D.S.

    1995-01-01

    It is possible to use feedforward predictive control for transverse position and trajectory-angle jitter correction. The control procedure is straightforward, but creation of the predictive filter is not as obvious. The two process tested were the least mean squares (LMS) and Kalman filter methods. The controller parameters calculated offline are downloaded to a real-time analog correction system between macropulses. These techniques worked well for both interpulse (pulse-to-pulse) correction and intrapulse (within a pulse) correction with the Kalman filter method being the clear winner. A simulation based on interpulse data taken at the Stanford Linear Collider showed an improvement factor of almost three in the average rms jitter over standard feedback techniques for the Kalman filter. An improvement factor of over three was found for the Kalman filter on intrapulse data taken at the Los Alamos Meson Physics Facility. The feedforward systems also improved the correction bandwidth. copyright 1995 American Institute of Physics

  6. On the use of iterative techniques for feedforward control of transverse angle and position jitter in linear particle beam accelerators

    International Nuclear Information System (INIS)

    Barr, D.S.

    1994-01-01

    It is possible to use feedforward predictive control for transverse position and trajectory-angle jitter correction. The control procedure is straightforward, but creation of the predictive filter is not as obvious. The two processes tested were the least mean squares (LMS) and Kalman inter methods. The controller parameters calculated offline are downloaded to a real-time analog correction system between macropulses. These techniques worked well for both interpulse (pulse-to-pulse) correction and intrapulse (within a pulse) correction with the Kalman filter method being the clear winner. A simulation based on interpulse data taken at the Stanford Linear Collider showed an improvement factor of almost three in the average rms jitter over standard feedback techniques for the Kalman filter. An improvement factor of over three was found for the Kalman filter on intrapulse data taken at the Los Alamos Meson Physics Facility. The feedforward systems also improved the correction bandwidth

  7. E-learning: controlling costs and increasing value.

    Science.gov (United States)

    Walsh, Kieran

    2015-04-01

    E-learning now accounts for a substantial proportion of medical education provision. This progress has required significant investment and this investment has in turn come under increasing scrutiny so that the costs of e-learning may be controlled and its returns maximised. There are multiple methods by which the costs of e-learning can be controlled and its returns maximised. This short paper reviews some of those methods that are likely to be most effective and that are likely to save costs without compromising quality. Methods might include accessing free or low-cost resources from elsewhere; create short learning resources that will work on multiple devices; using open source platforms to host content; using in-house faculty to create content; sharing resources between institutions; and promoting resources to ensure high usage. Whatever methods are used to control costs or increase value, it is most important to evaluate the impact of these methods.

  8. ITER CTA newsletter. No. 3

    International Nuclear Information System (INIS)

    2001-11-01

    This ITER CTA newsletter comprises reports of Dr. P. Barnard, Iter Canada Chairman and CEO, about the progress of the first formal ITER negotiations and about the demonstration of details of Canada's bid on ITER workshops, and Dr. V. Vlasenkov, Project Board Secretary, about the meeting of the ITER CTA project board

  9. ITER operating limit definition criteria

    International Nuclear Information System (INIS)

    Ciattaglia, S.; Barabaschi, P.; Carretero, J.A.; Chiocchio, S.; Hureau, D.; Girard, J.Ph.; Gordon, C.; Portone, A.; Rodrigo, L. Rodriguez; Roldan, C.; Saibene, G.; Uzan-Elbez, J.

    2009-01-01

    The operating limits and conditions (OLCs) are operating parameters and conditions, chosen among all system/components, which, together, define the domain of the safe operation of ITER in all foreseen ITER states (operation, maintenance, commissioning). At the same time they are selected to guarantee the required operation flexibility which is a critical factor for the success of an experimental machine such as ITER. System and components that are important for personnel or public safety (safety important class, SIC) are identified considering their functional importance in the overall plant safety analysis. SIC classification has to be presented already in the preliminary safety analysis report and approved by the licensing authority before manufacturing and construction. OLCs comprise the safety limits that, if exceeded, could result in a potential safety hazard, the relevant settings that determine the intervention of SIC systems, and the operational limits on equipment which warn against or stop a functional deviation from a planned operational status that could challenge equipment and functions. Some operational conditions, e.g. in-Vacuum Vessel (VV) radioactive inventories, will be controlled through procedures. Operating experience from present tokamaks, in particular JET, and from nuclear plants, is considered to the maximum possible extent. This paper presents the guidelines for the development of the ITER OLCs with particular reference to safety limits.

  10. ITER Neutral Beam Injection System

    International Nuclear Information System (INIS)

    Ohara, Yoshihiro; Tanaka, Shigeru; Akiba, Masato

    1991-03-01

    A Japanese design proposal of the ITER Neutral Beam Injection System (NBS) which is consistent with the ITER common design requirements is described. The injection system is required to deliver a neutral deuterium beam of 75MW at 1.3MeV to the reactor plasma and utilized not only for plasma heating but also for current drive and current profile control. The injection system is composed of 9 modules, each of which is designed so as to inject a 1.3MeV, 10MW neutral beam. The most important point in the design is that the injection system is based on the utilization of a cesium-seeded volume negative ion source which can produce an intense negative ion beam with high current density at a low source operating pressure. The design value of the source is based on the experimental values achieved at JAERI. The utilization of the cesium-seeded volume source is essential to the design of an efficient and compact neutral beam injection system which satisfies the ITER common design requirements. The critical components to realize this design are the 1.3MeV, 17A electrostatic accelerator and the high voltage DC acceleration power supply, whose performances must be demonstrated prior to the construction of ITER NBI system. (author)

  11. ITER at Cadarache; ITER a Cadarache

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2005-06-15

    This public information document presents the ITER project (International Thermonuclear Experimental Reactor), the definition of the fusion, the international cooperation and the advantages of the project. It presents also the site of Cadarache, an appropriate scientifical and economical environment. The last part of the documentation recalls the historical aspect of the project and the today mobilization of all partners. (A.L.B.)

  12. ITER council proceedings: 1992

    International Nuclear Information System (INIS)

    1994-01-01

    At the signing of the ITER EDA Agreement on July, 1992, each of the Parties presented to the Director General the names of their designated members of the ITER Council. Upon receiving those names, the Director General stated that the ITER Engineering Design Activities were ''ready to begin''. The next step in this process was the convening of the first meeting of the ITER Council. The first meeting of the Council, held in Vienna, was opened by Director General Hans Blix. The second meeting was held in Moscow, the formal seat of the Council. This volume presents records of these first two Council meetings and, together with the previous volumes on the text of the Agreement and Protocol 1 and the preparations for their signing respectively, represents essential information on the evolution of the ITER EDA

  13. Modeling of divertor particle and heat loads during application of resonant magnetic perturbation fields for ELM control in ITER

    Czech Academy of Sciences Publication Activity Database

    Schmitz, O.; Bécoulet, M.; Cahyna, Pavel; Evans, T.E.; Feng, Y.; Frerichs, H.; Kirschner, A.; Kukushkin, A.; Laengner, R.; Lunt, T.; Loarte, A.; Pitts, R.; Reiser, D.; Reiter, D.; Saibene, G.; Samm, U.

    2013-01-01

    Roč. 438, suppl (2013), S194-S198 ISSN 0022-3115. [ International Conference on Plasma-Surface Interactions in Controlled Fusion Devices/20./. Aachen, 21.05.2012-25.05.2012] R&D Projects: GA ČR GAP205/11/2341 Institutional support: RVO:61389021 Keywords : Plasma properties * Plasma-Materials Interaction Subject RIV: BL - Plasma and Gas Discharge Physics Impact factor: 2.016, year: 2013 http://www.sciencedirect.com/science/article/pii/S0022311513000330

  14. Reconfigurable control of a power plant deaerator using learning automata

    International Nuclear Information System (INIS)

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

    1991-01-01

    A deaerating feedwater heater, equipped with a water level controller and a pressure controller, has been chosen to investigate the feasibility of a reconfigurable control scheme for power plants by incorporating the concept of learning automata. In this paper simulation results based on a model of the Experimental Breeder Reactor (EBR-II) at the Argonne National Laboratory site in Idaho are presented to demonstrate the efficacy of the reconfigurable control scheme

  15. Magnetic compatibility of standard components for electrical installations: Computation of the background field and consequences on the design of the electrical distribution boards and control boards for the ITER Tokamak building

    International Nuclear Information System (INIS)

    Benfatto, I.; Bettini, P.; Cavinato, M.; Lorenzi, A. De; Hourtoule, J.; Serra, E.

    2005-01-01

    Inside the proposed Tokamak building, the ITER poloidal field magnet system would produce a stray magnetic field up to 70 mT. This is a very unusual environmental condition for electrical installation equipment and limited information is available on the magnetic compatibility of standard components for electrical distribution boards and control boards. Because this information is a necessary input for the design of the electrical installation inside the proposed ITER Tokamak building specific investigations have been carried out by the ITER European Participant Team. The paper reports on the computation of the background magnetic field map inside the ITER Tokamak building and the consequences on the design of the electrical installations of this building. The effects of the steel inside the building structure and the feasibility of magnetic shields for electrical distribution boards and control boards are also reported in the paper. The results of the test campaigns on the magnetic field compatibility of standard components for electrical distribution boards and control boards are reported in companion papers published in these proceedings

  16. Design of fuzzy learning control systems for steam generator water level control

    International Nuclear Information System (INIS)

    Park, Gee Yong

    1996-02-01

    A fuzzy learning algorithm is developed in order to construct the useful control rules and tune the membership functions in the fuzzy logic controller used for water level control of nuclear steam generator. The fuzzy logic controllers have shown to perform better than conventional controllers for ill-defined or complex processes such as nuclear steam generator. Whereas the fuzzy logic controller does not need a detailed mathematical model of a plant to be controlled, its structure is to be made on the basis of the operator's linguistic information experienced from the plant operations. It is not an easy work and also there is no systematic way to translate the operator's linguistic information into quantitative information. When the linguistic information of operators is incomplete, tuning the parameters of fuzzy controller is to be performed for better control performance. It is the time and effort consuming procedure that controller designer has to tune the structure of fuzzy logic controller for optimal performance. And if the number of control inputs is many and the rule base is constructed in multidimensional space, it is very difficult for a controller designer to tune the fuzzy controller structure. Hence, the difficulty in putting the experimental knowledge into quantitative (or numerical) data and the difficulty in tuning the rules are the major problems in designing fuzzy logic controller. In order to overcome the problems described above, a learning algorithm by gradient descent method is included in the fuzzy control system such that the membership functions are tuned and the necessary rules are created automatically for good control performance. For stable learning in gradient descent method, the optimal range of learning coefficient not to be trapped and not to provide too slow learning speed is investigated. With the optimal range of learning coefficient, the optimal value of learning coefficient is suggested and with this value, the gradient

  17. A control center design revisited: learning from users’ appropriation

    DEFF Research Database (Denmark)

    Souza da Conceição, Carolina; Cordeiro, Cláudia

    2014-01-01

    This paper aims to present the lessons learned during a control center design project by revisiting another control center from the same company designed two and a half years before by the same project team. In light of the experience with the first project and its analysis, the designers and res...

  18. ITER towards the construction

    International Nuclear Information System (INIS)

    Shimomura, Y.

    2005-01-01

    The ITER Project has been significantly developed in the last few years in preparation for its construction. The ITER Participant's Negotiators have developed the Joint Implementation Agreement (JIA), ready for finalisation following selection of the construction site and nomination of the project's Director General. The ITER International Team and Participant Teams have continued technical and organisational preparations. Construction will be able to start immediately after the international ITER organisation is established, following signature of the JIA. The Project is strongly supported by the governments of the Participants as well as by the scientific community. The real negotiations, including siting and the final details of cost sharing, started in December 2003. The EU, with Cadarache, and Japan, with Rokkasho, have both promised large contributions to the project to strongly support their construction site proposals. Their wish to host ITER construction is too strong to allow convergence to a single site considering the ITER device in isolation. A broader collaboration among the Parties is therefore being contemplated, covering complementary activities to help accelerate fusion development towards a viable power source, and allow the Participants to reach a conclusion on ITER siting. This report reviews these preparations, and the status of negotiations

  19. Impact on learning of an e-learning module on leukaemia: a randomised controlled trial.

    Science.gov (United States)

    Morgulis, Yuri; Kumar, Rakesh K; Lindeman, Robert; Velan, Gary M

    2012-05-28

    e-learning resources may be beneficial for complex or conceptually difficult topics. Leukaemia is one such topic, yet there are no reports on the efficacy of e-learning for leukaemia. This study compared the learning impact on senior medical students of a purpose-built e-learning module on leukaemia, compared with existing online resources. A randomised controlled trial was performed utilising volunteer senior medical students. Participants were randomly allocated to Study and Control groups. Following a pre-test on leukaemia administered to both groups, the Study group was provided with access to the new e-learning module, while the Control group was directed to existing online resources. A post-test and an evaluation questionnaire were administered to both groups at the end of the trial period. Study and Control groups were equivalent in gender distribution, mean academic ability, pre-test performance and time studying leukaemia during the trial. The Study group performed significantly better than the Control group in the post-test, in which the group to which the students had been allocated was the only significant predictor of performance. The Study group's evaluation of the module was overwhelmingly positive. A targeted e-learning module on leukaemia had a significant effect on learning in this cohort, compared with existing online resources. We believe that the interactivity, dialogic feedback and integration with the curriculum offered by the e-learning module contributed to its impact. This has implications for e-learning design in medicine and other disciplines.

  20. Impact on learning of an e-learning module on leukaemia: a randomised controlled trial

    Directory of Open Access Journals (Sweden)

    Morgulis Yuri

    2012-05-01

    Full Text Available Abstract Background e-learning resources may be beneficial for complex or conceptually difficult topics. Leukaemia is one such topic, yet there are no reports on the efficacy of e-learning for leukaemia. This study compared the learning impact on senior medical students of a purpose-built e-learning module on leukaemia, compared with existing online resources. Methods A randomised controlled trial was performed utilising volunteer senior medical students. Participants were randomly allocated to Study and Control groups. Following a pre-test on leukaemia administered to both groups, the Study group was provided with access to the new e-learning module, while the Control group was directed to existing online resources. A post-test and an evaluation questionnaire were administered to both groups at the end of the trial period. Results Study and Control groups were equivalent in gender distribution, mean academic ability, pre-test performance and time studying leukaemia during the trial. The Study group performed significantly better than the Control group in the post-test, in which the group to which the students had been allocated was the only significant predictor of performance. The Study group’s evaluation of the module was overwhelmingly positive. Conclusions A targeted e-learning module on leukaemia had a significant effect on learning in this cohort, compared with existing online resources. We believe that the interactivity, dialogic feedback and integration with the curriculum offered by the e-learning module contributed to its impact. This has implications for e-learning design in medicine and other disciplines.

