WorldWideScience

Sample records for meso-scale controlled motion

  1. Improved analysis and visualization of friction loop data: unraveling the energy dissipation of meso-scale stick-slip motion

    Science.gov (United States)

    Kokorian, Jaap; Merlijn van Spengen, W.

    2017-11-01

    In this paper we demonstrate a new method for analyzing and visualizing friction force measurements of meso-scale stick-slip motion, and introduce a method for extracting two separate dissipative energy components. Using a microelectromechanical system tribometer, we execute 2 million reciprocating sliding cycles, during which we measure the static friction force with a resolution of \

  2. Onset of meso-scale turbulence in active nematics

    Science.gov (United States)

    Doostmohammadi, Amin; Shendruk, Tyler N.; Thijssen, Kristian; Yeomans, Julia M.

    2017-05-01

    Meso-scale turbulence is an innate phenomenon, distinct from inertial turbulence, that spontaneously occurs at low Reynolds number in fluidized biological systems. This spatiotemporal disordered flow radically changes nutrient and molecular transport in living fluids and can strongly affect the collective behaviour in prominent biological processes, including biofilm formation, morphogenesis and cancer invasion. Despite its crucial role in such physiological processes, understanding meso-scale turbulence and any relation to classical inertial turbulence remains obscure. Here we show how the motion of active matter along a micro-channel transitions to meso-scale turbulence through the evolution of locally disordered patches (active puffs) from an ordered vortex-lattice flow state. We demonstrate that the stationary critical exponents of this transition to meso-scale turbulence in a channel coincide with the directed percolation universality class. This finding bridges our understanding of the onset of low-Reynolds-number meso-scale turbulence and traditional scale-invariant turbulence in confinement.

  3. Meso scale flextensional piezoelectric actuators

    Science.gov (United States)

    York, Peter A.; Jafferis, Noah T.; Wood, Robert J.

    2018-01-01

    We present an ultra-thin meso scale piezoelectric actuator consisting of a piezoceramic beam and a carbon fiber displacement-amplification frame. We show that the actuator can be designed to achieve a wide range of force/displacement characteristics on the mN/μm scales. The best performing design achieved a free displacement of 106 μm and a blocked force of 73 mN, yielding a total energy density of 0.51 {{Jkg}}-1 for the 7.6 mg system. We describe a printed circuit MEMS process for fabricating the actuator that incorporates laser micromachining, chemical vapor deposition, and precision carbon fiber lamination. Lastly, we report the incorporation of the actuator into a microgripper and describe other promising application opportunities in micro-optics and micro-laser systems.

  4. MICRO-SEISMOMETERS VIA ADVANCED MESO-SCALE FABRICATION

    Energy Technology Data Exchange (ETDEWEB)

    Garcia, Caesar A; Onaran, Guclu; Avenson, Brad; Hall, Neal

    2014-11-07

    The Department of Energy (DOE) and the National Nuclear Security Administration (NNSA) seek revolutionary sensing innovations for the monitoring of nuclear detonations. Performance specifications are to be consistent with those obtainable by only an elite few products available today, but with orders of magnitude reduction in size, weight, power, and cost. The proposed commercial innovation calls upon several technologies including the combination of meso-scale fabrication and assembly, photonics-based displacement / motion detection methods, and the use of digital control electronics . Early Phase II development has demonstrated verified and repeatable sub 2ng noise floor from 3Hz to 100Hz, compact integration of 3-axis prototypes, and robust deployment exercises. Ongoing developments are focusing on low frequency challenges, low power consumption, ultra-miniature size, and low cross axis sensitivity. We are also addressing the rigorous set of specifications required for repeatable and reliable long-term explosion monitoring, including thermal stability, reduced recovery time from mass re-centering and large mechanical shocks, sensitivity stability, and transportability. Successful implementation will result in small, hand-held demonstration units with the ability to address national security needs of the DOE/NNSA. Additional applications envisioned include military/defense, scientific instrumentation, oil and gas exploration, inertial navigation, and civil infrastructure monitoring.

  5. Meso-scale wind variability. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Larsen, S.; Larsen, X.; Vincent, C.; Soerensen, P.; Pinson, P.; Trombe, P.-J.; Madsen, H.; Cutululis, N.

    2011-11-15

    The project has aimed to characterize mesoscale meteorological phenomenon for the North Sea and the Inner Danish waters, and additionally aimed on improving the predictability and quality of the power production from offshore windfarms. The meso-scale meteorology has been characterized with respect to the physical processes, climatology, spectral characteristics and correlation properties based on measurements from wind farms, satellite data (SAR) and mesoscale numerical modeling (WRF). The abilities of the WRF model to characterize and predict relevant mesoscale phenomenon has been proven. Additionally application of statistical forecasting, using a Markov switching approach that can be related to the meteorological conditions, to analyze and short term predict the power production from an offshore wind farms have been documented. Two PhD studies have been conducted in connection with the project. The project has been a cooperative project between Risoe DTU, IMM DTU, DONG Energy, Vattenfall and VESTAS. It is registered as Energinet.dk, project no. 2007-1-7141. (Author)

  6. Flame Dynamics inside Rectangular Meso scale Channels

    Science.gov (United States)

    Anwar, Muzammil; Naseer Mohammad, Abdul; Mohammad, Akram; Juhany, Khalid A.

    2018-03-01

    The present work is focused on the experimental study of flame dynamics in preheated meso-scale straight channels of various aspect ratios (2, 5, 12 and 15) and inlet dimensions.Premixed methane-air mixture were used for the reported experiments. To maintain a positive wall temperature gradient inside the channel, the lower part of the rectangular channels were heated at a constant temperature using an external electric heater. Laminar premixed flames were stabilized inside these channels. Various flame propagation modes such as concave, planar, and convex flames with respect to unburned mixture. Concave flames lead to flashback whereas convex flames lead to blowout. Increase in aspect ratio and decrease of flow velocity leads to flame flashback.

  7. Probabilistic, meso-scale flood loss modelling

    Science.gov (United States)

    Kreibich, Heidi; Botto, Anna; Schröter, Kai; Merz, Bruno

    2016-04-01

    Flood risk analyses are an important basis for decisions on flood risk management and adaptation. However, such analyses are associated with significant uncertainty, even more if changes in risk due to global change are expected. Although uncertainty analysis and probabilistic approaches have received increased attention during the last years, they are still not standard practice for flood risk assessments and even more for flood loss modelling. State of the art in flood loss modelling is still the use of simple, deterministic approaches like stage-damage functions. Novel probabilistic, multi-variate flood loss models have been developed and validated on the micro-scale using a data-mining approach, namely bagging decision trees (Merz et al. 2013). In this presentation we demonstrate and evaluate the upscaling of the approach to the meso-scale, namely on the basis of land-use units. The model is applied in 19 municipalities which were affected during the 2002 flood by the River Mulde in Saxony, Germany (Botto et al. submitted). The application of bagging decision tree based loss models provide a probability distribution of estimated loss per municipality. Validation is undertaken on the one hand via a comparison with eight deterministic loss models including stage-damage functions as well as multi-variate models. On the other hand the results are compared with official loss data provided by the Saxon Relief Bank (SAB). The results show, that uncertainties of loss estimation remain high. Thus, the significant advantage of this probabilistic flood loss estimation approach is that it inherently provides quantitative information about the uncertainty of the prediction. References: Merz, B.; Kreibich, H.; Lall, U. (2013): Multi-variate flood damage assessment: a tree-based data-mining approach. NHESS, 13(1), 53-64. Botto A, Kreibich H, Merz B, Schröter K (submitted) Probabilistic, multi-variable flood loss modelling on the meso-scale with BT-FLEMO. Risk Analysis.

  8. Meso-Scale Ericsson Power Generation System, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Inventherm's patented meso-scale Ericsson power generation system (MEPS) will be used as the enabling technology for radioisotope generators that exceed the...

  9. Flame dynamics of a meso-scale heat recirculating combustor

    Energy Technology Data Exchange (ETDEWEB)

    Vijayan, V.; Gupta, A.K. [Department of Mechanical Engineering, University of Maryland, College Park, MD 20742 (United States)

    2010-12-15

    The dynamics of premixed propane-air flame in a meso-scale ceramic combustor has been examined here. The flame characteristics in the combustor were examined by measuring the acoustic emissions and preheat temperatures together with high-speed cinematography. For the small-scale combustor, the volume to surface area ratio is small and hence the walls have significant effect on the global flame structure, flame location and flame dynamics. In addition to the flame-wall thermal coupling there is a coupling between flame and acoustics in the case of confined flames. Flame-wall thermal interactions lead to low frequency flame fluctuations ({proportional_to}100 Hz) depending upon the thermal response of the wall. However, the flame-acoustic interactions can result in a wide range of flame fluctuations ranging from few hundred Hz to few kHz. Wall temperature distribution is one of the factors that control the amount of reactant preheating which in turn effects the location of flame stabilization. Acoustic emission signals and high-speed flame imaging confirmed that for the present case flame-acoustic interactions have more significant effect on flame dynamics. Based on the acoustic emissions, five different flame regimes have been identified; whistling/harmonic mode, rich instability mode, lean instability mode, silent mode and pulsating flame mode. (author)

  10. Meso-scale modeling of a forested landscape

    DEFF Research Database (Denmark)

    Dellwik, Ebba; Arnqvist, Johan; Bergström, Hans

    2014-01-01

    Meso-scale models are increasingly used for estimating wind resources for wind turbine siting. In this study, we investigate how the Weather Research and Forecasting (WRF) model performs using standard model settings in two different planetary boundary layer schemes for a forested landscape and how...

  11. Motion control report

    CERN Document Server

    2013-01-01

    Please note this is a short discount publication. In today's manufacturing environment, Motion Control plays a major role in virtually every project.The Motion Control Report provides a comprehensive overview of the technology of Motion Control:* Design Considerations* Technologies* Methods to Control Motion* Examples of Motion Control in Systems* A Detailed Vendors List

  12. Experimental Study on Meso-Scale Milling Process Using Nanofluid Minimum Quantity Lubrication

    Energy Technology Data Exchange (ETDEWEB)

    Lee, P. H.; Nam, T. S.; Li, Cheng Jun; Lee, S. W. [Sungkyunkwan University, Seoul (Korea, Republic of)

    2010-10-15

    This paper present the characteristics of micro- and meso-scale milling processes in which compressed cold air, minimum quantity lubrication (MQL) and MoS{sub 2} nanofluid MQL are used. For process characterization, the micro and meso-scale milling experiments are conducted using desktop meso-scale machine tool system and the surface roughness is measured. The experimental results show that the use of compressed chilly air and nanofluid MQL in the micro- and meso-scale milling processes is effective in improving the surface finish.

  13. Implementation of meso-scale radioactive dispersion model for GPU

    Energy Technology Data Exchange (ETDEWEB)

    Sunarko [National Nuclear Energy Agency of Indonesia (BATAN), Jakarta (Indonesia). Nuclear Energy Assessment Center; Suud, Zaki [Bandung Institute of Technology (ITB), Bandung (Indonesia). Physics Dept.

    2017-05-15

    Lagrangian Particle Dispersion Method (LPDM) is applied to model atmospheric dispersion of radioactive material in a meso-scale of a few tens of kilometers for site study purpose. Empirical relationships are used to determine the dispersion coefficient for various atmospheric stabilities. Diagnostic 3-D wind-field is solved based on data from one meteorological station using mass-conservation principle. Particles representing radioactive pollutant are dispersed in the wind-field as a point source. Time-integrated air concentration is calculated using kernel density estimator (KDE) in the lowest layer of the atmosphere. Parallel code is developed for GTX-660Ti GPU with a total of 1 344 scalar processors using CUDA. A test of 1-hour release discovers that linear speedup is achieved starting at 28 800 particles-per-hour (pph) up to about 20 x at 14 4000 pph. Another test simulating 6-hour release with 36 000 pph resulted in a speedup of about 60 x. Statistical analysis reveals that resulting grid doses are nearly identical in both CPU and GPU versions of the code.

  14. Motion control systems

    CERN Document Server

    Sabanovic, Asif

    2011-01-01

    "Presents a unified approach to the fundamental issues in motion control, starting from the basics and moving through single degree of freedom and multi-degree of freedom systems In Motion Control Systems, Šabanovic and Ohnishi present a unified approach to very diverse issues covered in motion control systems, offering know-how accumulated through work on very diverse problems into a comprehensive, integrated approach suitable for application in high demanding high-tech products. It covers material from single degree of freedom systems to complex multi-body non-redundant and redundant systems. The discussion of the main subject is based on original research results and will give treatment of the issues in motion control in the framework of the acceleration control method with disturbance rejection technique. This allows consistent unification of different issues in motion control ranging from simple trajectory tracking to topics related to haptics and bilateral control without and with delay in the measure...