  1. Impact on learning of an e-learning module on leukaemia: a randomised controlled trial

    Science.gov (United States)

    2012-01-01

    Background e-learning resources may be beneficial for complex or conceptually difficult topics. Leukaemia is one such topic, yet there are no reports on the efficacy of e-learning for leukaemia. This study compared the learning impact on senior medical students of a purpose-built e-learning module on leukaemia, compared with existing online resources. Methods A randomised controlled trial was performed utilising volunteer senior medical students. Participants were randomly allocated to Study and Control groups. Following a pre-test on leukaemia administered to both groups, the Study group was provided with access to the new e-learning module, while the Control group was directed to existing online resources. A post-test and an evaluation questionnaire were administered to both groups at the end of the trial period. Results Study and Control groups were equivalent in gender distribution, mean academic ability, pre-test performance and time studying leukaemia during the trial. The Study group performed significantly better than the Control group in the post-test, in which the group to which the students had been allocated was the only significant predictor of performance. The Study group’s evaluation of the module was overwhelmingly positive. Conclusions A targeted e-learning module on leukaemia had a significant effect on learning in this cohort, compared with existing online resources. We believe that the interactivity, dialogic feedback and integration with the curriculum offered by the e-learning module contributed to its impact. This has implications for e-learning design in medicine and other disciplines. PMID:22640463

  2. Amygdala subsystems and control of feeding behavior by learned cues.

    Science.gov (United States)

    Petrovich, Gorica D; Gallagher, Michela

    2003-04-01

    A combination of behavioral studies and a neural systems analysis approach has proven fruitful in defining the role of the amygdala complex and associated circuits in fear conditioning. The evidence presented in this chapter suggests that this approach is also informative in the study of other adaptive functions that involve the amygdala. In this chapter we present a novel model to study learning in an appetitive context. Furthermore, we demonstrate that long-recognized connections between the amygdala and the hypothalamus play a crucial role in allowing learning to modulate feeding behavior. In the first part we describe a behavioral model for motivational learning. In this model a cue that acquires motivational properties through pairings with food delivery when an animal is hungry can override satiety and promote eating in sated rats. Next, we present evidence that a specific amygdala subsystem (basolateral area) is responsible for allowing such learned cues to control eating (override satiety and promote eating in sated rats). We also show that basolateral amygdala mediates these actions via connectivity with the lateral hypothalamus. Lastly, we present evidence that the amygdalohypothalamic system is specific for the control of eating by learned motivational cues, as it does not mediate another function that depends on intact basolateral amygdala, namely, the ability of a conditioned cue to support new learning based on its acquired value. Knowledge about neural systems through which food-associated cues specifically control feeding behavior provides a defined model for the study of learning. In addition, this model may be informative for understanding mechanisms of maladaptive aspects of learned control of eating that contribute to eating disorders and more moderate forms of overeating.

  3. Short-term memory, executive control, and children's route learning

    OpenAIRE

    Purser, H. R.; Farran, E. K.; Courbois, Y.; Lemahieu, A.; Mellier, D.; Sockeel, P.; Blades, M.

    2012-01-01

    The aim of this study was to investigate route-learning ability in 67 children aged 5 to 11years and to relate route-learning performance to the components of Baddeley's model of working memory. Children carried out tasks that included measures of verbal and visuospatial short-term memory and executive control and also measures of verbal and visuospatial long-term memory; the route-learning task was conducted using a maze in a virtual environment. In contrast to previous research, correlation...

  4. A Robust Cooperated Control Method with Reinforcement Learning and Adaptive H∞ Control

    Science.gov (United States)

    Obayashi, Masanao; Uchiyama, Shogo; Kuremoto, Takashi; Kobayashi, Kunikazu

    This study proposes a robust cooperated control method combining reinforcement learning with robust control to control the system. A remarkable characteristic of the reinforcement learning is that it doesn't require model formula, however, it doesn't guarantee the stability of the system. On the other hand, robust control system guarantees stability and robustness, however, it requires model formula. We employ both the actor-critic method which is a kind of reinforcement learning with minimal amount of computation to control continuous valued actions and the traditional robust control, that is, H∞ control. The proposed system was compared method with the conventional control method, that is, the actor-critic only used, through the computer simulation of controlling the angle and the position of a crane system, and the simulation result showed the effectiveness of the proposed method.

  5. ITER co-ordinated technical activities

    International Nuclear Information System (INIS)

    2001-01-01

    As agreed upon between the ITER Engineering Design Activities (EDA) Parties 'Co-ordinated Technical Activities' (CTA) means technical activities which are deemed necessary to maintain the integrity of the international project, so as to prepare for the ITER joint implementation. The scope of these activities includes design adaptation to the specific site conditions, safety analysis and licensing preparation that are based on specific site offers, evaluation of cost and construction schedule, preparation of procurement documents and other issues raised by the Parties collectively, whilst assuring the coherence of the ITER project including design control

  6. Causal Learning in Gambling Disorder: Beyond the Illusion of Control.

    Science.gov (United States)

    Perales, José C; Navas, Juan F; Ruiz de Lara, Cristian M; Maldonado, Antonio; Catena, Andrés

    2017-06-01

    Causal learning is the ability to progressively incorporate raw information about dependencies between events, or between one's behavior and its outcomes, into beliefs of the causal structure of the world. In spite of the fact that some cognitive biases in gambling disorder can be described as alterations of causal learning involving gambling-relevant cues, behaviors, and outcomes, general causal learning mechanisms in gamblers have not been systematically investigated. In the present study, we compared gambling disorder patients against controls in an instrumental causal learning task. Evidence of illusion of control, namely, overestimation of the relationship between one's behavior and an uncorrelated outcome, showed up only in gamblers with strong current symptoms. Interestingly, this effect was part of a more complex pattern, in which gambling disorder patients manifested a poorer ability to discriminate between null and positive contingencies. Additionally, anomalies were related to gambling severity and current gambling disorder symptoms. Gambling-related biases, as measured by a standard psychometric tool, correlated with performance in the causal learning task, but not in the expected direction. Indeed, performance of gamblers with stronger biases tended to resemble the one of controls, which could imply that anomalies of causal learning processes play a role in gambling disorder, but do not seem to underlie gambling-specific biases, at least in a simple, direct way.

  7. ITER fuel cycle systems layout

    International Nuclear Information System (INIS)

    Kveton, O.K.

    1990-10-01

    The ITER fuel cycle building (FCB) will contain the following systems: fuel purification - permeator based; fuel purification - molecular sieves; impurity treatment; waste water storage and treatment; isotope separation; waste water tritium extraction; tritium extraction from solid breeder; tritium extraction from test modules; tritium storage, shipping and receiving; tritium laboratory; atmosphere detritiation systems; fuel cycle control centre; tritiated equipment maintenance space; control maintenance space; health physics laboratory; access, access control and facilities. The layout of the FCB and the requirements for these systems are described. (10 figs.)

  8. Game-Theoretic Learning in Distributed Control

    KAUST Repository

    Marden, Jason R.; Shamma, Jeff S.

    2018-01-01

    from autonomous vehicles to energy to transportation. One approach to control of such distributed architectures is to view the components as players in a game. In this approach, two design considerations are the components’ incentives and the rules

  9. Reinforcement learning for optimal control of low exergy buildings

    International Nuclear Information System (INIS)

    Yang, Lei; Nagy, Zoltan; Goffin, Philippe; Schlueter, Arno

    2015-01-01

    Highlights: • Implementation of reinforcement learning control for LowEx Building systems. • Learning allows adaptation to local environment without prior knowledge. • Presentation of reinforcement learning control for real-life applications. • Discussion of the applicability for real-life situations. - Abstract: Over a third of the anthropogenic greenhouse gas (GHG) emissions stem from cooling and heating buildings, due to their fossil fuel based operation. Low exergy building systems are a promising approach to reduce energy consumption as well as GHG emissions. They consists of renewable energy technologies, such as PV, PV/T and heat pumps. Since careful tuning of parameters is required, a manual setup may result in sub-optimal operation. A model predictive control approach is unnecessarily complex due to the required model identification. Therefore, in this work we present a reinforcement learning control (RLC) approach. The studied building consists of a PV/T array for solar heat and electricity generation, as well as geothermal heat pumps. We present RLC for the PV/T array, and the full building model. Two methods, Tabular Q-learning and Batch Q-learning with Memory Replay, are implemented with real building settings and actual weather conditions in a Matlab/Simulink framework. The performance is evaluated against standard rule-based control (RBC). We investigated different neural network structures and find that some outperformed RBC already during the learning phase. Overall, every RLC strategy for PV/T outperformed RBC by over 10% after the third year. Likewise, for the full building, RLC outperforms RBC in terms of meeting the heating demand, maintaining the optimal operation temperature and compensating more effectively for ground heat. This allows to reduce engineering costs associated with the setup of these systems, as well as decrease the return-of-invest period, both of which are necessary to create a sustainable, zero-emission building

  10. A neural fuzzy controller learning by fuzzy error propagation

    Science.gov (United States)

    Nauck, Detlef; Kruse, Rudolf

    1992-01-01

    In this paper, we describe a procedure to integrate techniques for the adaptation of membership functions in a linguistic variable based fuzzy control environment by using neural network learning principles. This is an extension to our work. We solve this problem by defining a fuzzy error that is propagated back through the architecture of our fuzzy controller. According to this fuzzy error and the strength of its antecedent each fuzzy rule determines its amount of error. Depending on the current state of the controlled system and the control action derived from the conclusion, each rule tunes the membership functions of its antecedent and its conclusion. By this we get an unsupervised learning technique that enables a fuzzy controller to adapt to a control task by knowing just about the global state and the fuzzy error.

  11. Perl Modules for Constructing Iterators

    Science.gov (United States)

    Tilmes, Curt

    2009-01-01

    The Iterator Perl Module provides a general-purpose framework for constructing iterator objects within Perl, and a standard API for interacting with those objects. Iterators are an object-oriented design pattern where a description of a series of values is used in a constructor. Subsequent queries can request values in that series. These Perl modules build on the standard Iterator framework and provide iterators for some other types of values. Iterator::DateTime constructs iterators from DateTime objects or Date::Parse descriptions and ICal/RFC 2445 style re-currence descriptions. It supports a variety of input parameters, including a start to the sequence, an end to the sequence, an Ical/RFC 2445 recurrence describing the frequency of the values in the series, and a format description that can refine the presentation manner of the DateTime. Iterator::String constructs iterators from string representations. This module is useful in contexts where the API consists of supplying a string and getting back an iterator where the specific iteration desired is opaque to the caller. It is of particular value to the Iterator::Hash module which provides nested iterations. Iterator::Hash constructs iterators from Perl hashes that can include multiple iterators. The constructed iterators will return all the permutations of the iterations of the hash by nested iteration of embedded iterators. A hash simply includes a set of keys mapped to values. It is a very common data structure used throughout Perl programming. The Iterator:: Hash module allows a hash to include strings defining iterators (parsed and dispatched with Iterator::String) that are used to construct an overall series of hash values.

  12. Distributed Video Coding: Iterative Improvements

    DEFF Research Database (Denmark)

    Luong, Huynh Van

    Nowadays, emerging applications such as wireless visual sensor networks and wireless video surveillance are requiring lightweight video encoding with high coding efficiency and error-resilience. Distributed Video Coding (DVC) is a new coding paradigm which exploits the source statistics...... and noise modeling and also learn from the previous decoded Wyner-Ziv (WZ) frames, side information and noise learning (SING) is proposed. The SING scheme introduces an optical flow technique to compensate the weaknesses of the block based SI generation and also utilizes clustering of DCT blocks to capture...... cross band correlation and increase local adaptivity in noise modeling. During decoding, the updated information is used to iteratively reestimate the motion and reconstruction in the proposed motion and reconstruction reestimation (MORE) scheme. The MORE scheme not only reestimates the motion vectors...

  13. Self-teaching neural network learns difficult reactor control problem

    International Nuclear Information System (INIS)

    Jouse, W.C.

    1989-01-01

    A self-teaching neural network used as an adaptive controller quickly learns to control an unstable reactor configuration. The network models the behavior of a human operator. It is trained by allowing it to operate the reactivity control impulsively. It is punished whenever either the power or fuel temperature stray outside technical limits. Using a simple paradigm, the network constructs an internal representation of the punishment and of the reactor system. The reactor is constrained to small power orbits

  14. ITER definition phase

    International Nuclear Information System (INIS)

    1989-01-01

    The International Thermonuclear Experimental Reactor (ITER) is envisioned as a fusion device which would demonstrate the scientific and technological feasibility of fusion power. As a first step towards achieving this goal, the European Community, Japan, the Soviet Union, and the United States of America have entered into joint conceptual design activities under the auspices of the International Atomic Energy Agency. A brief summary of the Definition Phase of ITER activities is contained in this report. Included in this report are the background, objectives, organization, definition phase activities, and research and development plan of this endeavor in international scientific collaboration. A more extended technical summary is contained in the two-volume report, ''ITER Concept Definition,'' IAEA/ITER/DS/3. 2 figs, 2 tabs

  15. Power converters for ITER

    CERN Document Server

    Benfatto, I

    2006-01-01

    The International Thermonuclear Experimental Reactor (ITER) is a thermonuclear fusion experiment designed to provide long deuterium– tritium burning plasma operation. After a short description of ITER objectives, the main design parameters and the construction schedule, the paper describes the electrical characteristics of the French 400 kV grid at Cadarache: the European site proposed for ITER. Moreover, the paper describes the main requirements and features of the power converters designed for the ITER coil and additional heating power supplies, characterized by a total installed power of about 1.8 GVA, modular design with basic units up to 90 MVA continuous duty, dc currents up to 68 kA, and voltages from 1 kV to 1 MV dc.

  16. Can we (control) Engineer the degree learning process?

    Science.gov (United States)

    White, A. S.; Censlive, M.; Neilsen, D.

    2014-07-01

    This paper investigates how control theory could be applied to learning processes in engineering education. The initial point for the analysis is White's Double Loop learning model of human automation control modified for the education process where a set of governing principals is chosen, probably by the course designer. After initial training the student decides unknowingly on a mental map or model. After observing how the real world is behaving, a strategy to achieve the governing variables is chosen and a set of actions chosen. This may not be a conscious operation, it maybe completely instinctive. These actions will cause some consequences but not until a certain time delay. The current model is compared with the work of Hollenbeck on goal setting, Nelson's model of self-regulation and that of Abdulwahed, Nagy and Blanchard at Loughborough who investigated control methods applied to the learning process.

  17. Can we (control) Engineer the degree learning process?

    International Nuclear Information System (INIS)

    White, A S; Censlive, M; Neilsen, D

    2014-01-01

    This paper investigates how control theory could be applied to learning processes in engineering education. The initial point for the analysis is White's Double Loop learning model of human automation control modified for the education process where a set of governing principals is chosen, probably by the course designer. After initial training the student decides unknowingly on a mental map or model. After observing how the real world is behaving, a strategy to achieve the governing variables is chosen and a set of actions chosen. This may not be a conscious operation, it maybe completely instinctive. These actions will cause some consequences but not until a certain time delay. The current model is compared with the work of Hollenbeck on goal setting, Nelson's model of self-regulation and that of Abdulwahed, Nagy and Blanchard at Loughborough who investigated control methods applied to the learning process

  18. Recent developments in learning control and system identification for robots and structures

    Science.gov (United States)

    Phan, M.; Juang, J.-N.; Longman, R. W.

    1990-01-01

    This paper reviews recent results in learning control and learning system identification, with particular emphasis on discrete-time formulation, and their relation to adaptive theory. Related continuous-time results are also discussed. Among the topics presented are proportional, derivative, and integral learning controllers, time-domain formulation of discrete learning algorithms. Newly developed techniques are described including the concept of the repetition domain, and the repetition domain formulation of learning control by linear feedback, model reference learning control, indirect learning control with parameter estimation, as well as related basic concepts, recursive and non-recursive methods for learning identification.

  19. Learning control for batch thermal sterilization of canned foods.

    Science.gov (United States)

    Syafiie, S; Tadeo, F; Villafin, M; Alonso, A A

    2011-01-01

    A control technique based on Reinforcement Learning is proposed for the thermal sterilization of canned foods. The proposed controller has the objective of ensuring a given degree of sterilization during Heating (by providing a minimum temperature inside the cans during a given time) and then a smooth Cooling, avoiding sudden pressure variations. For this, three automatic control valves are manipulated by the controller: a valve that regulates the admission of steam during Heating, and a valve that regulate the admission of air, together with a bleeder valve, during Cooling. As dynamical models of this kind of processes are too complex and involve many uncertainties, controllers based on learning are proposed. Thus, based on the control objectives and the constraints on input and output variables, the proposed controllers learn the most adequate control actions by looking up a certain matrix that contains the state-action mapping, starting from a preselected state-action space. This state-action matrix is constantly updated based on the performance obtained with the applied control actions. Experimental results at laboratory scale show the advantages of the proposed technique for this kind of processes. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

  20. ITER convertible blanket evaluation

    International Nuclear Information System (INIS)

    Wong, C.P.C.; Cheng, E.

    1995-01-01

    Proposed International Thermonuclear Experimental Reactor (ITER) convertible blankets were reviewed. Key design difficulties were identified. A new particle filter concept is introduced and key performance parameters estimated. Results show that this particle filter concept can satisfy all of the convertible blanket design requirements except the generic issue of Be blanket lifetime. If the convertible blanket is an acceptable approach for ITER operation, this particle filter option should be a strong candidate

  1. ITER EDA and technology

    International Nuclear Information System (INIS)

    Baker, C.C.

    2001-01-01

    The year 1998 was the culmination of the six-year Engineering Design Activities (EDA) of the International Thermonuclear Experimental Reactor (ITER) Project. The EDA results in design and validating technology R and D, plus the associated effort in voluntary physics research, is a significant achievement and major milestone in the history of magnetic fusion energy development. Consequently, the ITER EDA was a major theme at this Conference, contributing almost 40 papers

  2. The ITER poloidal field system

    Energy Technology Data Exchange (ETDEWEB)

    Wesley, J [General Atomics, San Diego, CA (USA); Beljakov, V; Kavin, A; Korshakov, V; Kostenko, A; Roshal, A; Zakharov, L [Kurchatov Inst. of Atomic Energy, Moscow (USSR); Bulmer, R; Kaiser, T; Miller, J R; Pearlstein, L D [Lawrence Livermore National Lab., CA (USA); Hogan, J [Oak Ridge National Lab., TN (USA); Kurihara, K; Shimomura, Y; Sugihara, M; Yoshino, R [Japan Atomic Energy Resea

    1990-12-15

    The ITER poloidal field (PF) system uses superconducting coils to provide the plasma equilibrium fields, slow equilibrium control and plasma flux linkage (V-s) needed for the ITER Operations and Research Program. Double-null (DN) divertor plasmas and operation scenarios for 22 MA Physics (high-Q/ignition) and 15 MA Technology (high-fluence testing) phases are provided. For 22 MA plasmas, total PF flux swing is 333 V-s. This provides inductive current drive (CD) for start-up with 66 V-s of resistive loss and 440-s (330-s minimum) sustained burn. The PF system also allows plasma start-up and shutdown scenarios, and can maintain the plasma configuration during burn over a range of current and pressure profiles. Other capabilities include increased plasma current (25 MA with inductive CD; 28 MA with non-inductive CD assist), divertor separatrix sweeping, and semi-DN and single-null plasmas.

  3. ITER EDA Newsletter. V. 3, no. 11

    International Nuclear Information System (INIS)

    1994-11-01

    This ITER EDA (Engineering Design Activities) Newsletter issue reports on (i) the third Technical Meeting on Safety and Environment held at the San Diego Joint Work Site, October 10-14, 1994; (ii) the ITER Expert Group Meeting on Disruptions, Plasma Control and MHD, held in Seville, Spain, September 29-30, 1994; in addition to a brief contribution on aspects of family life for foreigners at the Naka Joint Work Site

  4. Toward construction of ITER

    International Nuclear Information System (INIS)

    Shimomura, Yasuo

    2005-01-01

    The ITER Project has been significantly developed in the past years in preparation for its construction. The ITER Negotiators have developed a draft Joint Implementation Agreement (JIA), ready for completion following the nomination of the Project's Director General (DG). The ITER International Team and Participant Teams have continued technical and organizational preparations. The actual construction will be able to start immediately after the international ITER organization will be established, following signature of the JIA. The Project is now strongly supported by all the participants as well as by the scientific community with the final high-level negotiations, focused on siting and the concluding details of cost sharing, started in December 2003. The EU, with Cadarache, and Japan, with Rokkasho, have both promised large contributions to the project to strongly support their construction site proposals. The extent to which they both wish to host the ITER facility is such that large contributions to a broader collaboration among the Parties are also proposed by them. This covers complementary activities to help accelerate fusion development towards a viable power source, as well as may allow the Participants to reach a conclusion on ITER siting. (author)

  5. ITER Status and Plans

    Science.gov (United States)

    Greenfield, Charles M.

    2017-10-01

    The US Burning Plasma Organization is pleased to welcome Dr. Bernard Bigot, who will give an update on progress in the ITER Project. Dr. Bigot took over as Director General of the ITER Organization in early 2015 following a distinguished career that included serving as Chairman and CEO of the French Alternative Energies and Atomic Energy Commission and as High Commissioner for ITER in France. During his tenure at ITER the project has moved into high gear, with rapid progress evident on the construction site and preparation of a staged schedule and a research plan leading from where we are today through all the way to full DT operation. In an unprecedented international effort, seven partners ``China, the European Union, India, Japan, Korea, Russia and the United States'' have pooled their financial and scientific resources to build the biggest fusion reactor in history. ITER will open the way to the next step: a demonstration fusion power plant. All DPP attendees are welcome to attend this ITER town meeting.

  6. Application of a fuzzy control algorithm with improved learning speed to nuclear steam generator level control

    International Nuclear Information System (INIS)

    Park, Gee Yong; Seong, Poong Hyun

    1994-01-01

    In order to reduce the load of tuning works by trial-and-error for obtaining the best control performance of conventional fuzzy control algorithm, a fuzzy control algorithm with learning function is investigated in this work. This fuzzy control algorithm can make its rule base and tune the membership functions automatically by use of learning function which needs the data from the control actions of the plant operator or other controllers. Learning process in fuzzy control algorithm is to find the optimal values of parameters, which consist of the membership functions and the rule base, by gradient descent method. Learning speed of gradient descent is significantly improved in this work with the addition of modified momentum. This control algorithm is applied to the steam generator level control by computer simulations. The simulation results confirm the good performance of this control algorithm for level control and show that the fuzzy learning algorithm has the generalization capability for the relation of inputs and outputs and it also has the excellent capability of disturbance rejection

  7. Learning control of a flight simulator stick

    NARCIS (Netherlands)

    Velthuis, W.J.R.; de Vries, Theodorus J.A.; Vrielink, Koen H.J.; Wierda, G.J.; Borghuis, André

    1998-01-01

    Aimportant part of a flight simulator is its control loading system, which is the part that emulates the behaviour of an aircraft as experienced by the pilot through the stick. Such a system consists of a model of the aircraft that is to be simulated and a stick that is driven by an electric motor.

  8. Instructional control of reinforcement learning: a behavioral and neurocomputational investigation.

    Science.gov (United States)

    Doll, Bradley B; Jacobs, W Jake; Sanfey, Alan G; Frank, Michael J

    2009-11-24

    Humans learn how to behave directly through environmental experience and indirectly through rules and instructions. Behavior analytic research has shown that instructions can control behavior, even when such behavior leads to sub-optimal outcomes (Hayes, S. (Ed.). 1989. Rule-governed behavior: cognition, contingencies, and instructional control. Plenum Press.). Here we examine the control of behavior through instructions in a reinforcement learning task known to depend on striatal dopaminergic function. Participants selected between probabilistically reinforced stimuli, and were (incorrectly) told that a specific stimulus had the highest (or lowest) reinforcement probability. Despite experience to the contrary, instructions drove choice behavior. We present neural network simulations that capture the interactions between instruction-driven and reinforcement-driven behavior via two potential neural circuits: one in which the striatum is inaccurately trained by instruction representations coming from prefrontal cortex/hippocampus (PFC/HC), and another in which the striatum learns the environmentally based reinforcement contingencies, but is "overridden" at decision output. Both models capture the core behavioral phenomena but, because they differ fundamentally on what is learned, make distinct predictions for subsequent behavioral and neuroimaging experiments. Finally, we attempt to distinguish between the proposed computational mechanisms governing instructed behavior by fitting a series of abstract "Q-learning" and Bayesian models to subject data. The best-fitting model supports one of the neural models, suggesting the existence of a "confirmation bias" in which the PFC/HC system trains the reinforcement system by amplifying outcomes that are consistent with instructions while diminishing inconsistent outcomes.

  9. The ITER Remote Maintenance Management System

    International Nuclear Information System (INIS)

    Tesini, Alessandro; Rolfe, A.C.

    2009-01-01

    A major challenge for the ITER project is to develop and implement a Remote Maintenance System, which can deliver high Tokamak availability within the constraints of the overall ITER programme objectives. Much of the maintenance of ITER will be performed using remote handling methods and some with combined manual and remote activities working together. The organization and management of the ITER remote handling facilities will be of a scale unlike any other remote handling application in the world. The ITER remote handling design and procurement activities will require co-ordination and management across many different sites throughout the world. It will be a major challenge for the ITER project to ensure a consistent quality and technical approach in all of the contributing parties. To address this issue the IO remote handling team are implementing the ITER Maintenance Management Plan (IMMP) comprising an overarching document defining the policies and methodologies (ITER Remote Maintenance Management System or IMMS) and an associated ITER remote handling code of practise (IRHCOP). The IMMS will be in document form available as a pdf file or similar. The IRHCOP will be implemented as a web based application and will provide access to the central resource of the entire code of practise from any location in the world. The IRHCOP data library will be centrally controlled in order that users can be assured of the data relevance and authenticity. This paper will describe the overall approach being taken to deal with this challenge and go on to detail the structure and content of both the IMMS and the IRHCOP.

  10. ITER CTA newsletter. No. 6

    International Nuclear Information System (INIS)

    2002-01-01

    This ITER CTA Newsletter issue comprises information about the following ITER Meetings: The second negotiation meeting on the joint implementation of ITER, held in Tokyo(Japan) on 22-23 January 2002, and an international ITER symposium on burning plasma science and technology, held the day later after the second negotiation meeting at the same place

  11. ITER CTA newsletter. No. 2

    International Nuclear Information System (INIS)

    2001-10-01

    This ITER CTA newsletter contains results of the ITER toroidal field model coil project presented by ITER EU Home Team (Garching) and an article in commemoration of the late Dr. Charles Maisonnier, one of the former leaders of ITER who made significant contributions to its development

  12. Fuzzy gain scheduling of velocity PI controller with intelligent learning algorithm for reactor control

    International Nuclear Information System (INIS)

    Dong Yun Kim; Poong Hyun Seong; .

    1997-01-01

    In this research, we propose a fuzzy gain scheduler (FGS) with an intelligent learning algorithm for a reactor control. In the proposed algorithm, the gradient descent method is used in order to generate the rule bases of a fuzzy algorithm by learning. These rule bases are obtained by minimizing an objective function, which is called a performance cost function. The objective of the FGS with an intelligent learning algorithm is to generate gains, which minimize the error of system. The proposed algorithm can reduce the time and effort required for obtaining the fuzzy rules through the intelligent learning function. It is applied to reactor control of nuclear power plant (NPP), and the results are compared with those of a conventional PI controller with fixed gains. As a result, it is shown that the proposed algorithm is superior to the conventional PI controller. (author)

  13. Measuring strategic control in implicit learning: how and why?

    Science.gov (United States)

    Norman, Elisabeth

    2015-01-01

    Several methods have been developed for measuring the extent to which implicitly learned knowledge can be applied in a strategic, flexible manner. Examples include generation exclusion tasks in Serial Reaction Time (SRT) learning (Goschke, 1998; Destrebecqz and Cleeremans, 2001) and 2-grammar classification tasks in Artificial Grammar Learning (AGL; Dienes et al., 1995; Norman et al., 2011). Strategic control has traditionally been used as a criterion for determining whether acquired knowledge is conscious or unconscious, or which properties of knowledge are consciously available. In this paper I first summarize existing methods that have been developed for measuring strategic control in the SRT and AGL tasks. I then address some methodological and theoretical questions. Methodological questions concern choice of task, whether the measurement reflects inhibitory control or task switching, and whether or not strategic control should be measured on a trial-by-trial basis. Theoretical questions concern the rationale for including measurement of strategic control, what form of knowledge is strategically controlled, and how strategic control can be combined with subjective awareness measures.

  14. Structural learning in feedforward and feedback control.

    Science.gov (United States)

    Yousif, Nada; Diedrichsen, Jörn

    2012-11-01

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

  15. Fixed Point Learning Based Intelligent Traffic Control System

    Science.gov (United States)

    Zongyao, Wang; Cong, Sui; Cheng, Shao

    2017-10-01

    Fixed point learning has become an important tool to analyse large scale distributed system such as urban traffic network. This paper presents a fixed point learning based intelligence traffic network control system. The system applies convergence property of fixed point theorem to optimize the traffic flow density. The intelligence traffic control system achieves maximum road resources usage by averaging traffic flow density among the traffic network. The intelligence traffic network control system is built based on decentralized structure and intelligence cooperation. No central control is needed to manage the system. The proposed system is simple, effective and feasible for practical use. The performance of the system is tested via theoretical proof and simulations. The results demonstrate that the system can effectively solve the traffic congestion problem and increase the vehicles average speed. It also proves that the system is flexible, reliable and feasible for practical use.

  16. The effects of control versus autonomy in hypermedia learning environments

    NARCIS (Netherlands)

    Gorissen, Chantal; Kester, Liesbeth; Brand-Gruwel, Saskia; Martens, Rob

    2010-01-01

    Gorissen, C. J. J., Kester, L., Brand-Gruwel, S., & Martens, R. L. (2010, 13-16 May). The effects of control versus autonomy in hypermedia learning environments. Poster presented at the 4th International Self-Determination Theory Conference, Ghent, Belgium: Kennisnet.