  15. Probabilistic flood damage modelling at the meso-scale

    Science.gov (United States)

    Kreibich, Heidi; Botto, Anna; Schröter, Kai; Merz, Bruno

    2014-05-01

    Decisions on flood risk management and adaptation are usually based on risk analyses. Such analyses are associated with significant uncertainty, even more if changes in risk due to global change are expected. Although uncertainty analysis and probabilistic approaches have received increased attention during the last years, they are still not standard practice for flood risk assessments. Most damage models have in common that complex damaging processes are described by simple, deterministic approaches like stage-damage functions. Novel probabilistic, multi-variate flood damage models have been developed and validated on the micro-scale using a data-mining approach, namely bagging decision trees (Merz et al. 2013). In this presentation we show how the model BT-FLEMO (Bagging decision Tree based Flood Loss Estimation MOdel) can be applied on the meso-scale, namely on the basis of ATKIS land-use units. The model is applied in 19 municipalities which were affected during the 2002 flood by the River Mulde in Saxony, Germany. The application of BT-FLEMO provides a probability distribution of estimated damage to residential buildings per municipality. Validation is undertaken on the one hand via a comparison with eight other damage models including stage-damage functions as well as multi-variate models. On the other hand the results are compared with official damage data provided by the Saxon Relief Bank (SAB). The results show, that uncertainties of damage estimation remain high. Thus, the significant advantage of this probabilistic flood loss estimation model BT-FLEMO is that it inherently provides quantitative information about the uncertainty of the prediction. Reference: Merz, B.; Kreibich, H.; Lall, U. (2013): Multi-variate flood damage assessment: a tree-based data-mining approach. NHESS, 13(1), 53-64.

  16. Meso-scale modeling of irradiated concrete in test reactor

    Energy Technology Data Exchange (ETDEWEB)

    Giorla, A. [Oak Ridge National Laboratory, One Bethel Valley Road, Oak Ridge, TN 37831 (United States); Vaitová, M. [Czech Technical University, Thakurova 7, 166 29 Praha 6 (Czech Republic); Le Pape, Y., E-mail: lepapeym@ornl.gov [Oak Ridge National Laboratory, One Bethel Valley Road, Oak Ridge, TN 37831 (United States); Štemberk, P. [Czech Technical University, Thakurova 7, 166 29 Praha 6 (Czech Republic)

    2015-12-15

    Highlights: • A meso-scale finite element model for irradiated concrete is developed. • Neutron radiation-induced volumetric expansion is a predominant degradation mode. • Confrontation with expansion and damage obtained from experiments is successful. • Effects of paste shrinkage, creep and ductility are discussed. - Abstract: A numerical model accounting for the effects of neutron irradiation on concrete at the mesoscale is detailed in this paper. Irradiation experiments in test reactor (Elleuch et al., 1972), i.e., in accelerated conditions, are simulated. Concrete is considered as a two-phase material made of elastic inclusions (aggregate) subjected to thermal and irradiation-induced swelling and embedded in a cementitious matrix subjected to shrinkage and thermal expansion. The role of the hardened cement paste in the post-peak regime (brittle-ductile transition with decreasing loading rate), and creep effects are investigated. Radiation-induced volumetric expansion (RIVE) of the aggregate cause the development and propagation of damage around the aggregate which further develops in bridging cracks across the hardened cement paste between the individual aggregate particles. The development of damage is aggravated when shrinkage occurs simultaneously with RIVE during the irradiation experiment. The post-irradiation expansion derived from the simulation is well correlated with the experimental data and, the obtained damage levels are fully consistent with previous estimations based on a micromechanical interpretation of the experimental post-irradiation elastic properties (Le Pape et al., 2015). The proposed modeling opens new perspectives for the interpretation of test reactor experiments in regards to the actual operation of light water reactors.

  17. Meso-scale analysis of deformation wave heating in metalized solid explosive

    Directory of Open Access Journals (Sweden)

    Gonthier K.A.

    2011-01-01

    Full Text Available Deformation induced heating of reactive solids is a physically complex process. As such, the effects of meso-structure, component thermomechanical properties, component mass fractions, and porosity on their impact response is not well-understood. In this study, an explicit, 2-D, Lagrangian finite and discrete element technique is used to examine thermomechanical fields in metal-explosive (aluminum-HMX particle mixtures due to piston supported uniaxial deformation waves. The meso-scale description uses a plane strain, thermoelastic-viscoplastic and friction constitutive theory to describe the motion and deformation of individual particles, and an energy consistent, penalty based method to describe inter-particle contact. The deformation response of material having an initial solid volume fraction of ΦS0 = 0.835 is characterized for different metal mass fractions and wave strengths. Predictions indicate that the response can be classified into strength dominated and pressure dominated regions depending on wave strength. Average thermomechanical fields that define the macro-scale wave structure are found to differ both qualitatively and quantitatively between the two regions.

  18. Ship Roll Motion Control

    DEFF Research Database (Denmark)

    Perez, Tristan; Blanke, Mogens

    2010-01-01

    The technical feasibility of roll motion control devices has been amply demonstrated for over 100 years. Performance, however, can still fall short of expectations because of deciencies in control system designs, which have proven to be far from trivial due to fundamental performance limitations....... This tutorial paper presents an account of the development of various ship roll motion control systems and the challenges associated with their design. The paper discusses how to assess performance, the applicability of dierent models, and control methods that have been applied in the past....

  19. Diatoms as a fingerprint of sub-catchment contributions to meso-scale catchment runoff

    Science.gov (United States)

    Klaus, Julian; Wetzel, Carlos E.; Martinez-Carreras, Nuria; Ector, Luc; Pfister, Laurent

    2014-05-01

    In recent years, calls were made for new eco-hydrological approaches to improve understanding of hydrological processes. Recently diatoms, one of the most common and diverse algal groups that can be easily transported by flowing water due to their small size (~10-200 µm), were used to detect the onset and cessation of surface runoff to small headwater streams and constrain isotopic and hydro-chemical hydrograph separation methods. While the method showed its potential in the hillslope-riparian zone-stream continuum of headwater catchments, the behavior of diatoms and their use for hydrological process research in meso-scale catchments remains uncertain. Diatoms can be a valuable support for isotope and hydro-chemical tracer methods when these become ambiguous with increasing scale. Distribution and abundance of diatom species is controlled by various environmental factors (pH, soil type, moisture conditions, exposition to sunlight, etc.). We therefore hypothesize that species abundance and composition can be used as a proxy for source areas. This presentation evaluates the potential for diatoms to trace source-areas in the nested meso-scale Attert River basin (250 km2, Luxembourg, Europe). We sampled diatom populations in streamwater during one flood event in Fall 2011 in 6 sub-catchments and the basin outlet - 17 to 28 samples/catchment for the different sampling locations. Diatoms were classified and counted in every individual sample. In total more than 400 diatom species were detected. Ordination analysis revealed a clear distinction between communities sampled in different sub-catchments. The species composition at the catchment outlet reflects a mixing of the diatom composition originating from different sub-catchments. This data suggests that diatoms indeed can reflect the geographic origin of stream water at the catchment outlet. The centroids of the ordination analysis might be linked to the physiographic characteristics (geology and land use) of the

  20. LOT, a meso scale mechanistic tool for Porous Asphalt mixture design; winter damage and LOT validation

    NARCIS (Netherlands)

    Huurman, M.; Mo, L.T.; Woldekidan, M.F.

    2010-01-01

    By assignment of the Centre for Transport and Navigation (DVS) of the Dutch Ministry of Transport, Public Works and Water Management the Delft University of Technology developed LOT. LOT is a Lifetime Optimisation Tool for Porous Asphalt, PA, based on meso scale structural modelling. LOT sees an

  1. Compression instrument for tissue experiments (cite) at the meso-scale: device validation - biomed 2011.

    Science.gov (United States)

    Evans, Douglas W; Rajagopalan, Padma; Devita, Raffaella; Sparks, Jessica L

    2011-01-01

    Liver sinusoidal endothelial cells (LSECs) are the primary site of numerous transport and exchange processes essential for liver function. LSECs rest on a sparse extracellular matrix layer housed in the space of Disse, a 0.5-1LSECs from hepatocytes. To develop bioengineered liver tissue constructs, it is important to understand the mechanical interactions among LSECs, hepatocytes, and the extracellular matrix in the space of Disse. Currently the mechanical properties of space of Disse matrix are not well understood. The objective of this study was to develop and validate a device for performing mechanical tests at the meso-scale (100nm-100m), to enable novel matrix characterization within the space of Disse. The device utilizes a glass micro-spherical indentor attached to a cantilever made from a fiber optic cable. The 3-axis translation table used to bring the specimen in contact with the indentor and deform the cantilever. A position detector monitors the location of a laser passing through the cantilever and allows for the calculation of subsequent tissue deformation. The design allows micro-newton and nano-newton stress-strain tissue behavior to be quantified. To validate the device accuracy, 11 samples of silicon rubber in two formulations were tested to experimentally confirm their Young's moduli. Prior macroscopic unconfined compression tests determined the formulations of EcoFlex030 (n-6) and EcoFlex010 (n-5) to posses Young's moduli of 92.67+-6.22 and 43.10+-3.29 kPa respectively. Optical measurements taken utilizing CITE's position control and fiber optic cantilever found the moduli to be 106.4 kPa and 47.82 kPa.

  2. Meso-scale testing and development of test procedures to maintain mass balance.

    Science.gov (United States)

    Bonner, James; Page, Cheryl; Fuller, Chris

    2003-01-01

    The Conrad Blucher Institute for Surveying and Science (Texas A&M University--Corpus Christi) has conducted numerous petroleum experiments at the Shoreline Environmental Research Facility (Corpus Christi, Texas, USA). The meso-scale facility has multiple wave tanks, permitting some control in experimental design of the investigations, but allowing for real-world conditions. This paper outlines the evolution of a materials balance approach in conducting petroleum experiments at the facility. The first attempt at a materials balance was during a 1998 study on the fate/effects of dispersant use on crude oil. Both water column and beach sediment samples were collected. For the materials balance, the defined environmental compartments for oil accumulation were sediments, water column, and the water surface, while the discharge from the tanks was presumed to be the primary sink. The "lessons learned" included a need to quantify oil adhesion to the tank surfaces. This was resolved by adhering strips of the polymer tank lining to the tank sides that could be later removed and extracted for oil. Also, a protocol was needed to quantify any floating oil on the water surface. A water surface (oil slick) quantification protocol was developed, involving the use of solid-phase extraction disks. This protocol was first tested during a shoreline cleaner experiment, and later refined in subsequent dispersant effectiveness studies. The effectiveness tests were designed to simulate shallow embayments which created the need for additional adjustments in the tanks. Since dispersant efficacy is largely affected by hydrodynamics, it was necessary to scale the hydrodynamic conditions of the tanks to those expected in our prototype system (Corpus Christi Bay, Texas). The use of a scaled model permits the experiment to be reproduced and/or evaluated under different conditions. To minimize wave reflection in the tank, a parabolic wave dissipater was built. In terms of materials balance, this

  3. Meso-scale effects of tropical deforestation in Amazonia: preparatory LBA modelling studies

    Directory of Open Access Journals (Sweden)

    A. J. Dolman

    Full Text Available As part of the preparation for the Large-Scale Biosphere Atmosphere Experiment in Amazonia, a meso-scale modelling study was executed to highlight deficiencies in the current understanding of land surface atmosphere interaction at local to sub-continental scales in the dry season. Meso-scale models were run in 1-D and 3-D mode for the area of Rondonia State, Brazil. The important conclusions are that without calibration it is difficult to model the energy partitioning of pasture; modelling that of forest is easier due to the absence of a strong moisture deficit signal. The simulation of the boundary layer above forest is good, above deforested areas (pasture poor. The models' underestimate of the temperature of the boundary layer is likely to be caused by the neglect of the radiative effects of aerosols caused by biomass burning, but other factors such as lack of sufficient entrainment in the model at the mixed layer top may also contribute. The Andes generate patterns of subsidence and gravity waves, the effects of which are felt far into the Rondonian area The results show that the picture presented by GCM modelling studies may need to be balanced by an increased understanding of what happens at the meso-scale. The results are used to identify key measurements for the LBA atmospheric meso-scale campaign needed to improve the model simulations. Similar modelling studies are proposed for the wet season in Rondonia, when convection plays a major role.

    Key words. Atmospheric composition and structure (aerosols and particles; biosphere-atmosphere interactions · Meterology and atmospheric dynamics (mesoscale meterology

  4. Coastal Foredune Evolution, Part 2: Modeling Approaches for Meso-Scale Morphologic Evolution

    Science.gov (United States)

    2017-03-01

    five parametric models are reviewed that address different aspects of dune erosion and accretion. The models range from time-independent scaling ...for Meso- Scale Morphologic Evolution by Margaret L. Palmsten1, Katherine L. Brodie2, and Nicholas J. Spore2 PURPOSE: This Coastal and Hydraulics...expand both observations and modeling approaches across meso-timescales, which are more directly related to the operational scale of coastal dune and

  5. Meso-scale effects of tropical deforestation in Amazonia: preparatory LBA modelling studies

    Directory of Open Access Journals (Sweden)

    A. J. Dolman

    1999-08-01

    Full Text Available As part of the preparation for the Large-Scale Biosphere Atmosphere Experiment in Amazonia, a meso-scale modelling study was executed to highlight deficiencies in the current understanding of land surface atmosphere interaction at local to sub-continental scales in the dry season. Meso-scale models were run in 1-D and 3-D mode for the area of Rondonia State, Brazil. The important conclusions are that without calibration it is difficult to model the energy partitioning of pasture; modelling that of forest is easier due to the absence of a strong moisture deficit signal. The simulation of the boundary layer above forest is good, above deforested areas (pasture poor. The models' underestimate of the temperature of the boundary layer is likely to be caused by the neglect of the radiative effects of aerosols caused by biomass burning, but other factors such as lack of sufficient entrainment in the model at the mixed layer top may also contribute. The Andes generate patterns of subsidence and gravity waves, the effects of which are felt far into the Rondonian area The results show that the picture presented by GCM modelling studies may need to be balanced by an increased understanding of what happens at the meso-scale. The results are used to identify key measurements for the LBA atmospheric meso-scale campaign needed to improve the model simulations. Similar modelling studies are proposed for the wet season in Rondonia, when convection plays a major role.Key words. Atmospheric composition and structure (aerosols and particles; biosphere-atmosphere interactions · Meterology and atmospheric dynamics (mesoscale meterology

  6. A CFD Analysis of The Performance of Pin-Fin Laminar Flow Micro/Meso Scale Heat Exchangers

    National Research Council Canada - National Science Library

    Dimas, Sotirios

    2005-01-01

    A full three dimensional computational study was carried out using a finite-volume based solver for analyzing the performance of pin-fin based micro/meso scale heat exchangers with air as the working fluid...

  7. Characterizing the Meso-scale Plasma Flows in Earth's Coupled Magnetosphere-Ionosphere-Thermosphere System

    Science.gov (United States)

    Gabrielse, C.; Nishimura, T.; Lyons, L. R.; Gallardo-Lacourt, B.; Deng, Y.; McWilliams, K. A.; Ruohoniemi, J. M.

    2017-12-01

    NASA's Heliophysics Decadal Survey put forth several imperative, Key Science Goals. The second goal communicates the urgent need to "Determine the dynamics and coupling of Earth's magnetosphere, ionosphere, and atmosphere and their response to solar and terrestrial inputs...over a range of spatial and temporal scales." Sun-Earth connections (called Space Weather) have strong societal impacts because extreme events can disturb radio communications and satellite operations. The field's current modeling capabilities of such Space Weather phenomena include large-scale, global responses of the Earth's upper atmosphere to various inputs from the Sun, but the meso-scale ( 50-500 km) structures that are much more dynamic and powerful in the coupled system remain uncharacterized. Their influences are thus far poorly understood. We aim to quantify such structures, particularly auroral flows and streamers, in order to create an empirical model of their size, location, speed, and orientation based on activity level (AL index), season, solar cycle (F10.7), interplanetary magnetic field (IMF) inputs, etc. We present a statistical study of meso-scale flow channels in the nightside auroral oval and polar cap using SuperDARN. These results are used to inform global models such as the Global Ionosphere Thermosphere Model (GITM) in order to evaluate the role of meso-scale disturbances on the fully coupled magnetosphere-ionosphere-thermosphere system. Measuring the ionospheric footpoint of magnetospheric fast flows, our analysis technique from the ground also provides a 2D picture of flows and their characteristics during different activity levels that spacecraft alone cannot.

  8. Meso-scale resolution for the definition of environmental flow standards in Mediterranean streams

    Science.gov (United States)

    Vezza, Paolo; Martinez-Capel, Francisco; Muñoz-Mas, Rafael; Comoglio, Claudio; Spairani, Michele; Koutrakis, Emmanuil; Sapounidis, Argyris

    2013-04-01

    The prediction of fish presence related to habitat characteristics is fundamental for the definition of environmental flows and habitat restoration measures. Meso-scale habitat models have been widely used in the context of water resources planning and management and demonstrated interesting potentials to assess freshwater fish distribution at a large spatial scale. In particular, the meso-scale approach allows rivers to be surveyed for longer stretches with a considerable representation of river habitats in comparison with more detailed models, and involves a large range of habitat descriptors. Moreover, machine learning techniques, such as random forest (RF), can be used to define multivariate habitat suitability criteria and capture the confounded effect of biotic and abiotic environmental variables. Data from three catchments located in the Mediterranean area (i.e., Júcar, Po and Nestos river basins located in Spain, Italy and Greece respectively) were used to develop habitat suitability criteria for threatened and endemic fish species. Fish data for model constructions were collected in reference sites, which were selected for their natural conditions of flow regime and habitat characteristics, and the resulting models described the habitat use by fish during their diurnal routine. Dataset dimension varied from 110 to 240 mesohabitat observations depending on the considered fish species. The RF algorithm provided an indicator of variables' importance and, using the variables' ranking, the best and the most parsimonious model was selected to define the lowest number of variables to be surveyed for future model applications. Our results indicated that RF performed well in both model calibration and validation phases and can be considered a valuable tool to predict fish distribution at meso-scale. Overall, the habitat suitability models had high model-fit accuracy (ranging from 75% to 94%). Cohen's kappa statistics were assessed over 0.52 and all models showed

  9. Mesos-scale modeling of irradiation in pressurized water reactor concrete biological shields

    Energy Technology Data Exchange (ETDEWEB)

    Le Pape, Yann [ORNL; Huang, Hai [Idaho National Laboratory (INL)

    2016-01-01

    Neutron irradiation exposure causes aggregate expansion, namely radiation-induced volumetric expansion (RIVE). The structural significance of RIVE on a portion of a prototypical pressurized water reactor (PWR) concrete biological shield (CBS) is investigated by using a meso- scale nonlinear concrete model with inputs from an irradiation transport code and a coupled moisture transport-heat transfer code. RIVE-induced severe cracking onset appears to be triggered by the ini- tial shrinkage-induced cracking and propagates to a depth of > 10 cm at extended operation of 80 years. Relaxation of the cement paste stresses results in delaying the crack propagation by about 10 years.

  10. Open architecture CMM motion controller

    Science.gov (United States)

    Chang, David; Spence, Allan D.; Bigg, Steve; Heslip, Joe; Peterson, John

    2001-12-01

    Although initially the only Coordinate Measuring Machine (CMM) sensor available was a touch trigger probe, technological advances in sensors and computing have greatly increased the variety of available inspection sensors. Non-contact laser digitizers and analog scanning touch probes require very well tuned CMM motion control, as well as an extensible, open architecture interface. This paper describes the implementation of a retrofit CMM motion controller designed for open architecture interface to a variety of sensors. The controller is based on an Intel Pentium microcomputer and a Servo To Go motion interface electronics card. Motor amplifiers, safety, and additional interface electronics are housed in a separate enclosure. Host Signal Processing (HSP) is used for the motion control algorithm. Compared to the usual host plus DSP architecture, single CPU HSP simplifies integration with the various sensors, and implementation of software geometric error compensation. Motion control tuning is accomplished using a remote computer via 100BaseTX Ethernet. A Graphical User Interface (GUI) is used to enter geometric error compensation data, and to optimize the motion control tuning parameters. It is shown that this architecture achieves the required real time motion control response, yet is much easier to extend to additional sensors.

  11. Meso-Scale Modeling to Characterize Moisture Absorption of 3D Woven Composite

    Science.gov (United States)

    Yuan, Yuan; Zhou, Chu-wei

    2016-08-01

    For polymer-matrix composites, moisture is expected to degrade their mechanical properties due to matrix plasticization and moisture introduced micro-scale defects. In this study, the moisture absorptions of bulk epoxy, unidirectional composite (UD) and 3D woven composite (3D WC) were tested. Two-stage features have been observed for all these three materials. Moisture properties for UD and 3D WC were found not in simple direct proportion to their matrix volume fractions. The moisture approach of UD was modeled including the effect of fiber/matrix interphase which promotes the moisture uptake. Then, meso-scale FE model for 3D WC was established to characterize the inhomogeneous moisture diffusion. The moisture properties of resin-rich region and fiber bundle in 3D WC were determined from water uptake experiments of bulk epoxy and UD, respectively. Through homogenizing moisture properties of surface and interior weave structures, a simplified theoretical sandwich moisture diffusion approach was established. The moisture weight gains of 3D WC predicted by both meso-scale FE model and simplified sandwich approach were well agreed with the experimental data.

  12. Meso-scale wrinkled coatings to improve heat transfers of surfaces facing ambient air

    International Nuclear Information System (INIS)

    Kakiuchida, Hiroshi; Tajiri, Koji; Tazawa, Masato; Yoshimura, Kazuki; Shimono, Kazuaki; Nakagawa, Yukio; Takahashi, Kazuhiro; Fujita, Keisuke; Myoko, Masumi

    2015-01-01

    Meso-scale (micrometer-to submillimeter-scale) wrinkled surfaces coated on steel sheets used in outdoor storage and transport facilities for industrial low-temperature liquids were discovered to efficiently increase convective heat transfer between ambient air and the surface. The radiative and convective heat transfer coefficients of various wrinkled surfaces, which were formed by coating steel sheets with several types of shrinkable paints, were examined. The convective heat transfer coefficient of a surface colder than ambient air monotonically changed with average height difference and interval distance of the wrinkle undulation, where the proportions were 0.0254 and 0.0054 W/m 2 /K/μm, respectively. With this wrinkled coating, users can lower the possibility of condensation and reduce rust and maintenance cost of facilities for industrial low-temperature liquids. From the point of view of manufacturers, this coating method can be easily adapted to conventional manufacturing processes. - Highlights: • Various wrinkled surfaces were fabricated by a practical process. • Topographical effect on convection was parameterized separately from radiation. • Meso-scale wrinkled coatings increased convective heat transfer with ambient air. • Maintenance cost of outdoor steel sheets due to condensation can be reduced

  13. Resolving meso-scale seabed variability using reflection measurements from an autonomous underwater vehicle.

    Science.gov (United States)

    Holland, Charles W; Nielsen, Peter L; Dettmer, Jan; Dosso, Stan

    2012-02-01

    Seabed geoacoustic variability is driven by geological processes that occur over a wide spectrum of space-time scales. While the acoustics community has some understanding of horizontal fine-scale geoacoustic variability, less than O(10(0)) m, and large-scale variability, greater than O(10(3)) m, there is a paucity of data resolving the geoacoustic meso-scale O(10(0)-10(3)) m. Measurements of the meso-scale along an ostensibly "benign" portion of the outer shelf reveal three classes of variability. The first class was expected and is due to horizontal variability of layer thicknesses: this was the only class that could be directly tied to seismic reflection data. The second class is due to rapid changes in layer properties and/or boundaries, occurring over scales of meters to hundreds of meters. The third class was observed as rapid variations of the angle/frequency dependent reflection coefficient within a single observation and is suggestive of variability at scales of meter or less. Though generally assumed to be negligible in acoustic modeling, the second and third classes are indicative of strong horizontal geoacoustic variability within a given layer. The observations give early insight into possible effects of horizontal geoacoustic variability on long-range acoustic propagation and reverberation. © 2012 Acoustical Society of America

  14. Time-resolved Sensing of Meso-scale Shock Compression with Multilayer Photonic Crystal Structures

    Science.gov (United States)

    Scripka, David; Lee, Gyuhyon; Summers, Christopher J.; Thadhani, Naresh

    2017-06-01

    Multilayer Photonic Crystal structures can provide spatially and temporally resolved data needed to validate theoretical and computational models relevant for understanding shock compression in heterogeneous materials. Two classes of 1-D photonic crystal multilayer structures were studied: optical microcavities (OMC) and distributed Bragg reflectors (DBR). These 0.5 to 5 micron thick structures were composed of SiO2, Al2O3, Ag, and PMMA layers fabricated primarily via e-beam evaporation. The multilayers have unique spectral signatures inherently linked to their time-resolved physical states. By observing shock-induced changes in these signatures, an optically-based pressure sensor was developed. Results to date indicate that both OMCs and DBRs exhibit nanosecond-resolved spectral shifts of several to 10s of nanometers under laser-driven shock compression loads of 0-10 GPa, with the magnitude of the shift strongly correlating to the shock load magnitude. Additionally, spatially and temporally resolved spectral shifts under heterogeneous laser-driven shock compression created by partial beam blocking have been successfully demonstrated. These results illustrate the potential for multilayer structures to serve as meso-scale sensors, capturing temporal and spatial pressure profile evolutions in shock-compressed heterogeneous materials, and revealing meso-scale pressure distributions across a shocked surface. Supported by DTRA Grant HDTRA1-12-1-005 and DoD, AFOSR, National Defense Science and Eng. Graduate Fellowship, 32 CFR 168a.