  17. Optimal Control via Reinforcement Learning with Symbolic Policy Approximation

    NARCIS (Netherlands)

    Kubalìk, Jiřì; Alibekov, Eduard; Babuska, R.; Dochain, Denis; Henrion, Didier; Peaucelle, Dimitri

    2017-01-01

    Model-based reinforcement learning (RL) algorithms can be used to derive optimal control laws for nonlinear dynamic systems. With continuous-valued state and input variables, RL algorithms have to rely on function approximators to represent the value function and policy mappings. This paper

  18. Instructional control of reinforcement learning: A behavioral and neurocomputational investigation

    NARCIS (Netherlands)

    Doll, B.B.; Jacobs, W.J.; Sanfey, A.G.; Frank, M.J.

    2009-01-01

    Humans learn how to behave directly through environmental experience and indirectly through rules and instructions. Behavior analytic research has shown that instructions can control behavior, even when such behavior leads to sub-optimal outcomes (Hayes, S (Ed) 1989. Rule-governed behavior:

  19. Controlling Uncertainty Decision Making and Learning in Complex Worlds

    CERN Document Server

    Osman, Magda

    2010-01-01

    Controlling Uncertainty: Decision Making and Learning in Complex Worlds reviews and discusses the most current research relating to the ways we can control the uncertain world around us.: Features reviews and discussions of the most current research in a number of fields relevant to controlling uncertainty, such as psychology, neuroscience, computer science and engineering; Presents a new framework that is designed to integrate a variety of disparate fields of research; Represents the first book of its kind to provide a general overview of work related to understanding control

  20. Advanced scenarios for ITER operation

    Energy Technology Data Exchange (ETDEWEB)

    Sips, A.C.C. [Max-Planck-Institut fuer Plasmaphysik, Garching (Germany)

    2004-07-01

    In thermonuclear fusion research using magnetic confinement, the tokamak is the leading candidate for achieving conditions required for a reactor. An international experiment, ITER is proposed as the next essential and critical step on the path to demonstrating the scientific and technological feasibility of fusion energy. ITER is to produce and study plasmas dominated by self heating. This would give unique opportunities to explore, in reactor relevant conditions, the physics of {alpha}-particle heating, plasma turbulence and turbulent transport, stability limits to the plasma pressure and exhaust of power and particles. Important new results obtained in experiments, theory and modelling, enable an improved understanding of the physical processes occurring in tokamak plasmas and give enhanced confidence in ITER achieving its goals. In particular, progress has been made in research to raise the performance of tokamaks, aimed to extend the discharge pulse length towards steady-state operation (advanced scenarios). Standard tokamak discharges have a current density increasing monotonically towards the centre of the plasma. Advanced scenarios on the other hand use a modified current density profile. Different advanced scenarios range from (i) plasmas that sustain a central region with a flat current density profile (zero magnetic shear), capable of operating stationary at high plasma pressure, to (ii) discharges with an off axis maximum of the current density profile (reversed magnetic shear in the core), able to form internal transport barriers, to increase the confinement of the plasma. The physics of advanced tokamak discharges is described, together with an overview of recent results from different tokamak experiments. International collaboration between experiments aims to provide a better understanding, control and optimisation of these plasmas. The ability to explore advanced scenarios in ITER is very desirable, in order to verify the result obtained in

  1. Matlab modeling of ITER CODAC

    International Nuclear Information System (INIS)

    Pangione, L.; Lister, J.B.

    2008-01-01

    The ITER CODAC (COntrol, Data Access and Communication) conceptual design resulted from 2 years of activity. One result was a proposed functional partitioning of CODAC into different CODAC Systems, each of them partitioned into other CODAC Systems. Considering the large size of this project, simple use of human language assisted by figures would certainly be ineffective in creating an unambiguous description of all interactions and all relations between these Systems. Moreover, the underlying design is resident in the mind of the designers, who must consider all possible situations that could happen to each system. There is therefore a need to model the whole of CODAC with a clear and preferably graphical method, which allows the designers to verify the correctness and the consistency of their project. The aim of this paper is to describe the work started on ITER CODAC modeling using Matlab/Simulink. The main feature of this tool is the possibility of having a simple, graphical, intuitive representation of a complex system and ultimately to run a numerical simulation of it. Using Matlab/Simulink, each CODAC System was represented in a graphical and intuitive form with its relations and interactions through the definition of a small number of simple rules. In a Simulink diagram, each system was represented as a 'black box', both containing, and connected to, a number of other systems. In this way it is possible to move vertically between systems on different levels, to show the relation of membership, or horizontally to analyse the information exchange between systems at the same level. This process can be iterated, starting from a global diagram, in which only CODAC appears with the Plant Systems and the external sites, and going deeper down to the mathematical model of each CODAC system. The Matlab/Simulink features for simulating the whole top diagram encourage us to develop the idea of completing the functionalities of all systems in order to finally have a full

  2. ITER tokamak device

    International Nuclear Information System (INIS)

    Doggett, J.; Salpietro, E.; Shatalov, G.

    1991-01-01

    The results of the Conceptual Design Activities for the International Thermonuclear Experimental Reactor (ITER) are summarized. These activities, carried out between April 1988 and December 1990, produced a consistent set of technical characteristics and preliminary plans for co-ordinated research and development support of ITER; and a conceptual design, a description of design requirements and a preliminary construction schedule and cost estimate. After a description of the design basis, an overview is given of the tokamak device, its auxiliary systems, facility and maintenance. The interrelation and integration of the various subsystems that form the ITER tokamak concept are discussed. The 16 ITER equatorial port allocations, used for nuclear testing, diagnostics, fuelling, maintenance, and heating and current drive, are given, as well as a layout of the reactor building. Finally, brief descriptions are given of the major ITER sub-systems, i.e., (i) magnet systems (toroidal and poloidal field coils and cryogenic systems), (ii) containment structures (vacuum and cryostat vessels, machine gravity supports, attaching locks, passive loops and active coils), (iii) first wall, (iv) divertor plate (design and materials, performance and lifetime, a.o.), (v) blanket/shield system, (vi) maintenance equipment, (vii) current drive and heating, (viii) fuel cycle system, and (ix) diagnostics. 11 refs, figs and tabs

  3. ITER-FEAT operation

    International Nuclear Information System (INIS)

    Shimomura, Y.; Huguet, M.; Mizoguchi, T.; Murakami, Y.; Polevoi, A.R.; Shimada, M.; Aymar, R.; Chuyanov, V.A.; Matsumoto, H.

    2001-01-01

    ITER is planned to be the first fusion experimental reactor in the world operating for research in physics and engineering. The first ten years of operation will be devoted primarily to physics issues at low neutron fluence and the following ten years of operation to engineering testing at higher fluence. ITER can accommodate various plasma configurations and plasma operation modes, such as inductive high Q modes, long pulse hybrid modes and non-inductive steady state modes, with large ranges of plasma current, density, beta and fusion power, and with various heating and current drive methods. This flexibility will provide an advantage for coping with uncertainties in the physics database, in studying burning plasmas, in introducing advanced features and in optimizing the plasma performance for the different programme objectives. Remote sites will be able to participate in the ITER experiment. This concept will provide an advantage not only in operating ITER for 24 hours a day but also in involving the worldwide fusion community and in promoting scientific competition among the ITER Parties. (author)

  4. Multi Car Elevator Control by using Learning Automaton

    Science.gov (United States)

    Shiraishi, Kazuaki; Hamagami, Tomoki; Hirata, Hironori

    We study an adaptive control technique for multi car elevators (MCEs) by adopting learning automatons (LAs.) The MCE is a high performance and a near-future elevator system with multi shafts and multi cars. A strong point of the system is that realizing a large carrying capacity in small shaft area. However, since the operation is too complicated, realizing an efficient MCE control is difficult for top-down approaches. For example, “bunching up together" is one of the typical phenomenon in a simple traffic environment like the MCE. Furthermore, an adapting to varying environment in configuration requirement is a serious issue in a real elevator service. In order to resolve these issues, having an autonomous behavior is required to the control system of each car in MCE system, so that the learning automaton, as the solutions for this requirement, is supposed to be appropriate for the simple traffic control. First, we assign a stochastic automaton (SA) to each car control system. Then, each SA varies its stochastic behavior distributions for adapting to environment in which its policy is evaluated with each passenger waiting times. That is LA which learns the environment autonomously. Using the LA based control technique, the MCE operation efficiency is evaluated through simulation experiments. Results show the technique enables reducing waiting times efficiently, and we confirm the system can adapt to the dynamic environment.

  5. Physiotherapists use a great variety of motor learning options in neurological rehabilitation, from which they choose through an iterative process: a retrospective think-aloud study.

    Science.gov (United States)

    Kleynen, Melanie; Moser, Albine; Haarsma, Frederike A; Beurskens, Anna J; Braun, Susy M

    2017-08-01

    The goal of this study was to examine which motor learning options are applied by experienced physiotherapists in neurological rehabilitation, and how they choose between the different options. A descriptive qualitative approach was used. A purposive sample of five expert physiotherapists from the neurological ward of a rehabilitation center participated. Data were collected using nine videotaped therapy situations. During retrospective think-aloud interviews, the physiotherapists were instructed to constantly "think aloud" while they were watching their own videos. Five "operators" were identified: "act", "know", "observe", "assess" and "argue". The "act" operator consisted of 34 motor learning options, which were clustered into "instruction", "feedback" and "organization". The "know", "observe", "assess" and "argue" operators explained how therapists chose one of these options. The four operators seem to be interrelated and together lead to a decision to apply a particular motor learning option. Results show that the participating physiotherapists used a great variety of motor learning options in their treatment sessions. Further, the decision-making process with regard to these motor learning options was identified. Results may support future intervention studies that match the content and process of therapy in daily practice. The study should be repeated with other physiotherapists. Implications for Rehabilitation The study provided insight into the way experienced therapist handle the great variety of possible motor learning options, including concrete ideas on how to operationalize these options in specific situations. Despite differences in patients' abilities, it seems that therapists use the same underlying clinical reasoning process when choosing a particular motor learning option. Participating physiotherapists used more than the in guidelines suggested motor learning options and considered more than the suggested factors, hence adding practice based

  6. Splendidly blended: a machine learning set up for CDU control

    Science.gov (United States)

    Utzny, Clemens

    2017-06-01

    As the concepts of machine learning and artificial intelligence continue to grow in importance in the context of internet related applications it is still in its infancy when it comes to process control within the semiconductor industry. Especially the branch of mask manufacturing presents a challenge to the concepts of machine learning since the business process intrinsically induces pronounced product variability on the background of small plate numbers. In this paper we present the architectural set up of a machine learning algorithm which successfully deals with the demands and pitfalls of mask manufacturing. A detailed motivation of this basic set up followed by an analysis of its statistical properties is given. The machine learning set up for mask manufacturing involves two learning steps: an initial step which identifies and classifies the basic global CD patterns of a process. These results form the basis for the extraction of an optimized training set via balanced sampling. A second learning step uses this training set to obtain the local as well as global CD relationships induced by the manufacturing process. Using two production motivated examples we show how this approach is flexible and powerful enough to deal with the exacting demands of mask manufacturing. In one example we show how dedicated covariates can be used in conjunction with increased spatial resolution of the CD map model in order to deal with pathological CD effects at the mask boundary. The other example shows how the model set up enables strategies for dealing tool specific CD signature differences. In this case the balanced sampling enables a process control scheme which allows usage of the full tool park within the specified tight tolerance budget. Overall, this paper shows that the current rapid developments off the machine learning algorithms can be successfully used within the context of semiconductor manufacturing.

  7. [Lessons learned from tobacco control in Spain].

    Science.gov (United States)

    Fernández, Esteve; Villalbí, Joan R; Córdoba, Rodrigo

    2006-01-01

    The growing involvement in Spain by civil society in the demand for tobacco control policies has been notable. The basis for the creation of the National Committee for Tobacco Prevention was established in 2004. At the end of that year, an intensive intervention was aimed at specifying, in law, the regulatory actions in the National Plan for Tobacco Prevention. This would facilitate a qualitative leap, taking advantage of the legal transposition of the European directive on advertising. With broad political consensus, the Law 28/2005 was established regarding sanitary measures for tobacco and the regulation of the sale, supply and consumption of tobacco products. The objective stated in this law is to prevent the initiation of tobacco consumption, especially among youth, guarantee the right of non-smokers to breathe air free from tobacco smoke and make quitting this habit easier for people who wish to do so. The main issues included are the prohibition of tobacco advertising and the limitation of tobacco consumption in common work areas and enclosed public spaces. The new law has replaced the previous rules in Spain, which were some of the most permissive in the European Union in terms of tobacco sales, advertising limitations and restrictions on smoking locations. It is clear that there is still much to be done. At this time, more social support needs to be generated in favor of the new regulations, and an important effort needs to be made to educate the public.

  8. Human-level control through deep reinforcement learning

    Science.gov (United States)

    Mnih, Volodymyr; Kavukcuoglu, Koray; Silver, David; Rusu, Andrei A.; Veness, Joel; Bellemare, Marc G.; Graves, Alex; Riedmiller, Martin; Fidjeland, Andreas K.; Ostrovski, Georg; Petersen, Stig; Beattie, Charles; Sadik, Amir; Antonoglou, Ioannis; King, Helen; Kumaran, Dharshan; Wierstra, Daan; Legg, Shane; Hassabis, Demis

    2015-02-01

    The theory of reinforcement learning provides a normative account, deeply rooted in psychological and neuroscientific perspectives on animal behaviour, of how agents may optimize their control of an environment. To use reinforcement learning successfully in situations approaching real-world complexity, however, agents are confronted with a difficult task: they must derive efficient representations of the environment from high-dimensional sensory inputs, and use these to generalize past experience to new situations. Remarkably, humans and other animals seem to solve this problem through a harmonious combination of reinforcement learning and hierarchical sensory processing systems, the former evidenced by a wealth of neural data revealing notable parallels between the phasic signals emitted by dopaminergic neurons and temporal difference reinforcement learning algorithms. While reinforcement learning agents have achieved some successes in a variety of domains, their applicability has previously been limited to domains in which useful features can be handcrafted, or to domains with fully observed, low-dimensional state spaces. Here we use recent advances in training deep neural networks to develop a novel artificial agent, termed a deep Q-network, that can learn successful policies directly from high-dimensional sensory inputs using end-to-end reinforcement learning. We tested this agent on the challenging domain of classic Atari 2600 games. We demonstrate that the deep Q-network agent, receiving only the pixels and the game score as inputs, was able to surpass the performance of all previous algorithms and achieve a level comparable to that of a professional human games tester across a set of 49 games, using the same algorithm, network architecture and hyperparameters. This work bridges the divide between high-dimensional sensory inputs and actions, resulting in the first artificial agent that is capable of learning to excel at a diverse array of challenging tasks.

  9. Human-level control through deep reinforcement learning.

    Science.gov (United States)

    Mnih, Volodymyr; Kavukcuoglu, Koray; Silver, David; Rusu, Andrei A; Veness, Joel; Bellemare, Marc G; Graves, Alex; Riedmiller, Martin; Fidjeland, Andreas K; Ostrovski, Georg; Petersen, Stig; Beattie, Charles; Sadik, Amir; Antonoglou, Ioannis; King, Helen; Kumaran, Dharshan; Wierstra, Daan; Legg, Shane; Hassabis, Demis

    2015-02-26

    The theory of reinforcement learning provides a normative account, deeply rooted in psychological and neuroscientific perspectives on animal behaviour, of how agents may optimize their control of an environment. To use reinforcement learning successfully in situations approaching real-world complexity, however, agents are confronted with a difficult task: they must derive efficient representations of the environment from high-dimensional sensory inputs, and use these to generalize past experience to new situations. Remarkably, humans and other animals seem to solve this problem through a harmonious combination of reinforcement learning and hierarchical sensory processing systems, the former evidenced by a wealth of neural data revealing notable parallels between the phasic signals emitted by dopaminergic neurons and temporal difference reinforcement learning algorithms. While reinforcement learning agents have achieved some successes in a variety of domains, their applicability has previously been limited to domains in which useful features can be handcrafted, or to domains with fully observed, low-dimensional state spaces. Here we use recent advances in training deep neural networks to develop a novel artificial agent, termed a deep Q-network, that can learn successful policies directly from high-dimensional sensory inputs using end-to-end reinforcement learning. We tested this agent on the challenging domain of classic Atari 2600 games. We demonstrate that the deep Q-network agent, receiving only the pixels and the game score as inputs, was able to surpass the performance of all previous algorithms and achieve a level comparable to that of a professional human games tester across a set of 49 games, using the same algorithm, network architecture and hyperparameters. This work bridges the divide between high-dimensional sensory inputs and actions, resulting in the first artificial agent that is capable of learning to excel at a diverse array of challenging tasks.

  10. iHadoop: Asynchronous Iterations Support for MapReduce

    KAUST Repository

    Elnikety, Eslam

    2011-08-01

    MapReduce is a distributed programming framework designed to ease the development of scalable data-intensive applications for large clusters of commodity machines. Most machine learning and data mining applications involve iterative computations over large datasets, such as the Web hyperlink structures and social network graphs. Yet, the MapReduce model does not efficiently support this important class of applications. The architecture of MapReduce, most critically its dataflow techniques and task scheduling, is completely unaware of the nature of iterative applications; tasks are scheduled according to a policy that optimizes the execution for a single iteration which wastes bandwidth, I/O, and CPU cycles when compared with an optimal execution for a consecutive set of iterations. This work presents iHadoop, a modified MapReduce model, and an associated implementation, optimized for iterative computations. The iHadoop model schedules iterations asynchronously. It connects the output of one iteration to the next, allowing both to process their data concurrently. iHadoop\\'s task scheduler exploits inter- iteration data locality by scheduling tasks that exhibit a producer/consumer relation on the same physical machine allowing a fast local data transfer. For those iterative applications that require satisfying certain criteria before termination, iHadoop runs the check concurrently during the execution of the subsequent iteration to further reduce the application\\'s latency. This thesis also describes our implementation of the iHadoop model, and evaluates its performance against Hadoop, the widely used open source implementation of MapReduce. Experiments using different data analysis applications over real-world and synthetic datasets show that iHadoop performs better than Hadoop for iterative algorithms, reducing execution time of iterative applications by 25% on average. Furthermore, integrating iHadoop with HaLoop, a variant Hadoop implementation that caches

  11. Biomimetic approach to tacit learning based on compound control.

    Science.gov (United States)

    Shimoda, Shingo; Kimura, Hidenori

    2010-02-01

    The remarkable capability of living organisms to adapt to unknown environments is due to learning mechanisms that are totally different from the current artificial machine-learning paradigm. Computational media composed of identical elements that have simple activity rules play a major role in biological control, such as the activities of neurons in brains and the molecular interactions in intracellular control. As a result of integrations of the individual activities of the computational media, new behavioral patterns emerge to adapt to changing environments. We previously implemented this feature of biological controls in a form of machine learning and succeeded to realize bipedal walking without the robot model or trajectory planning. Despite the success of bipedal walking, it was a puzzle as to why the individual activities of the computational media could achieve the global behavior. In this paper, we answer this question by taking a statistical approach that connects the individual activities of computational media to global network behaviors. We show that the individual activities can generate optimized behaviors from a particular global viewpoint, i.e., autonomous rhythm generation and learning of balanced postures, without using global performance indices.

  12. Earthly sun called ITER

    International Nuclear Information System (INIS)

    Pozdeyev, Mikhail

    2002-01-01

    Full text: Participating in the film are Academicians Velikhov and Glukhikh, Mr. Filatof, ITER Director from Russia, Mr. Sannikov from Kurchatov Institute. The film tells about the starting point of the project (Mr. Lavrentyev), the pioneers of the project (Academicians Tamme, Sakharov, Artsimovich) and about the situation the project is standing now. Participating in [ITER now are the US, Russia, Japan and the European Union. There are two associated members as well - Kazakhstan and Canada. By now the engineering design phase has been finished. Computer animation used in the video gives us the idea how the first thermonuclear reactor based on famous Russian TOKOMAK works. (author)

  13. Iterated multidimensional wave conversion

    International Nuclear Information System (INIS)

    Brizard, A. J.; Tracy, E. R.; Johnston, D.; Kaufman, A. N.; Richardson, A. S.; Zobin, N.

    2011-01-01

    Mode conversion can occur repeatedly in a two-dimensional cavity (e.g., the poloidal cross section of an axisymmetric tokamak). We report on two novel concepts that allow for a complete and global visualization of the ray evolution under iterated conversions. First, iterated conversion is discussed in terms of ray-induced maps from the two-dimensional conversion surface to itself (which can be visualized in terms of three-dimensional rooms). Second, the two-dimensional conversion surface is shown to possess a symplectic structure derived from Dirac constraints associated with the two dispersion surfaces of the interacting waves.

  14. Learning and Control Model of the Arm for Loading

    Science.gov (United States)

    Kim, Kyoungsik; Kambara, Hiroyuki; Shin, Duk; Koike, Yasuharu

    We propose a learning and control model of the arm for a loading task in which an object is loaded onto one hand with the other hand, in the sagittal plane. Postural control during object interactions provides important points to motor control theories in terms of how humans handle dynamics changes and use the information of prediction and sensory feedback. For the learning and control model, we coupled a feedback-error-learning scheme with an Actor-Critic method used as a feedback controller. To overcome sensory delays, a feedforward dynamics model (FDM) was used in the sensory feedback path. We tested the proposed model in simulation using a two-joint arm with six muscles, each with time delays in muscle force generation. By applying the proposed model to the loading task, we showed that motor commands started increasing, before an object was loaded on, to stabilize arm posture. We also found that the FDM contributes to the stabilization by predicting how the hand changes based on contexts of the object and efferent signals. For comparison with other computational models, we present the simulation results of a minimum-variance model.

  15. Physics research needs for ITER

    International Nuclear Information System (INIS)

    Sauthoff, N.R.

    1995-01-01

    Design of ITER entails the application of physics design tools that have been validated against the world-wide data base of fusion research. In many cases, these tools do not yet exist and must be developed as part of the ITER physics program. ITER's considerable increases in power and size demand significant extrapolations from the current data base; in several cases, new physical effects are projected to dominate the behavior of the ITER plasma. This paper focuses on those design tools and data that have been identified by the ITER team and are not yet available; these needs serve as the basis for the ITER Physics Research Needs, which have been developed jointly by the ITER Physics Expert Groups and the ITER design team. Development of the tools and the supporting data base is an on-going activity that constitutes a significant opportunity for contributions to the ITER program by fusion research programs world-wide

  16. Discrete-Time Nonzero-Sum Games for Multiplayer Using Policy-Iteration-Based Adaptive Dynamic Programming Algorithms.

    Science.gov (United States)

    Zhang, Huaguang; Jiang, He; Luo, Chaomin; Xiao, Geyang

    2017-10-01

    In this paper, we investigate the nonzero-sum games for a class of discrete-time (DT) nonlinear systems by using a novel policy iteration (PI) adaptive dynamic programming (ADP) method. The main idea of our proposed PI scheme is to utilize the iterative ADP algorithm to obtain the iterative control policies, which not only ensure the system to achieve stability but also minimize the performance index function for each player. This paper integrates game theory, optimal control theory, and reinforcement learning technique to formulate and handle the DT nonzero-sum games for multiplayer. First, we design three actor-critic algorithms, an offline one and two online ones, for the PI scheme. Subsequently, neural networks are employed to implement these algorithms and the corresponding stability analysis is also provided via the Lyapunov theory. Finally, a numerical simulation example is presented to demonstrate the effectiveness of our proposed approach.

  17. Overview of physics basis for ITER

    International Nuclear Information System (INIS)

    Mukhovatov, V; Shimada, M; Chudnovskiy, A N; Costley, A E; Gribov, Y; Federici, G; Kardaun, O; Kukushkin, A S; Polevoi, A; Pustovitov, V D; Shimomura, Y; Sugie, T; Sugihara, M; Vayakis, G

    2003-01-01

    ITER will be the first magnetic confinement device with burning DT plasma and fusion power of about 0.5 GW. Parameters of ITER plasma have been predicted using methodologies summarized in the ITER Physics Basis (1999 Nucl. Fusion 39 2175). During the past few years, new results have been obtained that substantiate confidence in achieving Q>=10 in ITER with inductive H-mode operation. These include achievement of a good H-mode confinement near the Greenwald density at high triangularity of the plasma cross section; improvements in theory-based confinement projections for the core plasma, even though further studies are needed for understanding the transport near the plasma edge; improvement in helium ash removal due to the elastic collisions of He atoms with D/T ions in the divertor predicted by modelling; demonstration of feedback control of neoclassical tearing modes and resultant improvement in the achievable beta values; better understanding of edge localized mode (ELM) physics and development of ELM mitigation techniques; and demonstration of mitigation of plasma disruptions. ITER will have a flexibility to operate also in steady-state and intermediate (hybrid) regimes. The 'advanced tokamak' regimes with weak or negative central magnetic shear and internal transport barriers are considered as potential scenarios for steady-state operation. The paper concentrates on inductively driven plasma performance and discusses requirements for steady-state operation in ITER

  18. Learning to Learn Online: Using Locus of Control to Help Students Become Successful Online Learners

    Science.gov (United States)

    Lowes, Susan; Lin, Peiyi

    2015-01-01

    In this study, approximately 600 online high school students were asked to take Rotter's locus of control questionnaire and then reflect on the results, with the goal of helping them think about their ability to regulate their learning in this new environment. In addition, it was hoped that the results could provide a diagnostic for teachers who…

  19. The Effectiveness of E-Learning Systems: A Review of the Empirical Literature on Learner Control

    Science.gov (United States)

    Sorgenfrei, Christian; Smolnik, Stefan

    2016-01-01

    E-learning systems are considerably changing education and organizational training. With the advancement of online-based learning systems, learner control over the instructional process has emerged as a decisive factor in technology-based forms of learning. However, conceptual work on the role of learner control in e-learning has not advanced…

  20. Machine learning control taming nonlinear dynamics and turbulence

    CERN Document Server

    Duriez, Thomas; Noack, Bernd R

    2017-01-01

    This is the first book on a generally applicable control strategy for turbulence and other complex nonlinear systems. The approach of the book employs powerful methods of machine learning for optimal nonlinear control laws. This machine learning control (MLC) is motivated and detailed in Chapters 1 and 2. In Chapter 3, methods of linear control theory are reviewed. In Chapter 4, MLC is shown to reproduce known optimal control laws for linear dynamics (LQR, LQG). In Chapter 5, MLC detects and exploits a strongly nonlinear actuation mechanism of a low-dimensional dynamical system when linear control methods are shown to fail. Experimental control demonstrations from a laminar shear-layer to turbulent boundary-layers are reviewed in Chapter 6, followed by general good practices for experiments in Chapter 7. The book concludes with an outlook on the vast future applications of MLC in Chapter 8. Matlab codes are provided for easy reproducibility of the presented results. The book includes interviews with leading r...

  1. Measuring strategic control in implicit learning: How and why?

    Directory of Open Access Journals (Sweden)

    Elisabeth eNorman

    2015-09-01

    Full Text Available Several methods have been developed for measuring the extent to which implicitly learned knowledge can be applied in a strategic, flexible manner. Examples include generation exclusion tasks in SRT learning (Destrebecqz & Cleeremans, 2001; Goschke, 1998 and 2-grammar classification tasks in AGL (Dienes, Altmann, Kwan, & Goode, 1995; Norman, Price, & Jones, 2011. Strategic control has traditionally been used as a criterion for determining whether acquired knowledge is conscious or unconscious, or which properties of knowledge is consciously available. In this paper I first summarize existing methods that have been developed for measuring strategic control in the SRT and AGL tasks. I then address some methodologial and theoretical questions. Methodological questions concern choice of task, whether the measurement reflects inhibitory control or task switching, and whether or not strategic control should be measured on a trial-by-trial basis. Theoretical questions concern the rationale for including measurement of strategic control, what form of knowledge is strategically controlled, and how strategic control can be combined with subjective awareness measures.

  2. Iterative List Decoding

    DEFF Research Database (Denmark)

    Justesen, Jørn; Høholdt, Tom; Hjaltason, Johan

    2005-01-01

    We analyze the relation between iterative decoding and the extended parity check matrix. By considering a modified version of bit flipping, which produces a list of decoded words, we derive several relations between decodable error patterns and the parameters of the code. By developing a tree...... of codewords at minimal distance from the received vector, we also obtain new information about the code....

  3. ITER power electrical networks

    International Nuclear Information System (INIS)

    Sejas Portela, S.

    2011-01-01

    The ITER project (International Thermonuclear Experimental Reactor) is an international effort to research and development to design, build and operate an experimental facility to demonstrate the scientific and technological possibility of obtaining useful energy from the physical phenomenon known as nuclear fusion.

  4. ITER conceptual design report

    International Nuclear Information System (INIS)

    1991-01-01

    Results of the International Thermonuclear Experimental Reactor (ITER) Conceptual Design Activity (CDA) are reported. This report covers the Terms of Reference for the project: defining the technical specifications, defining future research needs, define site requirements, and carrying out a coordinated research effort coincident with the CDA. Refs, figs and tabs

  5. Nuclear analysis for ITER

    International Nuclear Information System (INIS)

    Santoro, R.T.; Iida, H.; Khripunov, V.; Petrizzi, L.; Sato, S.; Sawan, M.; Shatalov, G.; Schipakin, O.

    2001-01-01

    This paper summarizes the main results of nuclear analysis calculations performed during the International Thermonuclear Experimental Reactor (ITER) Engineering Design Activity (EDA). Major efforts were devoted to fulfilling the General Design Requirements to minimize the nuclear heating rate in the superconducting magnets and ensuring that radiation conditions at the cryostat are suitable for hands-on-maintenance after reactor shut-down. (author)

  6. ITER at Cadarache

    International Nuclear Information System (INIS)

    2005-06-01

    This public information document presents the ITER project (International Thermonuclear Experimental Reactor), the definition of the fusion, the international cooperation and the advantages of the project. It presents also the site of Cadarache, an appropriate scientifical and economical environment. The last part of the documentation recalls the historical aspect of the project and the today mobilization of all partners. (A.L.B.)

  7. ITER conceptual design

    International Nuclear Information System (INIS)

    Tomabechi, K.; Gilleland, J.R.; Sokolov, Yu.A.; Toschi, R.