  15. Dynamics of bluff-body-stabilized lean premixed syngas flames in a meso-scale channel

    KAUST Repository

    Lee, Bok Jik

    2016-07-15

    Direct numerical simulations are conducted to investigate the dynamics of lean premixed syngas flames stabilized by a bluff-body in a meso-scale channel at near blow-off conditions, in order to provide fundamental insights into the physical mechanisms responsible for the critical phenomena. Flames in a two-dimensional meso-scale channel with a square flame holder are adopted as the model configuration, and a syngas mixture at an equivalence ratio of 0.5 with the CO:H ratio of 1 is considered. As the inlet velocity is increased, the initially stable steady flames undergo a transition to an unsteady mode of regular asymmetric fluctuation. When the inlet velocity is further increased, the flame is eventually blown off. Between the regular fluctuation mode and blow-off limit, there exists a narrow range of the inlet velocity where the flames exhibit periodic local extinction and recovery. Approaching further to the blow-off limit, the recovery mode fails to occur but the flame survives as a short kernel attached to the base of the bluff-body, until it is completely extinguished as the attached flames are gradually shrunk towards the bluff-body. The results are systematically compared with the hydrogen flame results reported in our earlier study. Examination of the characteristic time scales of relevant processes provided understanding of key mechanisms responsible for the observed differences, thereby allowing improved description of the local extinction and re-ignition dynamics that are critical to flame stabilization.

  16. Robot Motion and Control 2011

    CERN Document Server

    2012-01-01

    Robot Motion Control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: • Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors. • New control algorithms for industrial robots, nonholonomic systems and legged robots. • Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. • Multiagent systems consisting of mobile and flying robots with their applications The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists...

  17. Meso-Scale Experimental & Numerical Studies for Predicting Macro-scale Performance of Advanced Reactive Materials (ARMs)

    Science.gov (United States)

    2015-04-01

    stretching, bending and torsion . Parameter optimization is achieved through minimization of a cost function using a single parameter search algorithm. In...and multi-investigator research project, combines numerical simulations with time-resolved impact experiments, to determine the meso-scale mechanisms...Advanced Reactive Materials (ARMs) ABSTRACT Our collaborative, multi-disciplinary and multi-investigator research project, combines numerical

  18. Atmospheric CO2 modeling at the regional scale: an intercomparison of 5 meso-scale atmospheric models

    NARCIS (Netherlands)

    Sarrat, C.; Noilhan, J.; Dolman, A.J.; Gerbig, C.; Ahmadov, R.; Tolk, L.F.; Meesters, A.G.C.A.; Hutjes, R.W.A.; Maat, ter H.W.; Pérez-Landa, G.; Donier, S.

    2007-01-01

    Atmospheric CO2 modeling in interaction with the surface fluxes, at the regional scale is developed within the frame of the European project CarboEurope-IP and its Regional Experiment component. In this context, five meso-scale meteorological models participate in an intercomparison exercise. Using

  19. Wheelchair control by head motion

    Directory of Open Access Journals (Sweden)

    Pajkanović Aleksandar

    2013-01-01

    Full Text Available Electric wheelchairs are designed to aid paraplegics. Unfortunately, these can not be used by persons with higher degree of impairment, such as quadriplegics, i.e. persons that, due to age or illness, can not move any of the body parts, except of the head. Medical devices designed to help them are very complicated, rare and expensive. In this paper a microcontroller system that enables standard electric wheelchair control by head motion is presented. The system comprises electronic and mechanic components. A novel head motion recognition technique based on accelerometer data processing is designed. The wheelchair joystick is controlled by the system’s mechanical actuator. The system can be used with several different types of standard electric wheelchairs. It is tested and verified through an experiment performed within this paper.

  20. Motion Control along Relative Equilibria

    DEFF Research Database (Denmark)

    Nordkvist, Nikolaj

    2008-01-01

    The subject of this thesis is control of mechanical systems as they evolve along the steady motions called relative equilibria. These trajectories are of interest in theory and applications and have the characterizing property that the system's body-fixed velocity is constant. For example, constant......-speed rotation about a principal axis is a relative equilibrium of a rigid body in three dimensions. We focus our study on simple mechanical control systems on Lie groups, i.e., mechanical systems with the following properties: the configuration manifold is a matrix Lie group, the total energy is equal...... on a Lie group is locally controllable along a relative equilibrium. These conditions subsume the well-known local controllability conditions for equilibrium points. Second, for systems that have fewer controls than degrees of freedom, we present a novel algorithm to control simple mechanical control...

  1. Blowoff characteristics of bluff-body stabilized syngas premixed flame in a meso-scale channel

    Science.gov (United States)

    Lee, Bok Jik; Im, Hong G.; Kaust Team

    2014-11-01

    Syngas has been actively studied recently for the application to Integrated Gasification Combined Cycle systems. It is also considered a candidate of fuels for combustion-based portable power-generating devices accompanied with a micro-reformer. In the present study, high-fidelity reacting flow simulations are conducted to investigate the instability near the blowoff limit of syngas premixed flames stabilized by a bluff-body in a meso-scale channel. Flames in a two-dimensional channel of 1 mm height and 10 mm length with a square box of 0.5 mm sides is considered. When the vortex shedding in a non-reacting flow at a mean inflow velocity remains symmetric as time passes, the flame at this inflow velocity tends to remain stable. By increasing the mean inflow velocity from the solution of this stable condition, the blowoff limit of a CO-to-H2 ratio is identified. At near-blowoff regime, the detail dynamics of flame instability and combustion characteristics associated to the instability are presented. The comparison with the simulations for lean hydrogen/air premixed flames is also discussed.

  2. Evaluation of Test Methods for Triaxially Braided Composites using a Meso-Scale Finite Element Model

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Chao

    2015-10-01

    The characterization of triaxially braided composite is complicate due to the nonuniformity of deformation within the unit cell as well as the possibility of the freeedge effect related to the large size of the unit cell. Extensive experimental investigation has been conducted to develop more accurate test approaches in characterizing the actual mechanical properties of the material we are studying. In this work, a meso-scale finite element model is utilized to simulate two complex specimens: notched tensile specimen and tube tensile specimen, which are designed to avoid the free-edge effect and free-edge effect induced premature edge damage. The full field strain data is predicted numerically and compared with experimental data obtained by Digit Image Correlation. The numerically predicted tensile strength values are compared with experimentally measured results. The discrepancy between numerically predicted and experimentally measured data, the capability of different test approaches are analyzed and discussed. The presented numerical model could serve as assistance to the evaluation of different test methods, and is especially useful in identifying potential local damage events.

  3. A smoothed particle hydrodynamics framework for modelling multiphase interactions at meso-scale

    Science.gov (United States)

    Li, Ling; Shen, Luming; Nguyen, Giang D.; El-Zein, Abbas; Maggi, Federico

    2018-01-01

    A smoothed particle hydrodynamics (SPH) framework is developed for modelling multiphase interactions at meso-scale, including the liquid-solid interaction induced deformation of the solid phase. With an inter-particle force formulation that mimics the inter-atomic force in molecular dynamics, the proposed framework includes the long-range attractions between particles, and more importantly, the short-range repulsive forces to avoid particle clustering and instability problems. Three-dimensional numerical studies have been conducted to demonstrate the capabilities of the proposed framework to quantitatively replicate the surface tension of water, to model the interactions between immiscible liquids and solid, and more importantly, to simultaneously model the deformation of solid and liquid induced by the multiphase interaction. By varying inter-particle potential magnitude, the proposed SPH framework has successfully simulated various wetting properties ranging from hydrophobic to hydrophilic surfaces. The simulation results demonstrate the potential of the proposed framework to genuinely study complex multiphase interactions in wet granular media.

  4. Experimental Investigation of Minimum Quantity Lubrication in Meso-scale Milling with Varying Tool Diameter

    Science.gov (United States)

    Yusof, M. Q. M.; Harun, H. N. S. B.; Bahar, R.

    2018-01-01

    Minimum quantity lubrication (MQL) is a method that uses a very small amount of liquid to reduce friction between cutting tool and work piece during machining. The implementation of MQL machining has become a viable alternative to flood cooling machining and dry machining. The overall performance has been evaluated during meso-scale milling of mild steel using different diameter milling cutters. Experiments have been conducted under two different lubrication condition: dry and MQL with variable cutting parameters. The tool wear and its surface roughness, machined surfaces microstructure and surface roughness were observed for both conditions. It was found from the results that MQL produced better results compared to dry machining. The 0.5 mm tool has been selected as the most optimum tool diameter to be used with the lowest surface roughness as well as the least flank wear generation. For the workpiece, it was observed that the cutting temperature possesses crucial effect on the microstructure and the surface roughness of the machined surface and bigger diameter tool actually resulted in higher surface roughness. The poor conductivity of the cutting tool may be one of reasons behind.

  5. Development of an Efficient Meso- scale Multi-phase Flow Solver in Nuclear Applications

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Taehun [City Univ. (CUNY), NY (United States)

    2015-10-20

    The proposed research aims at formulating a predictive high-order Lattice Boltzmann Equation for multi-phase flows relevant to nuclear energy related application - namely, saturated and sub-cooled boiling in reactors, and liquid- liquid mixing and extraction for fuel cycle separation. An efficient flow solver will be developed based on the Finite Element based Lattice Boltzmann Method (FE- LBM), accounting for phase-change heat transfer and capable of treating multiple phases over length scales from the submicron to the meter. A thermal LBM will be developed in order to handle adjustable Prandtl number, arbitrary specific heat ratio, a wide range of temperature variations, better numerical stability during liquid-vapor phase change, and full thermo-hydrodynamic consistency. Two-phase FE-LBM will be extended to liquid–liquid–gas multi-phase flows for application to high-fidelity simulations building up from the meso-scale up to the equipment sub-component scale. While several relevant applications exist, the initial applications for demonstration of the efficient methods to be developed as part of this project include numerical investigations of Critical Heat Flux (CHF) phenomena in nuclear reactor fuel bundles, and liquid-liquid mixing and interfacial area generation for liquid-liquid separations. In addition, targeted experiments will be conducted for validation of this advanced multi-phase model.

  6. Modelling daily sediment yield from a meso-scale catchment, a case study in SW Poland

    Energy Technology Data Exchange (ETDEWEB)

    Keesstra, S. D.; Schoorl, J.; Temme, A. J. A. M.

    2009-07-01

    For management purposes it is important to be able to assess the sediment yield of a catchment. however, at this moment models designed for estimating sediment yield are only capable to give either very detailed storm-based information or year averages. The storm-based models require input data that are not available for most catchment. However, models that estimate yearly averages, ignore a lot of other detailed information, like daily discharge and precipitation data. There are currently no models available that model sediment yield on the temporal scale of one day and the spatial scale of a meso-scale catchment, without making use of very detailed input data. To fill this scientific and management gap, landscape evolution model LAPSUS has been adapted to model sediment yield on a daily basis. This model has the water balance as a base. To allow calibration with the discharge at the outlet, a subsurface flow module has been added to the model. (Author) 12 refs.

  7. Rotational Motion Control of a Spacecraft

    DEFF Research Database (Denmark)

    Wisniewski, Rafal; Kulczycki, P.