    1991-01-01

    The Conceptual Design Activities of the International Thermonuclear Experimental Reactor (ITER) were carried out jointly by the European Community, Japan, the Soviet Union and the United States of America, under the auspices of the International Atomic Energy Agency. The European Community provided the site for joint work sessions at the Max-Planck-Institut fuer Plasmaphysik in Garching, Germany. The Conceptual Design Activities began in the spring of 1988 and ended in December 1990. The objectives of the activities were to develop the design of ITER, to perform a safety and environmental analysis, to define the site requirements as well as the future research and development needs, to estimate the cost and manpower, and to prepare a schedule for detailed engineering design, construction and operation. On the basis of the investigation and analysis performed, a concept of ITER was developed which incorporated maximum flexibility of the performance of the device and allowed a variety of operating scenarios to be adopted. The heart of the machine is a tokamak having a plasma major radius of 6 m, a plasma minor radius of 2.15 m, a nominal plasma current of 22 MA and a nominal fusion power of 1 GW. The conceptual design can meet the technical objectives of the ITER programme. Because of the success of the Conceptual Design Activities, the Parties are now considering the implementation of the next phase, called the Engineering Design Activities. (author). Refs, figs and tabs

  8. ITER-FEAT operation

    International Nuclear Information System (INIS)

    Shimomura, Y.; Huget, M.; Mizoguchi, T.; Murakami, Y.; Polevoi, A.; Shimada, M.; Aymar, R.; Chuyanov, V.; Matsumoto, H.

    2001-01-01

    ITER is planned to be the first fusion experimental reactor in the world operating for research in physics and engineering. The first 10 years' operation will be devoted primarily to physics issues at low neutron fluence and the following 10 years' operation to engineering testing at higher fluence. ITER can accommodate various plasma configurations and plasma operation modes such as inductive high Q modes, long pulse hybrid modes, non-inductive steady-state modes, with large ranges of plasma current, density, beta and fusion power, and with various heating and current drive methods. This flexibility will provide an advantage for coping with uncertainties in the physics database, in studying burning plasmas, in introducing advanced features and in optimizing the plasma performance for the different programme objectives. Remote sites will be able to participate in the ITER experiment. This concept will provide an advantage not only in operating ITER for 24 hours per day but also in involving the world-wide fusion communities and in promoting scientific competition among the Parties. (author)

  9. ITER fuel cycle

    International Nuclear Information System (INIS)

    Leger, D.; Dinner, P.; Yoshida, H.

    1991-01-01

    Resulting from the Conceptual Design Activities (1988-1990) by the parties involved in the International Thermonuclear Experimental Reactor (ITER) project, this document summarizes the design requirements and the Conceptual Design Descriptions for each of the principal subsystems and design options of the ITER Fuel Cycle conceptual design. The ITER Fuel Cycle system provides for the handling of all tritiated water and gas mixtures on ITER. The system is subdivided into subsystems for fuelling, primary (torus) vacuum pumping, fuel processing, blanket tritium recovery, and common processes (including isotopic separation, fuel management and storage, and processes for detritiation of solid, liquid, and gaseous wastes). After an introduction describing system function and conceptual design procedure, a summary of the design is presented including a discussion of scope and main parameters, and the fuel design options for fuelling, plasma chamber vacuum pumping, fuel cleanup, blanket tritium recovery, and auxiliary and common processes. Design requirements are defined and design descriptions are given for the various subsystems (fuelling, plasma vacuum pumping, fuel cleanup, blanket tritium recovery, and auxiliary/common processes). The document ends with sections on fuel cycle design integration, fuel cycle building layout, safety considerations, a summary of the research and development programme, costing, and conclusions. Refs, figs and tabs

  10. ITER blanket designs

    International Nuclear Information System (INIS)

    Gohar, Y.; Parker, R.; Rebut, P.H.

    1995-01-01

    The ITER first wall, blanket, and shield system is being designed to handle 1.5±0.3 GW of fusion power and 3 MWa m -2 average neutron fluence. In the basic performance phase of ITER operation, the shielding blanket uses austenitic steel structural material and water coolant. The first wall is made of bimetallic structure, austenitic steel and copper alloy, coated with beryllium and it is protected by beryllium bumper limiters. The choice of copper first wall is dictated by the surface heat flux values anticipated during ITER operation. The water coolant is used at low pressure and low temperature. A breeding blanket has been designed to satisfy the technical objectives of the Enhanced Performance Phase of ITER operation for the Test Program. The breeding blanket design is geometrically similar to the shielding blanket design except it is a self-cooled liquid lithium system with vanadium structural material. Self-healing electrical insulator (aluminum nitride) is used to reduce the MHD pressure drop in the system. Reactor relevancy, low tritium inventory, low activation material, low decay heat, and a tritium self-sufficiency goal are the main features of the breeding blanket design. (orig.)

  11. Advances in iterative methods

    International Nuclear Information System (INIS)

    Beauwens, B.; Arkuszewski, J.; Boryszewicz, M.

    1981-01-01

    Results obtained in the field of linear iterative methods within the Coordinated Research Program on Transport Theory and Advanced Reactor Calculations are summarized. The general convergence theory of linear iterative methods is essentially based on the properties of nonnegative operators on ordered normed spaces. The following aspects of this theory have been improved: new comparison theorems for regular splittings, generalization of the notions of M- and H-matrices, new interpretations of classical convergence theorems for positive-definite operators. The estimation of asymptotic convergence rates was developed with two purposes: the analysis of model problems and the optimization of relaxation parameters. In the framework of factorization iterative methods, model problem analysis is needed to investigate whether the increased computational complexity of higher-order methods does not offset their increased asymptotic convergence rates, as well as to appreciate the effect of standard relaxation techniques (polynomial relaxation). On the other hand, the optimal use of factorization iterative methods requires the development of adequate relaxation techniques and their optimization. The relative performances of a few possibilities have been explored for model problems. Presently, the best results have been obtained with optimal diagonal-Chebyshev relaxation

  12. ITER neutral beam system

    International Nuclear Information System (INIS)

    Mondino, P.L.; Di Pietro, E.; Bayetti, P.

    1999-01-01

    The Neutral Beam (NB) system for the International Thermonuclear Experimental Reactor (ITER) has reached a high degree of integration with the tokamak and with the rest of the plant. Operational requirements and maintainability have been considered in the design. The paper considers the integration with the tokamak, discusses design improvements which appear necessary and finally notes R and D progress in key areas. (author)

  13. Iterative software kernels

    Energy Technology Data Exchange (ETDEWEB)

    Duff, I.

    1994-12-31

    This workshop focuses on kernels for iterative software packages. Specifically, the three speakers discuss various aspects of sparse BLAS kernels. Their topics are: `Current status of user lever sparse BLAS`; Current status of the sparse BLAS toolkit`; and `Adding matrix-matrix and matrix-matrix-matrix multiply to the sparse BLAS toolkit`.

  14. Effects of Locus of Control and Learner-Control on Web-Based Language Learning

    Science.gov (United States)

    Chang, Mei-Mei; Ho, Chiung-Mei

    2009-01-01

    The study explored the effects of students' locus of control and types of control over instruction on their self-efficacy and performance in a web-based language learning environment. A web-based interactive instructional program focusing on the comprehension of news articles for English language learners was developed in two versions: learner-…

  15. Design issues of a reinforcement-based self-learning fuzzy controller for petrochemical process control

    Science.gov (United States)

    Yen, John; Wang, Haojin; Daugherity, Walter C.

    1992-01-01

    Fuzzy logic controllers have some often-cited advantages over conventional techniques such as PID control, including easier implementation, accommodation to natural language, and the ability to cover a wider range of operating conditions. One major obstacle that hinders the broader application of fuzzy logic controllers is the lack of a systematic way to develop and modify their rules; as a result the creation and modification of fuzzy rules often depends on trial and error or pure experimentation. One of the proposed approaches to address this issue is a self-learning fuzzy logic controller (SFLC) that uses reinforcement learning techniques to learn the desirability of states and to adjust the consequent part of its fuzzy control rules accordingly. Due to the different dynamics of the controlled processes, the performance of a self-learning fuzzy controller is highly contingent on its design. The design issue has not received sufficient attention. The issues related to the design of a SFLC for application to a petrochemical process are discussed, and its performance is compared with that of a PID and a self-tuning fuzzy logic controller.

  16. ITER Safety and Licensing

    International Nuclear Information System (INIS)

    Girard, J-.P; Taylor, N.; Garin, P.; Uzan-Elbez, J.; GULDEN, W.; Rodriguez-Rodrigo, L.

    2006-01-01

    The site for the construction of ITER has been chosen in June 2005. The facility will be implemented in Europe, south of France close to Marseille. The generic safety scheme is now under revision to adapt the design to the host country regulation. Even though ITER will be an international organization, it will have to comply with the French requirements in the fields of public and occupational health and safety, nuclear safety, radiation protection, licensing, nuclear substances and environmental protection. The organization of the central team together with its partners organized in domestic agencies for the in-kind procurement of components is a key issue for the success of the experimentation. ITER is the first facility that will achieve sustained nuclear fusion. It is both important for the experimental one-of-a-kind device, ITER itself, and for the future of fusion power plants to well understand the key safety issues of this potential new source of energy production. The main safety concern is confinement of the tritium, activated dust in the vacuum vessel and activated corrosion products in the coolant of the plasma-facing components. This is achieved in the design through multiple confinement barriers to implement the defence in depth approach. It will be demonstrated in documents submitted to the French regulator that these barriers maintain their function in all postulated incident and accident conditions. The licensing process started by examination of the safety options. This step has been performed by Europe during the candidature phase in 2002. In parallel to the final design, and taking into account the local regulations, the Preliminary Safety Report (RPrS) will be drafted with support of the European partner and others in the framework of ITER Task Agreements. Together with the license application, the RPrS will be forwarded to the regulatory bodies, which will launch public hearings and a safety review. Both processes must succeed in order to

  17. A fresh look at electron cyclotron current drive power requirements for stabilization of tearing modes in ITER

    Energy Technology Data Exchange (ETDEWEB)

    La Haye, R. J., E-mail: lahaye@fusion.gat.com [General Atomics, P.O. Box 85608, San Diego, California 92186-5608 (United States)

    2015-12-10

    ITER is an international project to design and build an experimental fusion reactor based on the “tokamak” concept. ITER relies upon localized electron cyclotron current drive (ECCD) at the rational safety factor q=2 to suppress or stabilize the expected poloidal mode m=2, toroidal mode n=1 neoclassical tearing mode (NTM) islands. Such islands if unmitigated degrade energy confinement, lock to the resistive wall (stop rotating), cause loss of “H-mode” and induce disruption. The International Tokamak Physics Activity (ITPA) on MHD, Disruptions and Magnetic Control joint experiment group MDC-8 on Current Drive Prevention/Stabilization of Neoclassical Tearing Modes started in 2005, after which assessments were made for the requirements for ECCD needed in ITER, particularly that of rf power and alignment on q=2 [1]. Narrow well-aligned rf current parallel to and of order of one percent of the total plasma current is needed to replace the “missing” current in the island O-points and heal or preempt (avoid destabilization by applying ECCD on q=2 in absence of the mode) the island [2-4]. This paper updates the advances in ECCD stabilization on NTMs learned in DIII-D experiments and modeling during the last 5 to 10 years as applies to stabilization by localized ECCD of tearing modes in ITER. This includes the ECCD (inside the q=1 radius) stabilization of the NTM “seeding” instability known as sawteeth (m/n=1/1) [5]. Recent measurements in DIII-D show that the ITER-similar current profile is classically unstable, curvature stabilization must not be neglected, and the small island width stabilization effect from helical ion polarization currents is stronger than was previously thought [6]. The consequences of updated assumptions in ITER modeling of the minimum well-aligned ECCD power needed are all-in-all favorable (and well-within the ITER 24 gyrotron capability) when all effects are included. However, a “wild card” may be broadening of the localized

  18. Status of ITER

    International Nuclear Information System (INIS)

    Aymar, R.

    2002-01-01

    At the end of engineering design activities (EDA) in July 2001, all the essential elements became available to make a decision on construction of ITER. A sufficiently detailed and integrated engineering design now exists for a generic site, has been assessed for feasibility, and costed, and essential physics and technology R and D has been carried out to underpin the design choices. Formal negotiations have now begun between the current participants--Canada, Euratom, Japan, and the Russian Federation--on a Joint Implementation Agreement for ITER which also establishes the legal entity to run ITER. These negotiations are supported on technical aspects by Coordinated Technical Activities (CTA), which maintain the integrity of the project, for the good of all participants, and concentrate on preparing for procurement by industry of the longest lead items, and for formal application for a construction license with the host country. This paper highlights the main features of the ITER design. With cryogenically-cooled magnets close to neutron-generating plasma, the design of shielding with adequate access via port plugs for auxiliaries such as heating and diagnostics, and of remote replacement and refurbishing systems for in-vessel components, are particularly interesting nuclear technology challenges. Making a safety case for ITER to satisfy potential regulators and to demonstrate, as far as possible at this stage, the environmental attractiveness of fusion as an energy source, is also important. The paper gives illustrative details on this work, and an update on the progress of technical preparations for construction, as well as the status of the above negotiations

  19. Discrete-Time Local Value Iteration Adaptive Dynamic Programming: Admissibility and Termination Analysis.

    Science.gov (United States)

    Wei, Qinglai; Liu, Derong; Lin, Qiao

    In this paper, a novel local value iteration adaptive dynamic programming (ADP) algorithm is developed to solve infinite horizon optimal control problems for discrete-time nonlinear systems. The focuses of this paper are to study admissibility properties and the termination criteria of discrete-time local value iteration ADP algorithms. In the discrete-time local value iteration ADP algorithm, the iterative value functions and the iterative control laws are both updated in a given subset of the state space in each iteration, instead of the whole state space. For the first time, admissibility properties of iterative control laws are analyzed for the local value iteration ADP algorithm. New termination criteria are established, which terminate the iterative local ADP algorithm with an admissible approximate optimal control law. Finally, simulation results are given to illustrate the performance of the developed algorithm.In this paper, a novel local value iteration adaptive dynamic programming (ADP) algorithm is developed to solve infinite horizon optimal control problems for discrete-time nonlinear systems. The focuses of this paper are to study admissibility properties and the termination criteria of discrete-time local value iteration ADP algorithms. In the discrete-time local value iteration ADP algorithm, the iterative value functions and the iterative control laws are both updated in a given subset of the state space in each iteration, instead of the whole state space. For the first time, admissibility properties of iterative control laws are analyzed for the local value iteration ADP algorithm. New termination criteria are established, which terminate the iterative local ADP algorithm with an admissible approximate optimal control law. Finally, simulation results are given to illustrate the performance of the developed algorithm.

  20. Learning from authoritarian teachers: Controlling the situation or controlling yourself can sustain motivation

    Directory of Open Access Journals (Sweden)

    Kathryn Everhart Chaffee

    2014-01-01

    Full Text Available Positive psychology encompasses the study of positive outcomes, optimal functioning, and resilience in difficult circumstances. In the context of language learning, positive outcomes include academic engagement, self-determined motivation, persistence in language learning, and eventually becoming a proficient user of the language. These questionnaire studies extend previous research by addressing how these positive outcomes can be achieved even in adverse circumstances. In Study 1, the primary and secondary control scales of interest were validated using 2468 students at a Canadian university. Study 2 examined the capacity of 100 Canadian language learners to adjust themselves to fit in with their environment, termed secondary control, and how it was related to their motivation for and engagement in language learning and their feelings of anxiety speaking in the classroom. Secondary control in the form of adjusting one’s attitude towards language learning challenges through positive reappraisals was positively associated with self-determined motivation, need satisfaction, and engagement. analyses, positive reappraisals were also found to buffer the negative effects of having a controlling instructor on students’ engagement and anxiety. These findings suggest that personal characteristics interact with the learning environment to allow students to function optimally in their language courses even when the teacher is controlling.

  1. Self-learning fuzzy controllers based on temporal back propagation

    Science.gov (United States)

    Jang, Jyh-Shing R.

    1992-01-01

    This paper presents a generalized control strategy that enhances fuzzy controllers with self-learning capability for achieving prescribed control objectives in a near-optimal manner. This methodology, termed temporal back propagation, is model-insensitive in the sense that it can deal with plants that can be represented in a piecewise-differentiable format, such as difference equations, neural networks, GMDH structures, and fuzzy models. Regardless of the numbers of inputs and outputs of the plants under consideration, the proposed approach can either refine the fuzzy if-then rules if human experts, or automatically derive the fuzzy if-then rules obtained from human experts are not available. The inverted pendulum system is employed as a test-bed to demonstrate the effectiveness of the proposed control scheme and the robustness of the acquired fuzzy controller.

  2. Emotional Learning Based Intelligent Controllers for Rotor Flux Oriented Control of Induction Motor

    Science.gov (United States)

    Abdollahi, Rohollah; Farhangi, Reza; Yarahmadi, Ali

    2014-08-01

    This paper presents design and evaluation of a novel approach based on emotional learning to improve the speed control system of rotor flux oriented control of induction motor. The controller includes a neuro-fuzzy system with speed error and its derivative as inputs. A fuzzy critic evaluates the present situation, and provides the emotional signal (stress). The controller modifies its characteristics so that the critics stress is reduced. The comparative simulation results show that the proposed controller is more robust and hence found to be a suitable replacement of the conventional PI controller for the high performance industrial drive applications.

  3. Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.

    Science.gov (United States)

    Pan, Yongping; Yu, Haoyong

    2017-06-01

    This brief presents a biomimetic hybrid feedback feedforward neural-network learning control (NNLC) strategy inspired by the human motor learning control mechanism for a class of uncertain nonlinear systems. The control structure includes a proportional-derivative controller acting as a feedback servo machine and a radial-basis-function (RBF) NN acting as a feedforward predictive machine. Under the sufficient constraints on control parameters, the closed-loop system achieves semiglobal practical exponential stability, such that an accurate NN approximation is guaranteed in a local region along recurrent reference trajectories. Compared with the existing NNLC methods, the novelties of the proposed method include: 1) the implementation of an adaptive NN control to guarantee plant states being recurrent is not needed, since recurrent reference signals rather than plant states are utilized as NN inputs, which greatly simplifies the analysis and synthesis of the NNLC and 2) the domain of NN approximation can be determined a priori by the given reference signals, which leads to an easy construction of the RBF-NNs. Simulation results have verified the effectiveness of this approach.

  4. Reinforcement learning techniques for controlling resources in power networks

    Science.gov (United States)

    Kowli, Anupama Sunil

    As power grids transition towards increased reliance on renewable generation, energy storage and demand response resources, an effective control architecture is required to harness the full functionalities of these resources. There is a critical need for control techniques that recognize the unique characteristics of the different resources and exploit the flexibility afforded by them to provide ancillary services to the grid. The work presented in this dissertation addresses these needs. Specifically, new algorithms are proposed, which allow control synthesis in settings wherein the precise distribution of the uncertainty and its temporal statistics are not known. These algorithms are based on recent developments in Markov decision theory, approximate dynamic programming and reinforcement learning. They impose minimal assumptions on the system model and allow the control to be "learned" based on the actual dynamics of the system. Furthermore, they can accommodate complex constraints such as capacity and ramping limits on generation resources, state-of-charge constraints on storage resources, comfort-related limitations on demand response resources and power flow limits on transmission lines. Numerical studies demonstrating applications of these algorithms to practical control problems in power systems are discussed. Results demonstrate how the proposed control algorithms can be used to improve the performance and reduce the computational complexity of the economic dispatch mechanism in a power network. We argue that the proposed algorithms are eminently suitable to develop operational decision-making tools for large power grids with many resources and many sources of uncertainty.

  5. Thalamic Control of Human Attention Driven by Memory and Learning

    OpenAIRE

    de Bourbon-Teles, José; Bentley, Paul; Koshino, Saori; Shah, Kushal; Dutta, Agneish; Malhotra, Paresh; Egner, Tobias; Husain, Masud; Soto, David

    2014-01-01

    Summary The role of the thalamus in high-level cognition—attention, working memory (WM), rule-based learning, and decision making—remains poorly understood, especially in comparison to that of cortical frontoparietal networks [1–3]. Studies of visual thalamus have revealed important roles for pulvinar and lateral geniculate nucleus in visuospatial perception and attention [4–10] and for mediodorsal thalamus in oculomotor control [11]. Ventrolateral thalamus contains subdivisions devoted to ac...

  6. Applications of Adaptive Learning Controller to Synthetic Aperture Radar.

    Science.gov (United States)

    1985-02-01

    TERMS (Continue on retuerse if necessary and identify by block num ber) FIELD YGROUP SUB. GR. Adaptive control, aritificial intelligence , synthetic aetr1...application of Artificial Intelligence methods to Synthetic Aperture Radars (SARs) is investigated. It was shown that the neuron-like Adaptive Learning...wavelength Al SE!RI M RADAR DIVISION REFERENCES 1. Barto, A.G. and R.S. Sutton, Goal Seeking Components for Adaptive Intelligence : An Initial Assessment

  7. Machine Learning Control For Highly Reconfigurable High-Order Systems

    Science.gov (United States)

    2015-01-02

    calibration and applications,” Mechatronics and Embedded Systems and Applications (MESA), 2010 IEEE/ASME International Conference on, IEEE, 2010, pp. 38–43...AFRL-OSR-VA-TR-2015-0012 MACHINE LEARNING CONTROL FOR HIGHLY RECONFIGURABLE HIGH-ORDER SYSTEMS John Valasek TEXAS ENGINEERING EXPERIMENT STATION...DIMENSIONAL RECONFIGURABLE SYSTEMS FA9550-11-1-0302 Period of Performance 1 July 2011 – 29 September 2014 John Valasek Aerospace Engineering

  8. Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

    Science.gov (United States)

    Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

    2008-08-01

    In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

  9. E-Learning System for Learning Virtual Circuit Making with a Microcontroller and Programming to Control a Robot

    Science.gov (United States)

    Takemura, Atsushi

    2015-01-01

    This paper proposes a novel e-Learning system for learning electronic circuit making and programming a microcontroller to control a robot. The proposed e-Learning system comprises a virtual-circuit-making function for the construction of circuits with a versatile, Arduino microcontroller and an educational system that can simulate behaviors of…

  10. Optimal control in microgrid using multi-agent reinforcement learning.

    Science.gov (United States)

    Li, Fu-Dong; Wu, Min; He, Yong; Chen, Xin

    2012-11-01

    This paper presents an improved reinforcement learning method to minimize electricity costs on the premise of satisfying the power balance and generation limit of units in a microgrid with grid-connected mode. Firstly, the microgrid control requirements are analyzed and the objective function of optimal control for microgrid is proposed. Then, a state variable "Average Electricity Price Trend" which is used to express the most possible transitions of the system is developed so as to reduce the complexity and randomicity of the microgrid, and a multi-agent architecture including agents, state variables, action variables and reward function is formulated. Furthermore, dynamic hierarchical reinforcement learning, based on change rate of key state variable, is established to carry out optimal policy exploration. The analysis shows that the proposed method is beneficial to handle the problem of "curse of dimensionality" and speed up learning in the unknown large-scale world. Finally, the simulation results under JADE (Java Agent Development Framework) demonstrate the validity of the presented method in optimal control for a microgrid with grid-connected mode. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

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

    Directory of Open Access Journals (Sweden)

    Maura eCasadio

    2015-11-01

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

  12. Fault Tolerance Automotive Air-Ratio Control Using Extreme Learning Machine Model Predictive Controller

    OpenAIRE

    Pak Kin Wong; Hang Cheong Wong; Chi Man Vong; Tong Meng Iong; Ka In Wong; Xianghui Gao

    2015-01-01

    Effective air-ratio control is desirable to maintain the best engine performance. However, traditional air-ratio control assumes the lambda sensor located at the tail pipe works properly and relies strongly on the air-ratio feedback signal measured by the lambda sensor. When the sensor is warming up during cold start or under failure, the traditional air-ratio control no longer works. To address this issue, this paper utilizes an advanced modelling technique, kernel extreme learning machine (...

  13. The physics role of ITER

    International Nuclear Information System (INIS)

    Rutherford, P.H.

    1997-04-01

    Experimental research on the International Thermonuclear Experimental Reactor (ITER) will go far beyond what is possible on present-day tokamaks to address new and challenging issues in the physics of reactor-like plasmas. First and foremost, experiments in ITER will explore the physics issues of burning plasmas--plasmas that are dominantly self-heated by alpha-particles created by the fusion reactions themselves. Such issues will include (i) new plasma-physical effects introduced by the presence within the plasma of an intense population of energetic alpha particles; (ii) the physics of magnetic confinement for a burning plasma, which will involve a complex interplay of transport, stability and an internal self-generated heat source; and (iii) the physics of very-long-pulse/steady-state burning plasmas, in which much of the plasma current is also self-generated and which will require effective control of plasma purity and plasma-wall interactions. Achieving and sustaining burning plasma regimes in a tokamak necessarily requires plasmas that are larger than those in present experiments and have higher energy content and power flow, as well as much longer pulse length. Accordingly, the experimental program on ITER will embrace the study of issues of plasma physics and plasma-materials interactions that are specific to a reactor-scale fusion experiment. Such issues will include (i) confinement physics for a tokamak in which, for the first time, the core-plasma and the edge-plasma are simultaneously in a reactor-like regime; (ii) phenomena arising during plasma transients, including so-called disruptions, in regimes of high plasma current and thermal energy; and (iii) physics of a radiative divertor designed for handling high power flow for long pulses, including novel plasma and atomic-physics effects as well as materials science of surfaces subject to intense plasma interaction. Experiments on ITER will be conducted by researchers in control rooms situated at major

  14. Fuzzy gain scheduling of velocity PI controller with intelligent learning algorithm for reactor control

    International Nuclear Information System (INIS)

    Kim, Dong Yun

    1997-02-01

    In this research, we propose a fuzzy gain scheduler (FGS) with an intelligent learning algorithm for a reactor control. In the proposed algorithm, the gradient descent method is used in order to generate the rule bases of a fuzzy algorithm by learning. These rule bases are obtained by minimizing an objective function, which is called a performance cost function. The objective of the FGS with an intelligent learning algorithm is to generate adequate gains, which minimize the error of system. The proposed algorithm can reduce the time and efforts required for obtaining the fuzzy rules through the intelligent learning function. The evolutionary programming algorithm is modified and adopted as the method in order to find the optimal gains which are used as the initial gains of FGS with learning function. It is applied to reactor control of nuclear power plant (NPP), and the results are compared with those of a conventional PI controller with fixed gains. As a result, it is shown that the proposed algorithm is superior to the conventional PI controller

  15. Reversal Learning in Humans and Gerbils: Dynamic Control Network Facilitates Learning.

    Science.gov (United States)

    Jarvers, Christian; Brosch, Tobias; Brechmann, André; Woldeit, Marie L; Schulz, Andreas L; Ohl, Frank W; Lommerzheim, Marcel; Neumann, Heiko

    2016-01-01

    Biologically plausible modeling of behavioral reinforcement learning tasks has seen great improvements over the past decades. Less work has been dedicated to tasks involving contingency reversals, i.e., tasks in which the original behavioral goal is reversed one or multiple times. The ability to adjust to such reversals is a key element of behavioral flexibility. Here, we investigate the neural mechanisms underlying contingency-reversal tasks. We first conduct experiments with humans and gerbils to demonstrate memory effects, including multiple reversals in which subjects (humans and animals) show a faster learning rate when a previously learned contingency re-appears. Motivated by recurrent mechanisms of learning and memory for object categories, we propose a network architecture which involves reinforcement learning to steer an orienting system that monitors the success in reward acquisition. We suggest that a model sensory system provides feature representations which are further processed by category-related subnetworks which constitute a neural analog of expert networks. Categories are selected dynamically in a competitive field and predict the expected reward. Learning occurs in sequentialized phases to selectively focus the weight adaptation to synapses in the hierarchical network and modulate their weight changes by a global modulator signal. The orienting subsystem itself learns to bias the competition in the presence of continuous monotonic reward accumulation. In case of sudden changes in the discrepancy of predicted and acquired reward the activated motor category can be switched. We suggest that this subsystem is composed of a hierarchically organized network of dis-inhibitory mechanisms, dubbed a dynamic control network (DCN), which resembles components of the basal ganglia. The DCN selectively activates an expert network, corresponding to the current behavioral strategy. The trace of the accumulated reward is monitored such that large sudden

  16. Combining Correlation-Based and Reward-Based Learning in Neural Control for Policy Improvement

    DEFF Research Database (Denmark)

    Manoonpong, Poramate; Kolodziejski, Christoph; Wörgötter, Florentin

    2013-01-01

    Classical conditioning (conventionally modeled as correlation-based learning) and operant conditioning (conventionally modeled as reinforcement learning or reward-based learning) have been found in biological systems. Evidence shows that these two mechanisms strongly involve learning about...... associations. Based on these biological findings, we propose a new learning model to achieve successful control policies for artificial systems. This model combines correlation-based learning using input correlation learning (ICO learning) and reward-based learning using continuous actor–critic reinforcement...... learning (RL), thereby working as a dual learner system. The model performance is evaluated by simulations of a cart-pole system as a dynamic motion control problem and a mobile robot system as a goal-directed behavior control problem. Results show that the model can strongly improve pole balancing control...

  17. ITER CTA newsletter. No. 4

    International Nuclear Information System (INIS)

    2001-12-01

    This ITER CTA Newsletter contains information about the organization of the ITER Co-ordinated Technical Activities (CTA) International Team as the follow-up of the ITER CTA project board meeting in Toronto on 7 November 2001. It also includes a summary on the start of the international tokamak physics activity by Dr. D. Campbell, Chair of the ITPA Co-ordinating Committee

  18. ITER CTA newsletter. No. 9

    International Nuclear Information System (INIS)

    2002-06-01

    This ITER CTA newsletter contains information about the Fourth Negotiations Meeting on the Joint Implementation of ITER held in Cadarache, France on 4-6 June 2002 and about the meeting of the ITER CTA Project Board which took place on the occasion of the N4 Meeting at Cadarache on 3-4 June 2002

  19. ITER management advisory committee meeting

    International Nuclear Information System (INIS)

    Yoshikawa, M.