    2001-01-01

    The paper adopts the energy shaping method to control of rotational motion. A global representation of the rigid body motion is given in the canonical form by a quaternion and its conjugate momenta. A general method for motion control on a cotangent bundle to the 3-sphere is suggested. The design...... algorithm is validated for three-axis spacecraft attitude control...

  8. Rotational motion control of a spacecraft

    DEFF Research Database (Denmark)

    Wisniewski, Rafal; Kulczycki, P.

    2003-01-01

    The paper adopts the energy shaping method to control of rotational motion. A global representation of the rigid body motion is given in the canonical form by a quaternion and its conjugate momenta. A general method for motion control on a cotangent bundle to the 3-sphere is suggested. The design...... algorithm is validated for three-axis spacecraft attitude control. Udgivelsesdato: APR...

  9. Improvement of Hydrological Simulations by Applying Daily Precipitation Interpolation Schemes in Meso-Scale Catchments

    Directory of Open Access Journals (Sweden)

    Mateusz Szcześniak

    2015-02-01

    Full Text Available Ground-based precipitation data are still the dominant input type for hydrological models. Spatial variability in precipitation can be represented by spatially interpolating gauge data using various techniques. In this study, the effect of daily precipitation interpolation methods on discharge simulations using the semi-distributed SWAT (Soil and Water Assessment Tool model over a 30-year period is examined. The study was carried out in 11 meso-scale (119–3935 km2 sub-catchments lying in the Sulejów reservoir catchment in central Poland. Four methods were tested: the default SWAT method (Def based on the Nearest Neighbour technique, Thiessen Polygons (TP, Inverse Distance Weighted (IDW and Ordinary Kriging (OK. =The evaluation of methods was performed using a semi-automated calibration program SUFI-2 (Sequential Uncertainty Fitting Procedure Version 2 with two objective functions: Nash-Sutcliffe Efficiency (NSE and the adjusted R2 coefficient (bR2. The results show that: (1 the most complex OK method outperformed other methods in terms of NSE; and (2 OK, IDW, and TP outperformed Def in terms of bR2. The median difference in daily/monthly NSE between OK and Def/TP/IDW calculated across all catchments ranged between 0.05 and 0.15, while the median difference between TP/IDW/OK and Def ranged between 0.05 and 0.07. The differences between pairs of interpolation methods were, however, spatially variable and a part of this variability was attributed to catchment properties: catchments characterised by low station density and low coefficient of variation of daily flows experienced more pronounced improvement resulting from using interpolation methods. Methods providing higher precipitation estimates often resulted in a better model performance. The implication from this study is that appropriate consideration of spatial precipitation variability (often neglected by model users that can be achieved using relatively simple interpolation methods can

  10. Quantitative modelling of the closure of meso-scale parallel currents in the nightside ionosphere

    Directory of Open Access Journals (Sweden)

    A. Marchaudon

    2004-01-01

    Full Text Available On 12 January 2000, during a northward IMF period, two successive conjunctions occur between the CUTLASS SuperDARN radar pair and the two satellites Ørsted and FAST. This situation is used to describe and model the electrodynamic of a nightside meso-scale arc associated with a convection shear. Three field-aligned current sheets, one upward and two downward on both sides, are observed. Based on the measurements of the parallel currents and either the conductance or the electric field profile, a model of the ionospheric current closure is developed along each satellite orbit. This model is one-dimensional, in a first attempt and a two-dimensional model is tested for the Ørsted case. These models allow one to quantify the balance between electric field gradients and ionospheric conductance gradients in the closure of the field-aligned currents. These radar and satellite data are also combined with images from Polar-UVI, allowing for a description of the time evolution of the arc between the two satellite passes. The arc is very dynamic, in spite of quiet solar wind conditions. Periodic enhancements of the convection and of electron precipitation associated with the arc are observed, probably associated with quasi-periodic injections of particles due to reconnection in the magnetotail. Also, a northward shift and a reorganisation of the precipitation pattern are observed, together with a southward shift of the convection shear. Key words. Ionosphere (auroral ionosphere; electric fields and currents; particle precipitation – Magnetospheric physics (magnetosphere-ionosphere interactions

  11. Rotational motion control of a spacecraft

    DEFF Research Database (Denmark)

    Wisniewski, Rafal; Kulczycki, P.

    2003-01-01

    The paper adopts the energy shaping method to control of rotational motion. A global representation of the rigid body motion is given in the canonical form by a quaternion and its conjugate momenta. A general method for motion control on a cotangent bundle to the 3-sphere is suggested. The design...

  12. Thermal performance of a meso-scale liquid-fuel combustor

    International Nuclear Information System (INIS)

    Vijayan, V.; Gupta, A.K.

    2011-01-01

    Research highlights: → Demonstrated successful combustion of liquid fuel-air mixtures in a novel meso-scale combustor. → Flame quenching was eliminated using heat recirculation in a swiss roll type combustor that also extended the flammability limits. → Liquid fuel was rapidly vaporized with the use of hot narrow channel walls that eliminated the need of a fuel atomizer. → Maximum power density of the combustor was estimated to be about 8.5 GW/m3 and heat load in the range of 50-280W. → Overall efficiency of the combustor was estimated in the range of 12 to 20%. - Abstract: Combustion in small scale devices poses significant challenges due to the quenching of reactions from wall heat losses as well as the significantly reduced time available for mixing and combustion. In the case of liquid fuels there are additional challenges related to atomization, vaporization and mixing with the oxidant in the very short time-scale liquid-fuel combustor. The liquid fuel employed here is methanol with air as the oxidizer. The combustor was designed based on the heat recirculating concept wherein the incoming reactants are preheated by the combustion products through heat exchange occurring via combustor walls. The combustor was fabricated from Zirconium phosphate, a ceramic with very low thermal conductivity (0.8 W m -1 K -1 ). The combustor had rectangular shaped double spiral geometry with combustion chamber in the center of the spiral formed by inlet and exhaust channels. Methanol and air were introduced immediately upstream at inlet of the combustor. The preheated walls of the inlet channel also act as a pre-vaporizer for liquid fuel which vaporizes the liquid fuel and then mixes with air prior to the fuel-air mixture reaching the combustion chamber. Rapid pre-vaporization of the liquid fuel by the hot narrow channel walls eliminated the necessity for a fuel atomizer. Self-sustained combustion of methanol-air was achieved in a chamber volume as small as 32.6 mm 3

  13. Information processing in micro and meso-scale neural circuits during normal and disease states

    Science.gov (United States)

    Luongo, Francisco

    Neural computation can occur at multiple spatial and temporal timescales. The sum total of all of these processes is to guide optimal behaviors within the context of the constraints imposed by the physical world. How the circuits of the brain achieves this goal represents a central question in systems neuroscience. Here I explore the many ways in which the circuits of the brain can process information at both the micro and meso scale. Understanding the way information is represented and processed in the brain could shed light on the neuropathology underlying complex neuropsychiatric diseases such as autism and schizophrenia. Chapter 2 establishes an experimental paradigm for assaying patterns of microcircuit activity and examines the role of dopaminergic modulation on prefrontal microcircuits. We find that dopamine type 2 (D2) receptor activation results in an increase in spontaneous activity while dopamine type 1 (D1) activation does not. Chapter 3 of this dissertation presents a study that illustrates how cholingergic activation normally produces what has been suggested as a neural substrate of attention; pairwise decorrelation in microcircuit activity. This study also shows that in two etiologicall distinct mouse models of autism, FMR1 knockout mice and Valproic Acid exposed mice, this ability to decorrelate in the presence of cholinergic activation is lost. This represents a putative microcircuit level biomarker of autism. Chapter 4 examines the structure/function relationship within the prefrontal microcircuit. Spontaneous activity in prefrontal microcircuits is shown to be organized according to a small world architecture. Interestingly, this architecture is important for one concrete function of neuronal microcircuits; the ability to produce temporally stereotyped patterns of activation. In the final chapter, we identify subnetworks in chronic intracranial electrocorticographic (ECoG) recordings using pairwise electrode coherence and dimensionality reduction

  14. Meso-Scale Modeling of Spall in a Heterogeneous Two-Phase Material

    Energy Technology Data Exchange (ETDEWEB)

    Springer, Harry Keo [Univ. of California, Davis, CA (United States)

    2008-07-11

    The influence of the heterogeneous second-phase particle structure and applied loading conditions on the ductile spall response of a model two-phase material was investigated. Quantitative metallography, three-dimensional (3D) meso-scale simulations (MSS), and small-scale spall experiments provided the foundation for this study. Nodular ductile iron (NDI) was selected as the model two-phase material for this study because it contains a large and readily identifiable second- phase particle population. Second-phase particles serve as the primary void nucleation sites in NDI and are, therefore, central to its ductile spall response. A mathematical model was developed for the NDI second-phase volume fraction that accounted for the non-uniform particle size and spacing distributions within the framework of a length-scale dependent Gaussian probability distribution function (PDF). This model was based on novel multiscale sampling measurements. A methodology was also developed for the computer generation of representative particle structures based on their mathematical description, enabling 3D MSS. MSS were used to investigate the effects of second-phase particle volume fraction and particle size, loading conditions, and physical domain size of simulation on the ductile spall response of a model two-phase material. MSS results reinforce existing model predictions, where the spall strength metric (SSM) logarithmically decreases with increasing particle volume fraction. While SSM predictions are nearly independent of applied load conditions at lower loading rates, which is consistent with previous studies, loading dependencies are observed at higher loading rates. There is also a logarithmic decrease in SSM for increasing (initial) void size, as well. A model was developed to account for the effects of loading rate, particle size, matrix sound-speed, and, in the NDI-specific case, the probabilistic particle volume fraction model. Small-scale spall experiments were designed

  15. Towards monitoring biodiversity in Amazonian forests: how regular samples capture meso-scale altitudinal variation in 25 km2 plots.

    Science.gov (United States)

    Norris, Darren; Fortin, Marie-Josée; Magnusson, William E

    2014-01-01

    Ecological monitoring and sampling optima are context and location specific. Novel applications (e.g. biodiversity monitoring for environmental service payments) call for renewed efforts to establish reliable and robust monitoring in biodiversity rich areas. As there is little information on the distribution of biodiversity across the Amazon basin, we used altitude as a proxy for biological variables to test whether meso-scale variation can be adequately represented by different sample sizes in a standardized, regular-coverage sampling arrangement. We used Shuttle-Radar-Topography-Mission digital elevation values to evaluate if the regular sampling arrangement in standard RAPELD (rapid assessments ("RAP") over the long-term (LTER ["PELD" in Portuguese])) grids captured patters in meso-scale spatial variation. The adequacy of different sample sizes (n = 4 to 120) were examined within 32,325 km2/3,232,500 ha (1293×25 km2 sample areas) distributed across the legal Brazilian Amazon. Kolmogorov-Smirnov-tests, correlation and root-mean-square-error were used to measure sample representativeness, similarity and accuracy respectively. Trends and thresholds of these responses in relation to sample size and standard-deviation were modeled using Generalized-Additive-Models and conditional-inference-trees respectively. We found that a regular arrangement of 30 samples captured the distribution of altitude values within these areas. Sample size was more important than sample standard deviation for representativeness and similarity. In contrast, accuracy was more strongly influenced by sample standard deviation. Additionally, analysis of spatially interpolated data showed that spatial patterns in altitude were also recovered within areas using a regular arrangement of 30 samples. Our findings show that the logistically feasible sample used in the RAPELD system successfully recovers meso-scale altitudinal patterns. This suggests that the sample size and regular arrangement

  16. Evaluation of planetary boundary layer schemes in meso-scale simulations above the North and Baltic Sea

    Science.gov (United States)

    Wurps, Hauke; Tambke, Jens; Steinfeld, Gerald; von Bremen, Lueder

    2014-05-01

    The development and design of wind energy converters for offshore wind farms require profound knowledge of the wind profile in the lower atmosphere. Especially an accurate and reliable estimation of turbulence, shear and veer are necessary for the prediction of energy production and loads. Currently existing wind energy turbines in the North Sea have hub heights of around 90 m and upper tip heights around 150 m, which is already higher than the highest measurement masts (e.g. FINO1: 103 m). The next generation of wind turbines will clearly outrange these altitudes, so the interest is to examine the atmosphere's properties above the North Sea up to 300 m. Therefore, besides the Prandtl layer also the Ekman layer has to be taken into account, which implies that changes of the wind direction with height become more relevant. For this investigation we use the Weather Research and Forecasting Model (WRF), a meso-scale numerical weather prediction system. In this study we compare different planetary boundary layer (PBL) schemes (MYJ, MYNN, QNSE) with the same high quality input from ECMWF used as boundary conditions (ERA-Interim). It was found in previous studies that the quality of the boundary conditions is crucially important for the accuracy of comparisons between different PBL schemes. This is due to the fact that the major source of meso-scale simulation errors is introduced by the driving boundary conditions and not by the different schemes of the meso-scale model itself. Hence, small differences in results from different PBL schemes can be distorted arbitrarily by coarse input data. For instance, ERA-Interim data leads to meso-scale RMSE values of 1.4 m/s at 100 m height above sea surface with mean wind speeds around 10 m/s, whereas other Reanalysis products lead to RMSEs larger than 2 m/s. Second, we compare our simulations to operational NWP results from the COSMO model (run by the DWD). In addition to the wind profile, also the turbulent kinetic energy (TKE

  17. Emissions from meso-scale in-situ oil (diesel) fires: gases, PAHs and VOCs from the Mobile 1997 experiments

    Energy Technology Data Exchange (ETDEWEB)

    Fingas, M.; Wang, Z.; Lambert, P.; Ackerman, F.; Fieldhouse, B.; Nelson, R.; Goldthorp, M.; Whiticar, S.; Li, K. [Environment Canada, Emergencies Science Division, Ottawa, ON (Canada); Campagna, P.; Mickunas, D.; Turpin, R.; Nadeau, R. [U. S. Environmental Protection Agency, Edison, NJ (United States); Schuetz, S.; Morganti, M. [Roy F. Weston/REAC, Edison, NJ (United States); Hiltabrand, R. A. [U.S. Coast Guard, Research Centre, Groton, CT (United States)

    1999-07-01

    A series of meso-scale burn experiments were conducted in 1997 to assess fire-resistant booms and to study various aspects of diesel oil burning in situ. Extensive samples were taken at ten downwind stations and at seven side stations. Particulate samples in air were analyzed for PAHs. Water under the burns was also analyzed and yielded small amounts of PAHs. Combustion gases including carbon dioxide and carbon monoxide concentrations were shown to be under exposure level maximums. VOCs emissions were measured in Summa canisters. Although a large number of VOCs were identified, most of them were present only in very low concentrations. 8 refs., 18 tabs., 2 figs.

  18. Emissions from meso-scale in-situ oil (diesel) fires: gases, PAHs and VOCs from the Mobile 1997 experiments

    Energy Technology Data Exchange (ETDEWEB)

    Fingas, M.; Wang, Z.; Lambert, P.; Ackerman, F.; Fieldhouse, B.; Nelson, R.; Goldthorp, M.; Whiticar, S.; Li, K. [Environment Canada, Emergencies Science Division, Ottawa, ON (Canada); Campagna, P.; Mickunas, D.; Turpin, R.; Nadeau, R. [U. S. Environmental Protection Agency, Edison, NJ (United States); Schuetz, S.; Morganti, M. [Roy F. Weston/REAC, Edison, NJ (United States); Hiltabrand, R. A. [U.S. Coast Guard, Research Centre, Groton, CT (United States)

    1999-08-01

    A series of meso-scale burn experiments were conducted in 1997 to assess fire-resistant booms and to study various aspects of diesel oil burning in situ. Extensive samples were taken at ten downwind stations and at seven side stations. Particulate samples in air were analyzed for PAHs. Water under the burns was also analyzed and yielded small amounts of PAHs. Combustion gases including carbon dioxide and carbon monoxide concentrations were shown to be under exposure level maximums. VOCs emissions were measured in Summa canisters. Although a large number of VOCs were identified, most of them were present only in very low concentrations. 8 refs., 18 tabs., 2 figs.

  19. Emissions from meso-scale in-situ oil (diesel) fires: gases, PAHs and VOCs from the Mobile 1997 experiments

    Energy Technology Data Exchange (ETDEWEB)

    Fingas, M.; Wang, Z.; Lambert, P.; Ackerman, F.; Fieldhouse, B.; Nelson, R.; Goldthorp, M.; Whiticar, S.; Li, K. (Environment Canada, Emergencies Science Division, Ottawa, ON (Canada)); Campagna, P.; Mickunas, D.; Turpin, R.; Nadeau, R. (U. S. Environmental Protection Agency, Edison, NJ (United States)); Schuetz, S.; Morganti, M. (Roy F. Weston/REAC, Edison, NJ (United States)); Hiltabrand, R. A. (U.S. Coast Guard, Research Centre, Groton, CT (United States))

    1999-01-01

    A series of meso-scale burn experiments were conducted in 1997 to assess fire-resistant booms and to study various aspects of diesel oil burning in situ. Extensive samples were taken at ten downwind stations and at seven side stations. Particulate samples in air were analyzed for PAHs. Water under the burns was also analyzed and yielded small amounts of PAHs. Combustion gases including carbon dioxide and carbon monoxide concentrations were shown to be under exposure level maximums. VOCs emissions were measured in Summa canisters. Although a large number of VOCs were identified, most of them were present only in very low concentrations. 8 refs., 18 tabs., 2 figs.

  20. Design and fabrication of a meso-scale stirling engine and combustor.

    Energy Technology Data Exchange (ETDEWEB)

    Echekki, Tarek (Sandia National Laboratories, Livermore, CA); Haroldsen, Brent L. (Sandia National Laboratories, Livermore, CA); Krafcik, Karen L. (Sandia National Laboratories, Livermore, CA); Morales, Alfredo Martin (Sandia National Laboratories, Livermore, CA); Mills, Bernice E. (Sandia National Laboratories, Livermore, CA); Liu, Shiling (Sandia National Laboratories, Livermore, CA); Lee, Jeremiah C. (Sandia National Laboratories, Livermore, CA); Karpetis, Adionos N. (Sandia National Laboratories, Livermore, CA); Chen, Jacqueline H. (Sandia National Laboratories, Livermore, CA); Ceremuga, Joseph T. (Sandia National Laboratories, Livermore, CA); Raber, Thomas N. (Sandia National Laboratories, Livermore, CA); Hekmuuaty, Michelle A. (Sandia National Laboratories, Livermore, CA)

    2005-05-01

    Power sources capable of supplying tens of watts are needed for a wide variety of applications including portable electronics, sensors, micro aerial vehicles, and mini-robotics systems. The utility of these devices is often limited by the energy and power density capabilities of batteries. A small combustion engine using liquid hydrocarbon fuel could potentially increase both power and energy density by an order of magnitude or more. This report describes initial development work on a meso-scale external combustion engine based on the Stirling cycle. Although other engine designs perform better at macro-scales, we believe the Stirling engine cycle is better suited to small-scale applications. The ideal Stirling cycle requires efficient heat transfer. Consequently, unlike other thermodynamic cycles, the high heat transfer rates that are inherent with miniature devices are an advantage for the Stirling cycle. Furthermore, since the Stirling engine uses external combustion, the combustor and engine can be scaled and optimized semi-independently. Continuous combustion minimizes issues with flame initiation and propagation. It also allows consideration of a variety of techniques to promote combustion that would be difficult in a miniature internal combustion engine. The project included design and fabrication of both the engine and the combustor. Two engine designs were developed. The first used a cylindrical piston design fabricated with conventional machining processes. The second design, based on the Wankel rotor geometry, was fabricated by through-mold electroforming of nickel in SU8 and LIGA micromolds. These technologies provided the requisite precision and tight tolerances needed for efficient micro-engine operation. Electroformed nickel is ideal for micro-engine applications because of its high strength and ductility. A rotary geometry was chosen because its planar geometry was more compatible with the fabrication process. SU8 lithography provided rapid

  1. Exoskeleton Motion Control for Children Walking Rehabilitation

    Directory of Open Access Journals (Sweden)

    Cristina Ploscaru

    2016-06-01

    Full Text Available This paper introduces a quick method for motion control of an exoskeleton used on children walking rehabilitation with ages between four to seven years old. The exoskeleton used on this purpose has six servomotors which work independently and actuates each human lower limb joints (hips, knees and ankles. For obtaining the desired motion laws, a high-speed motion analysis equipment was used. The experimental rough data were mathematically modeled in order to obtain the proper motion equations for controlling the exoskeleton servomotors.

  2. Landing Motion Control of Articulated Hopping Robot

    Directory of Open Access Journals (Sweden)

    Youngil Youm

    2008-11-01

    Full Text Available This paper deals with the landing motion of an articulated legged robot. Humans use a peculiar crouching motion to land safely which can be characterized by body stiffness and damping. A stiffness controller formulation is used to realize this human behavior for the robot. Using this method, the landing motion is achieved with only the desired body stiffness and damping values, without desired COG(Center of Gravity or joint paths. To achieve soft landing, variable body stiffness and damping values were optimized. PBOT, which has four links with flexible joints was used for validation of the landing controller. A body stiffness and damping controller was used as an outer landing control loop and a fast subsystem controller for flexible joints was used as an inner force control loop. Simulations and experimental results about the landing motion are presented to show the performance of the body stiffness and damping controller.

  3. Landing Motion Control of Articulated Hopping Robot

    Directory of Open Access Journals (Sweden)

    Sanghak Sung

    2007-09-01

    Full Text Available This paper deals with the landing motion of an articulated legged robot. Humans use a peculiar crouching motion to land safely which can be characterized by body stiffness and damping. A stiffness controller formulation is used to realize this human behavior for the robot. Using this method, the landing motion is achieved with only the desired body stiffness and damping values, without desired COG(Center of Gravity or joint paths. To achieve soft landing, variable body stiffness and damping values were optimized. PBOT, which has four links with flexible joints was used for validation of the landing controller. A body stiffness and damping controller was used as an outer landing control loop and a fast subsystem controller for flexible joints was used as an inner force control loop. Simulations and experimental results about the landing motion are presented to show the performance of the body stiffness and damping controller.

  4. Kinematics and Dynamics of Motion Control Based on Acceleration Control

    Science.gov (United States)

    Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro

    The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

  5. Muscle Synergy-Driven Robust Motion Control.

    Science.gov (United States)

    Min, Kyuengbo; Iwamoto, Masami; Kakei, Shinji; Kimpara, Hideyuki

    2018-04-01

    Humans are able to robustly maintain desired motion and posture under dynamically changing circumstances, including novel conditions. To accomplish this, the brain needs to optimize the synergistic control between muscles against external dynamic factors. However, previous related studies have usually simplified the control of multiple muscles using two opposing muscles, which are minimum actuators to simulate linear feedback control. As a result, they have been unable to analyze how muscle synergy contributes to motion control robustness in a biological system. To address this issue, we considered a new muscle synergy concept used to optimize the synergy between muscle units against external dynamic conditions, including novel conditions. We propose that two main muscle control policies synergistically control muscle units to maintain the desired motion against external dynamic conditions. Our assumption is based on biological evidence regarding the control of multiple muscles via the corticospinal tract. One of the policies is the group control policy (GCP), which is used to control muscle group units classified based on functional similarities in joint control. This policy is used to effectively resist external dynamic circumstances, such as disturbances. The individual control policy (ICP) assists the GCP in precisely controlling motion by controlling individual muscle units. To validate this hypothesis, we simulated the reinforcement of the synergistic actions of the two control policies during the reinforcement learning of feedback motion control. Using this learning paradigm, the two control policies were synergistically combined to result in robust feedback control under novel transient and sustained disturbances that did not involve learning. Further, by comparing our data to experimental data generated by human subjects under the same conditions as those of the simulation, we showed that the proposed synergy concept may be used to analyze muscle synergy

  6. A dual theory of price and value in a meso-scale economic model with stochastic profit rate

    Science.gov (United States)

    Greenblatt, R. E.

    2014-12-01

    The problem of commodity price determination in a market-based, capitalist economy has a long and contentious history. Neoclassical microeconomic theories are based typically on marginal utility assumptions, while classical macroeconomic theories tend to be value-based. In the current work, I study a simplified meso-scale model of a commodity capitalist economy. The production/exchange model is represented by a network whose nodes are firms, workers, capitalists, and markets, and whose directed edges represent physical or monetary flows. A pair of multivariate linear equations with stochastic input parameters represent physical (supply/demand) and monetary (income/expense) balance. The input parameters yield a non-degenerate profit rate distribution across firms. Labor time and price are found to be eigenvector solutions to the respective balance equations. A simple relation is derived relating the expected value of commodity price to commodity labor content. Results of Monte Carlo simulations are consistent with the stochastic price/labor content relation.