    2001-01-01

    The ITER Management Advisory Committee (MAC) Meeting was held on 23 February in Garching, Germany. The main topics were: the consideration of the report by the Director on the ITER EDA Status, the review of the Work Programme, the review of the Joint Fund, the review of a schedule of ITER meetings, and the arrangements for termination and wind-up of the EDA

  20. Status of the ITER EDA

    International Nuclear Information System (INIS)

    Aymar, R.

    2000-01-01

    This article summarizes progress made in the ITER Engineering Design Activities in the period between the ITER Meeting in Tokyo (January 2000) and June 2000. Topics: Termination of EDA, Joint Central Team and Support, Task Assignments, ITER Physics, Urgent and High Priority Physics Research Areas

  1. Hilar GABAergic Interneuron Activity Controls Spatial Learning and Memory Retrieval

    Science.gov (United States)

    Andrews-Zwilling, Yaisa; Gillespie, Anna K.; Kravitz, Alexxai V.; Nelson, Alexandra B.; Devidze, Nino; Lo, Iris; Yoon, Seo Yeon; Bien-Ly, Nga; Ring, Karen; Zwilling, Daniel; Potter, Gregory B.; Rubenstein, John L. R.; Kreitzer, Anatol C.; Huang, Yadong

    2012-01-01

    Background Although extensive research has demonstrated the importance of excitatory granule neurons in the dentate gyrus of the hippocampus in normal learning and memory and in the pathogenesis of amnesia in Alzheimer's disease (AD), the role of hilar GABAergic inhibitory interneurons, which control the granule neuron activity, remains unclear. Methodology and Principal Findings We explored the function of hilar GABAergic interneurons in spatial learning and memory by inhibiting their activity through Cre-dependent viral expression of enhanced halorhodopsin (eNpHR3.0)—a light-driven chloride pump. Hilar GABAergic interneuron-specific expression of eNpHR3.0 was achieved by bilaterally injecting adeno-associated virus containing a double-floxed inverted open-reading frame encoding eNpHR3.0 into the hilus of the dentate gyrus of mice expressing Cre recombinase under the control of an enhancer specific for GABAergic interneurons. In vitro and in vivo illumination with a yellow laser elicited inhibition of hilar GABAergic interneurons and consequent activation of dentate granule neurons, without affecting pyramidal neurons in the CA3 and CA1 regions of the hippocampus. We found that optogenetic inhibition of hilar GABAergic interneuron activity impaired spatial learning and memory retrieval, without affecting memory retention, as determined in the Morris water maze test. Importantly, optogenetic inhibition of hilar GABAergic interneuron activity did not alter short-term working memory, motor coordination, or exploratory activity. Conclusions and Significance Our findings establish a critical role for hilar GABAergic interneuron activity in controlling spatial learning and memory retrieval and provide evidence for the potential contribution of GABAergic interneuron impairment to the pathogenesis of amnesia in AD. PMID:22792368

  2. Hilar GABAergic interneuron activity controls spatial learning and memory retrieval.

    Directory of Open Access Journals (Sweden)

    Yaisa Andrews-Zwilling

    Full Text Available Although extensive research has demonstrated the importance of excitatory granule neurons in the dentate gyrus of the hippocampus in normal learning and memory and in the pathogenesis of amnesia in Alzheimer's disease (AD, the role of hilar GABAergic inhibitory interneurons, which control the granule neuron activity, remains unclear.We explored the function of hilar GABAergic interneurons in spatial learning and memory by inhibiting their activity through Cre-dependent viral expression of enhanced halorhodopsin (eNpHR3.0--a light-driven chloride pump. Hilar GABAergic interneuron-specific expression of eNpHR3.0 was achieved by bilaterally injecting adeno-associated virus containing a double-floxed inverted open-reading frame encoding eNpHR3.0 into the hilus of the dentate gyrus of mice expressing Cre recombinase under the control of an enhancer specific for GABAergic interneurons. In vitro and in vivo illumination with a yellow laser elicited inhibition of hilar GABAergic interneurons and consequent activation of dentate granule neurons, without affecting pyramidal neurons in the CA3 and CA1 regions of the hippocampus. We found that optogenetic inhibition of hilar GABAergic interneuron activity impaired spatial learning and memory retrieval, without affecting memory retention, as determined in the Morris water maze test. Importantly, optogenetic inhibition of hilar GABAergic interneuron activity did not alter short-term working memory, motor coordination, or exploratory activity.Our findings establish a critical role for hilar GABAergic interneuron activity in controlling spatial learning and memory retrieval and provide evidence for the potential contribution of GABAergic interneuron impairment to the pathogenesis of amnesia in AD.

  3. Failure of operant control of vocal learning in budgerigars

    Directory of Open Access Journals (Sweden)

    Yoshimasa Seki

    2018-02-01

    Full Text Available Budgerigars were trained by operant conditioning to produce contact calls immediately after hearing a stimulus contact call. In Experiments 1 and 2, playback stimuli were chosen from two different contact call classes from the bird’s repertoire. Once this task was learned, the birds were then tested with other probe stimulus calls from its repertoire, which differed from the original calls drawn from the two classes. Birds failed to mimic the probe stimuli but instead produced one of the two call classes as in the training sessions, showing that birds learned that each stimulus call served as a discriminative stimulus but not as a vocal template for imitation. In Experiment 3, birds were then trained with stimulus calls falling along a 24-step acoustic gradient which varied between the two sounds representing the two contact call categories. As before, birds obtained a reward when the bird’s vocalization matched that of the stimulus above a criterion level. Since the first step and the last step in the gradient were the birds’ original contact calls, these two patterns were easily matched. Intermediate contact calls in the gradient were much harder for the birds to match. After extensive training, one bird learned to produce contact calls that had only a modest similarity to the intermediate contact calls along the gradient. In spite of remarkable vocal plasticity under natural conditions, operant conditioning methods with budgerigars, even after extensive training and rigorous control of vocal discriminative stimuli, failed to show vocal learning.

  4. Cryogenic instrumentation for ITER magnets

    Science.gov (United States)

    Poncet, J.-M.; Manzagol, J.; Attard, A.; André, J.; Bizel-Bizellot, L.; Bonnay, P.; Ercolani, E.; Luchier, N.; Girard, A.; Clayton, N.; Devred, A.; Huygen, S.; Journeaux, J.-Y.

    2017-02-01

    Accurate measurements of the helium flowrate and of the temperature of the ITER magnets is of fundamental importance to make sure that the magnets operate under well controlled and reliable conditions, and to allow suitable helium flow distribution in the magnets through the helium piping. Therefore, the temperature and flow rate measurements shall be reliable and accurate. In this paper, we present the thermometric chains as well as the venturi flow meters installed in the ITER magnets and their helium piping. The presented thermometric block design is based on the design developed by CERN for the LHC, which has been further optimized via thermal simulations carried out by CEA. The electronic part of the thermometric chain was entirely developed by the CEA and will be presented in detail: it is based on a lock-in measurement and small signal amplification, and also provides a web interface and software to an industrial PLC. This measuring device provides a reliable, accurate, electromagnetically immune, and fast (up to 100 Hz bandwidth) system for resistive temperature sensors between a few ohms to 100 kΩ. The flowmeters (venturi type) which make up part of the helium mass flow measurement chain have been completely designed, and manufacturing is on-going. The behaviour of the helium gas has been studied in detailed thanks to ANSYS CFX software in order to obtain the same differential pressure for all types of flowmeters. Measurement uncertainties have been estimated and the influence of input parameters has been studied. Mechanical calculations have been performed to guarantee the mechanical strength of the venturis required for pressure equipment operating in nuclear environment. In order to complete the helium mass flow measurement chain, different technologies of absolute and differential pressure sensors have been tested in an applied magnetic field to identify equipment compatible with the ITER environment.

  5. Steering the dynamics within reduced space through quantum learning control

    International Nuclear Information System (INIS)

    Kim, Young Sik

    2003-01-01

    In quantum dynamics of many-body systems, to identify the Hamiltonian becomes more difficult very rapidly as the number of degrees of freedom increases. In order to simplify the dynamics and to deduce dynamically relevant Hamiltonian information, it is desirable to control the dynamics to lie within a reduced space. With a judicious choice for the cost functional, the closed loop optimal control experiments can be manipulated efficiently to steer the dynamics to lie within a subspace of the system eigenstates without requiring any prior detailed knowledge about the system Hamiltonian. The procedure is simulated for optimally controlled population transfer experiments in the system of two degrees of freedom. To show the feasibility of steering the dynamics to lie in a specified subspace, the learning algorithms guiding the dynamics are presented along with frequency filtering. The results demonstrate that the optimal control fields derive the system to the desired target state through the desired subspace

  6. A Neuro-Control Design Based on Fuzzy Reinforcement Learning

    DEFF Research Database (Denmark)

    Katebi, S.D.; Blanke, M.

    This paper describes a neuro-control fuzzy critic design procedure based on reinforcement learning. An important component of the proposed intelligent control configuration is the fuzzy credit assignment unit which acts as a critic, and through fuzzy implications provides adjustment mechanisms....... The fuzzy credit assignment unit comprises a fuzzy system with the appropriate fuzzification, knowledge base and defuzzification components. When an external reinforcement signal (a failure signal) is received, sequences of control actions are evaluated and modified by the action applier unit. The desirable...... ones instruct the neuro-control unit to adjust its weights and are simultaneously stored in the memory unit during the training phase. In response to the internal reinforcement signal (set point threshold deviation), the stored information is retrieved by the action applier unit and utilized for re...

  7. Iterative supervirtual refraction interferometry

    KAUST Repository

    Al-Hagan, Ola

    2014-05-02

    In refraction tomography, the low signal-to-noise ratio (S/N) can be a major obstacle in picking the first-break arrivals at the far-offset receivers. To increase the S/N, we evaluated iterative supervirtual refraction interferometry (ISVI), which is an extension of the supervirtual refraction interferometry method. In this method, supervirtual traces are computed and then iteratively reused to generate supervirtual traces with a higher S/N. Our empirical results with both synthetic and field data revealed that ISVI can significantly boost up the S/N of far-offset traces. The drawback is that using refraction events from more than one refractor can introduce unacceptable artifacts into the final traveltime versus offset curve. This problem can be avoided by careful windowing of refraction events.

  8. ITER shielding blanket

    Energy Technology Data Exchange (ETDEWEB)

    Strebkov, Yu [ENTEK, Moscow (Russian Federation); Avsjannikov, A [ENTEK, Moscow (Russian Federation); Baryshev, M [NIAT, Moscow (Russian Federation); Blinov, Yu [ENTEK, Moscow (Russian Federation); Shatalov, G [KIAE, Moscow (Russian Federation); Vasiliev, N [KIAE, Moscow (Russian Federation); Vinnikov, A [ENTEK, Moscow (Russian Federation); Chernjagin, A [DYNAMICA, Moscow (Russian Federation)

    1995-03-01

    A reference non-breeding blanket is under development now for the ITER Basic Performance Phase for the purpose of high reliability during the first stage of ITER operation. More severe operation modes are expected in this stage with first wall (FW) local heat loads up to 100-300Wcm{sup -2}. Integration of a blanket design with protective and start limiters requires new solutions to achieve high reliability, and possible use of beryllium as a protective material leads to technologies. The rigid shielding blanket concept was developed in Russia to satisfy the above-mentioned requirements. The concept is based on a copper alloy FW, austenitic stainless steel blanket structure, water cooling. Beryllium protection is integrated in the FW design. Fabrication technology and assembly procedure are described in parallel with the equipment used. (orig.).

  9. Iterative supervirtual refraction interferometry

    KAUST Repository

    Al-Hagan, Ola; Hanafy, Sherif M.; Schuster, Gerard T.

    2014-01-01

    In refraction tomography, the low signal-to-noise ratio (S/N) can be a major obstacle in picking the first-break arrivals at the far-offset receivers. To increase the S/N, we evaluated iterative supervirtual refraction interferometry (ISVI), which is an extension of the supervirtual refraction interferometry method. In this method, supervirtual traces are computed and then iteratively reused to generate supervirtual traces with a higher S/N. Our empirical results with both synthetic and field data revealed that ISVI can significantly boost up the S/N of far-offset traces. The drawback is that using refraction events from more than one refractor can introduce unacceptable artifacts into the final traveltime versus offset curve. This problem can be avoided by careful windowing of refraction events.

  10. ITER technical basis

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2002-01-01

    Following on from the Final Report of the EDA(DS/21), and the summary of the ITER Final Design report(DS/22), the technical basis gives further details of the design of ITER. It is in two parts. The first, the Plant Design specification, summarises the main constraints on the plant design and operation from the viewpoint of engineering and physics assumptions, compliance with safety regulations, and siting requirements and assumptions. The second, the Plant Description Document, describes the physics performance and engineering characteristics of the plant design, illustrates the potential operational consequences foe the locality of a generic site, gives the construction, commissioning, exploitation and decommissioning schedule, and reports the estimated lifetime costing based on data from the industry of the EDA parties.

  11. ITER technical basis

    International Nuclear Information System (INIS)

    2002-01-01

    Following on from the Final Report of the EDA(DS/21), and the summary of the ITER Final Design report(DS/22), the technical basis gives further details of the design of ITER. It is in two parts. The first, the Plant Design specification, summarises the main constraints on the plant design and operation from the viewpoint of engineering and physics assumptions, compliance with safety regulations, and siting requirements and assumptions. The second, the Plant Description Document, describes the physics performance and engineering characteristics of the plant design, illustrates the potential operational consequences foe the locality of a generic site, gives the construction, commissioning, exploitation and decommissioning schedule, and reports the estimated lifetime costing based on data from the industry of the EDA parties

  12. Conformable variational iteration method

    Directory of Open Access Journals (Sweden)

    Omer Acan

    2017-02-01

    Full Text Available In this study, we introduce the conformable variational iteration method based on new defined fractional derivative called conformable fractional derivative. This new method is applied two fractional order ordinary differential equations. To see how the solutions of this method, linear homogeneous and non-linear non-homogeneous fractional ordinary differential equations are selected. Obtained results are compared the exact solutions and their graphics are plotted to demonstrate efficiency and accuracy of the method.

  13. Iterated Leavitt Path Algebras

    International Nuclear Information System (INIS)

    Hazrat, R.

    2009-11-01

    Leavitt path algebras associate to directed graphs a Z-graded algebra and in their simplest form recover the Leavitt algebras L(1,k). In this note, we introduce iterated Leavitt path algebras associated to directed weighted graphs which have natural ± Z grading and in their simplest form recover the Leavitt algebras L(n,k). We also characterize Leavitt path algebras which are strongly graded. (author)

  14. ICP (ITER Collaborative Platform)

    Energy Technology Data Exchange (ETDEWEB)

    Capuano, C.; Carayon, F.; Patel, V. [ITER, 13 - St. Paul-Lez Durance (France)

    2009-07-01

    The ITER organization has the necessity to manage a massive amount of data and processes. Each team requires different process and databases often interconnected with those of others teams. ICP is the current central ITER repository of structured and u