  7. Tracer experiment data sets for the verification of local and meso-scale atmospheric dispersion models including topographic effects

    International Nuclear Information System (INIS)

    Sartori, E.; Schuler, W.

    1992-01-01

    Software and data for nuclear energy applications are acquired, tested and distributed by several information centres; in particular, relevant computer codes are distributed internationally by the OECD/NEA Data Bank (France) and by ESTSC and EPIC/RSIC (United States). This activity is coordinated among the centres and is extended outside the OECD area through an arrangement with the IAEA. This article proposes more specifically a scheme for acquiring, storing and distributing atmospheric tracer experiment data (ATE) required for verification of atmospheric dispersion models especially the most advanced ones including topographic effects and specific to the local and meso-scale. These well documented data sets will form a valuable complement to the set of atmospheric dispersion computer codes distributed internationally. Modellers will be able to gain confidence in the predictive power of their models or to verify their modelling skills. (au)

  8. The instability characteristics of lean premixed hydrogen and syngas flames stabilized on meso-scale bluff-body

    KAUST Repository

    Kim, Yu Jeong

    2017-01-05

    Bluff-body flame stabilization has been used as one of main flame stabilization schemes to improve combustion stability in both large and small scale premixed combustion systems. The detailed investigation of instability characteristics is needed to understand flame stability mechanism. Direct numerical simulations are conducted to investigate flame dynamics on the instability of lean premixed hydrogen/air and syngas/air flames stabilized on a meso-scale bluff-body. A two-dimensional channel of 10 mm height and 10 mm length with a square bluff-body stabilizer of 0.5 mm is considered. The height of domain is chosen as an unconfined condition to minimize the effect of the blockage ratio. Flame/flow dynamics are observed by increasing the mean inflow velocity from a steady stable to unsteady asymmetrical instability, followed by blowoff. Detailed observations between hydrogen and syngas flames with a time scale analysis are presented.

  9. Integrated Modeling and Experimental Studies at the Meso Scale for Advanced Reactive Materials

    Science.gov (United States)

    2016-07-01

    bio -cidal experiments, [9,14]. Figures 4 and 5 show representative imaging results obtained from the Striker experiment, for a stoichiometric...rates at the far ends, such that ρ̂10$ 2 1 = ρ̂20$ 2 2 = C. (9) Hence the motion of the reactants impinging on each other is char - acterized by a single

  10. Machine learning in motion control

    Science.gov (United States)

    Su, Renjeng; Kermiche, Noureddine

    1989-01-01

    The existing methodologies for robot programming originate primarily from robotic applications to manufacturing, where uncertainties of the robots and their task environment may be minimized by repeated off-line modeling and identification. In space application of robots, however, a higher degree of automation is required for robot programming because of the desire of minimizing the human intervention. We discuss a new paradigm of robotic programming which is based on the concept of machine learning. The goal is to let robots practice tasks by themselves and the operational data are used to automatically improve their motion performance. The underlying mathematical problem is to solve the problem of dynamical inverse by iterative methods. One of the key questions is how to ensure the convergence of the iterative process. There have been a few small steps taken into this important approach to robot programming. We give a representative result on the convergence problem.

  11. Identifying residence times and streamflow generation processes using ?18O and ?2H in meso-scale catchments in the Abay/Upper Blue Nile, Ethiopia

    NARCIS (Netherlands)

    Teklaeb, S.; Wenninger, J.W.; Uhlenbrook, S.

    2013-01-01

    Measurements of the stable isotopes oxygen-18 (18O) and deuterium (2H) were carried out in two meso-scale catchments, Chemoga (358 km2) and Jedeb (296 km2) south of Lake Tana, Abay/Upper Blue Nile basin, Ethiopia. The region is of paramount importance for the water resources in the Nile basin.

  12. Advanced Controllers for Electromechanical Motion Systems

    NARCIS (Netherlands)

    Nguyen, Duy Cuong

    2008-01-01

    The aim of this research is to develop advanced controllers for electromechanical motion systems. In order to increase efficiency and reliability, these control systems are required to achieve high performance and robustness in the face of model uncertainty, measurement noise, and reproducible

  13. Meso-scale eddies and the impacts on variability of carbonate chemistry over deep coral reefs in the Florida Straits

    Science.gov (United States)

    Jiang, M.; Pan, C.; Barbero, L.; Hu, C.; Reed, J.; Salisbury, J.; Wanninkhof, R. H.

    2016-02-01

    Abundant and diverse cold-water corals and associated fish communities can be found in the deep waters of the Florida Straits. Preliminary evidence suggests that corals in these deep coral habitats are living under sub-optimal conditions with the ambient aragonite saturation state (Ω) being only marginally above 1. Yet little is known regarding the temporal variability of carbonate chemistry parameters and their dynamic drivers in these critical habitats. In this presentation, we addressed this issue by using a recently developed circulation model and in situ data collected during two research cruises: the second Florida Shelf Edge Exploration Expedition (FloSEE2) in September 2011 and the second Gulf of Mexico East Coast Carbon Cruise (GOMECC2) in July 2012, both supported by NOAA. A numerical simulation was carried out for 2011-2012. In particular, we focused on two contrasting habitats: Pourtalès Terrace (200-450m) and Miami Terrace (270-600m) in the Florida Straits. The results suggest that there is strong weekly to seasonal variability in the bottom water properties including temperature, salinity, total CO2 and total alkalinity on the upper slope of the Straits. In particular, the minimum saturation state over Pourtalès Terrace can be as low as 1.5 whereas even at the top of Miami Terrace, Ω can be very close to 1. Further analysis suggests that the variability of water properties in the upper slope is largely driven by the large-scale transport, and upwelling of cold and CO2-rich deep waters due to meandering of Florida Current, and/or associated meso-scale eddies. In contrast, the water properties at the bottom of the slope are very stable but with much lower aragonite saturation state. The roles of local biochemical processes including the potentially elevated productivity and export driven by meso-scale eddies are yet to be explored. We further project that the aragonite saturation state in deep waters of the Florida Straits may be further decreased

  14. Study of controlled motion bionic mini robot

    Science.gov (United States)

    Politov, E. N.; Rukavitsyn, A. N.

    2017-10-01

    The article describes a dynamic model of a bionic mini-robot capable of moving on a rough surface or separately from it. Differential equations describing the robot’s motion in the phases of flight and movement on the support surface were obtained. The debalance’s angular velocity was used as the controlled parameter. The results of numerical modelling of the equations of motion supported theoretical conclusions on the character of the dependence of height and length of a jump on the frequency of rotation. It was simultaneously established that the shape of the trajectory of the center of mass depends on the controlled parameter.

  15. Terahertz Generation & Vortex Motion Control in Superconductors

    Science.gov (United States)

    Nori, Franco

    2005-03-01

    A grand challenge is to controllably generate electromagnetic waves in layered superconducting compounds because of its Terahertz frequency range. We propose [1] four experimentally realizable devices for generating continuous and pulsed THz radiation in a controllable frequency range. We also describe [2-4] several novel devices for controlling the motion of vortices in superconductors, including a reversible rectifier made of a magnetic-superconducting hybrid structure [4]. Finally, we summarize a study [5] of the friction force felt by moving vortices. 1) S. Savel'ev, V. Yampol'skii, A. Rakhmanov, F. Nori, Tunable Terahertz radiation from Josephson vortices, preprint 2) S. Savel'ev and F. Nori, Experimentally realizable devices for controlling the motion of magnetic flux quanta, Nature Mat. 1, 179 (2002) 3) S. Savel'ev, F. Marchesoni, F. Nori, Manipulating small particles, PRL 92, 160602 (2004); B. Zhu, F. Marchesoni, F. Nori, Controlling the motion of magnetic flux quanta, PRL 92, 180602 (2004) 4) J.E. Villegas, et al., Reversible Rectifier that Controls the Motion of Magnetic Flux Quanta, Science 302, 1188 (2003) 5) A. Maeda, et al., Nano-scale friction: kinetic friction of magnetic flux quanta and charge density waves, preprint

  16. Permeability of fiber reinforcements for liquid composite molding: Sequential multi-scale investigations into numerical flow modeling on the micro- and meso-scale

    Science.gov (United States)

    Luchini, Timothy John Franklin

    Composites are complex material mixtures, known to have high amounts of variability, with unique properties at the micro-, meso-, and macro-scales. In the context of advanced textile composite reinforcements, micro-scale refers to aligned fibers and toughening agents in a disordered arrangement; meso-scale is the woven, braided, or stitched fabric geometry (which compacts to various volume fractions); and macro-scale is the component or sub-component being produced for a mechanical application. The Darcy-based permeability is an important parameter for modeling and understanding the flow profile and fill times for liquid composite molding. Permeability of composite materials can vary widely from the micro- to macro-scales. For example, geometric factors like compaction and ply layup affect the component permeability at the meso- and macro-scales. On the micro-scale the permeability will be affected by the packing arrangement of the fibers and fiber volume fraction. On any scale, simplifications to the geometry can be made to treat the fiber reinforcement as a porous media. Permeability has been widely studied in both experimental and analytical frameworks, but less attention has focused on the ability of numerical tools to predict the permeability of reinforced composite materials. This work aims at (1) predicting permeability at various scales of interest and (2) developing a sequential, multi-scale, numerical modeling approach on the micro- and meso-scales. First, a micro-scale modeling approach is developed, including a geometry generation tool and a fluids-based numerical permeability solver. This micro-scale model included all physical fibers and derived the empirical permeability constant directly though numerical simulation. This numerical approach was compared with literature results for perfect packing arrangements, and the results were shown to be comparable with previous work. The numerical simulations described here also extended these previous

  17. Controlling vortex motion and vortex kinetic friction

    International Nuclear Information System (INIS)

    Nori, Franco; Savel'ev, Sergey

    2006-01-01

    We summarize some recent results of vortex motion control and vortex kinetic friction. (1) We describe a device [J.E. Villegas, S. Savel'ev, F. Nori, E.M. Gonzalez, J.V. Anguita, R. Garcia, J.L. Vicent, Science 302 (2003) 1188] that can easily control the motion of flux quanta in a Niobium superconducting film on an array of nanoscale triangular magnets. Even though the input ac current has zero average, the resulting net motion of the vortices can be directed along either one direction, the opposite direction, or producing zero net motion. We also consider layered strongly anisotropic superconductors, with no fixed spatial asymmetry, and show [S. Savel'ev, F. Nori, Nature Materials 1 (2002) 179] how, with asymmetric drives, the ac motion of Josephson and/or pancake vortices can provide a net dc vortex current. (2) In analogy with the standard macroscopic friction, we present [A. Maeda, Y. Inoue, H. Kitano, S. Savel'ev, S. Okayasu, I. Tsukada, F. Nori , Phys. Rev. Lett. 94 (2005) 077001] a comparative study of the friction force felt by vortices in superconductors and charge density waves

  18. Controlling vortex motion and vortex kinetic friction

    Science.gov (United States)

    Nori, Franco; Savel'ev, Sergey

    2006-05-01

    We summarize some recent results of vortex motion control and vortex kinetic friction. (1) We describe a device [J.E. Villegas, S. Savel'ev, F. Nori, E.M. Gonzalez, J.V. Anguita, R. Garcìa, J.L. Vicent, Science 302 (2003) 1188] that can easily control the motion of flux quanta in a Niobium superconducting film on an array of nanoscale triangular magnets. Even though the input ac current has zero average, the resulting net motion of the vortices can be directed along either one direction, the opposite direction, or producing zero net motion. We also consider layered strongly anisotropic superconductors, with no fixed spatial asymmetry, and show [S. Savel'ev, F. Nori, Nature Materials 1 (2002) 179] how, with asymmetric drives, the ac motion of Josephson and/or pancake vortices can provide a net dc vortex current. (2) In analogy with the standard macroscopic friction, we present [A. Maeda, Y. Inoue, H. Kitano, S. Savel'ev, S. Okayasu, I. Tsukada, F. Nori , Phys. Rev. Lett. 94 (2005) 077001] a comparative study of the friction force felt by vortices in superconductors and charge density waves.

  19. Study of the Arrangement Effect of Units on the Shear Strength Masonry Walls in Meso-Scale

    Directory of Open Access Journals (Sweden)

    M. Sepehrinia

    2016-12-01

    Full Text Available Masonry is one of the oldest building materials which have been used in most heritage structures and new construction. In this study by using a meso-scale finite element model, the behavior of masonry walls is investigated under monotonic loading by Abaqus software. The most important factor in determining the behavior of masonry structures is discontinuity joints which are interface between unit and mortar. In most previous studies cohesive element is used for modeling of interface element. But in this study, by ignoring cohesive elements that represents the interface element between unit and mortar in masonry structures, it can be seen that while reducing the computational requirements, the results are in good agreement with experimental studies. Another important factor in the behavior of masonry walls is the arrangement of masonry units. In this study the overlapping effect of rows of units on the shear strength and failure mode of masonry walls have been investigated. As a result, it was observed that by increasing overlap, shear resistance of masonry walls increased.

  20. Continuous formation of N-chloro-N,N-dialkylamine solutions in well-mixed meso-scale flow reactors

    Directory of Open Access Journals (Sweden)

    A. John Blacker

    2015-12-01

    Full Text Available The continuous flow synthesis of a range of organic solutions of N,N-dialkyl-N-chloramines is described using either a bespoke meso-scale tubular reactor with static mixers or a continuous stirred tank reactor. Both reactors promote the efficient mixing of a biphasic solution of N,N-dialkylamine in organic solvent, and aqueous sodium hypochlorite to achieve near quantitative conversions, in 72–100% in situ yields, and useful productivities of around 0.05 mol/h with residence times from 3 to 20 minutes. Initial calorimetric studies have been carried out to inform on reaction exotherms, rates and safe operation. Amines which partition mainly in the organic phase require longer reaction times, provided by the CSTR, to compensate for low mass transfer rates in the biphasic system. The green metrics of the reaction have been assessed and compared to existing procedures and have shown the continuous process is improved over previous procedures. The organic solutions of N,N-dialkyl-N-chloramines produced continuously will enable their use in tandem flow reactions with a range of nucleophilic substrates.

  1. Continuous formation of N-chloro-N,N-dialkylamine solutions in well-mixed meso-scale flow reactors.

    Science.gov (United States)

    Blacker, A John; Jolley, Katherine E

    2015-01-01

    The continuous flow synthesis of a range of organic solutions of N,N-dialkyl-N-chloramines is described using either a bespoke meso-scale tubular reactor with static mixers or a continuous stirred tank reactor. Both reactors promote the efficient mixing of a biphasic solution of N,N-dialkylamine in organic solvent, and aqueous sodium hypochlorite to achieve near quantitative conversions, in 72-100% in situ yields, and useful productivities of around 0.05 mol/h with residence times from 3 to 20 minutes. Initial calorimetric studies have been carried out to inform on reaction exotherms, rates and safe operation. Amines which partition mainly in the organic phase require longer reaction times, provided by the CSTR, to compensate for low mass transfer rates in the biphasic system. The green metrics of the reaction have been assessed and compared to existing procedures and have shown the continuous process is improved over previous procedures. The organic solutions of N,N-dialkyl-N-chloramines produced continuously will enable their use in tandem flow reactions with a range of nucleophilic substrates.

  2. Meso-Scale Progressive Damage Behavior Characterization of Triaxial Braided Composites under Quasi-Static Tensile Load

    Science.gov (United States)

    Ren, Yiru; Zhang, Songjun; Jiang, Hongyong; Xiang, Jinwu

    2017-08-01

    Based on continuum damage mechanics (CDM), a sophisticated 3D meso-scale finite element (FE) model is proposed to characterize the progressive damage behavior of 2D Triaxial Braided Composites (2DTBC) with 60° braiding angle under quasi-static tensile load. The modified Von Mises strength criterion and 3D Hashin failure criterion are used to predict the damage initiation of the pure matrix and fiber tows. A combining interface damage and friction constitutive model is applied to predict the interface damage behavior. Murakami-Ohno stiffness degradation scheme is employed to predict the damage evolution process of each constituent. Coupling with the ordinary and translational symmetry boundary conditions, the tensile elastic response including tensile strength and failure strain of 2DTBC are in good agreement with the available experiment data. The numerical results show that the main failure modes of the composites under axial tensile load are pure matrix cracking, fiber and matrix tension failure in bias fiber tows, matrix tension failure in axial fiber tows and interface debonding; the main failure modes of the composites subjected to transverse tensile load are free-edge effect, matrix tension failure in bias fiber tows and interface debonding.

  3. Applicability of a high-resolution meso-scale meteorological model to a near-field-scale atmospheric dispersion problem

    International Nuclear Information System (INIS)

    Takimoto, Hiroshi; Michioka, Takenobu; Sato, Ayumu; Sada, Koichi

    2015-01-01

    This study examines the feasibility of numerical simulations using a meso-scale meteorological model (NuWFAS: Numerical Weather Forecasting and Analysis System) for a near-field-scale atmospheric dispersion problem. A series of observation data from a field tracer experiment was used for the validation of the model. In the experiments, the tracer was released from a tower at a height of 95 m. The receptors were located on the arc lines with distances from the source of 400, 750, 1500, and 3000 m. The numerical simulations were implemented with two different minimum spatial resolutions of 100 m and 300 m. The meteorological fields were reproduced with a reasonable accuracy, showing the less dependency on the mesh sizes of the simulation. The dispersion fields were also less dependent on the spatial resolutions except for the stable atmospheric conditions. In stable conditions, the smaller spatial resolution leads to the higher surface concentrations due to the larger turbulent diffusions. In most cases, the predicted surface concentrations agreed with the observation within the factor of ten. However, the simulation tends to underestimate the surface concentrations in stable conditions, whereas it overestimates in unstable conditions. Our study revealed that the limitation of the model in estimating the turbulent diffusion coefficients for thermally stratified conditions is the one cause of these trends. The current model underestimates the influences of atmospheric stability, which is one of the most important factors for the near-field-scale atmospheric dispersion. (author)

  4. Meso-Scale Progressive Damage Behavior Characterization of Triaxial Braided Composites under Quasi-Static Tensile Load

    Science.gov (United States)

    Ren, Yiru; Zhang, Songjun; Jiang, Hongyong; Xiang, Jinwu

    2018-04-01

    Based on continuum damage mechanics (CDM), a sophisticated 3D meso-scale finite element (FE) model is proposed to characterize the progressive damage behavior of 2D Triaxial Braided Composites (2DTBC) with 60° braiding angle under quasi-static tensile load. The modified Von Mises strength criterion and 3D Hashin failure criterion are used to predict the damage initiation of the pure matrix and fiber tows. A combining interface damage and friction constitutive model is applied to predict the interface damage behavior. Murakami-Ohno stiffness degradation scheme is employed to predict the damage evolution process of each constituent. Coupling with the ordinary and translational symmetry boundary conditions, the tensile elastic response including tensile strength and failure strain of 2DTBC are in good agreement with the available experiment data. The numerical results show that the main failure modes of the composites under axial tensile load are pure matrix cracking, fiber and matrix tension failure in bias fiber tows, matrix tension failure in axial fiber tows and interface debonding; the main failure modes of the composites subjected to transverse tensile load are free-edge effect, matrix tension failure in bias fiber tows and interface debonding.

  5. Specification of EDITH motion control system

    International Nuclear Information System (INIS)

    Breitwieser, H.; Frank, A.; Holler, E.; Suess, U.; Leinemann, K.

    1990-09-01

    EDITH is an experimental device for in vessel handling at NET/ITER. The purpose of EDITH is: Testing of ABS (articulated boom system) components; testing and validation of remote handling procedures; testing and validation of ABS end-effectors; testing of ABS control system features and verification of control system concepts. This document, after describing the environment in which the control system is to operate, specifies architecture and functionality to be implemented by the EDITH motion control system software, thereby taking full reference to the control system specification for TARM, which was decided to be the base for the implementation. (orig.) [de

  6. Meso-scale Modeling of Block Copolymers Self-Assembly in Casting Solutions for Membrane Manufacture

    KAUST Repository

    Moreno Chaparro, Nicolas

    2016-05-01

    Isoporous membranes manufactured from diblock copolymer are successfully produced at laboratory scale under controlled conditions. Because of the complex phenomena involved, membrane preparation requires trial and error methodologies to find the optimal conditions, leading to a considerable demand of resources. Experimental insights demonstrate that the self-assembly of the block copolymers in solution has an effect on the final membrane structure. Nevertheless, the complete understanding of these multi-scale phenomena is elusive. Herein we use the coarse-grained method Dissipative Particle Dynamics to study the self-assembly of block copolymers that are used for the preparation of the membranes. To simulate representative time and length scales, we introduce a framework for model reduction of polymer chain representations for dissipative particle dynamics, which preserves the properties governing the phase equilibria. We reduce the number of degrees of freedom by accounting for the correlation between beads in fine-grained models via power laws and the consistent scaling of the simulation parameters. The coarse-graining models are consistent with the experimental evidence, showing a morphological transition of the aggregates as the polymer concentration and solvent affinity change. We show that hexagonal packing of the micelles can occur in solution within different windows of polymer concentration depending on the solvent affinity. However, the shape and size dispersion of the micelles determine the characteristic arrangement. We describe the order of crew-cut micelles using a rigid-sphere approximation and propose different phase parameters that characterize the emergence of monodisperse-spherical micelles in solution. Additionally, we investigate the effect of blending asymmetric diblock copolymers (AB/AC) over the properties of the membranes. We observe that the co-assembly mechanism localizes the AC molecules at the interface of A and B domains, and induces

  7. Meso-scale modeling of air pollution transport/chemistry/deposition and its application

    International Nuclear Information System (INIS)

    Kitada, Toshihiro

    2007-01-01

    Transport/chemistry/deposition model for atmospheric trace chemical species is now regarded as an important tool for an understanding of the effects of various human activities, such as fuel combustion and deforestation, on human health, eco-system, and climate and for planning of appropriate control of emission sources. Several 'comprehensive' models have been proposed such as RADM (Chang, et al., 1987), STEM-II (Carmichael, et al., 1986), and CMAQ (Community Multi-scale Air Quality model, e.g., EPA website, 2003); the 'comprehensive' models include not only gas/aerosol phase chemistry but also aqueous phase chemistry in cloud/rain water in addition to the processes of advection, diffusion, wet deposition (mass transfer between aqueous and gas/aerosol phases), and dry deposition. The target of the development of the 'comprehensive' model will be that the model can correctly reproduce mass balance of various chemical species in the atmosphere with keeping adequate accuracy for calculated concentration distributions of chemical species. For the purpose, one of the important problems is a reliable wet deposition modeling, and here, we introduce two types of methods of 'cloud-resolving' and 'non-cloud-resolving' modeling for the wet deposition of pollutants. (author)

  8. Up-scaling of multi-variable flood loss models from objects to land use units at the meso-scale

    Directory of Open Access Journals (Sweden)

    H. Kreibich

    2016-05-01

    Full Text Available Flood risk management increasingly relies on risk analyses, including loss modelling. Most of the flood loss models usually applied in standard practice have in common that complex damaging processes are described by simple approaches like stage-damage functions. Novel multi-variable models significantly improve loss estimation on the micro-scale and may also be advantageous for large-scale applications. However, more input parameters also reveal additional uncertainty, even more in upscaling procedures for meso-scale applications, where the parameters need to be estimated on a regional area-wide basis. To gain more knowledge about challenges associated with the up-scaling of multi-variable flood loss models the following approach is applied: Single- and multi-variable micro-scale flood loss models are up-scaled and applied on the meso-scale, namely on basis of ATKIS land-use units. Application and validation is undertaken in 19 municipalities, which were affected during the 2002 flood by the River Mulde in Saxony, Germany by comparison to official loss data provided by the Saxon Relief Bank (SAB.In the meso-scale case study based model validation, most multi-variable models show smaller errors than the uni-variable stage-damage functions. The results show the suitability of the up-scaling approach, and, in accordance with micro-scale validation studies, that multi-variable models are an improvement in flood loss modelling also on the meso-scale. However, uncertainties remain high, stressing the importance of uncertainty quantification. Thus, the development of probabilistic loss models, like BT-FLEMO used in this study, which inherently provide uncertainty information are the way forward.

  9. The plane motion control of the quadrocopter

    Directory of Open Access Journals (Sweden)

    A. N. Kanatnikov

    2015-01-01

    Full Text Available Among a large number of modern flying vehicles, the quadrocopter relates to unmanned aerial vehicles (UAV which are relatively cheap and easy to design. Quadrocopters are able to fly in bad weather, hang in the air for quite a long time, observe the objects and perform many other tasks. They have been applied in rescue operations, in agriculture, in the military and many other fields.For quadrocopters, the problems of path planning and control are relevant. These problems have many variants in which limited resources of modern UAV, possible obstacles, for instance, for flying in a cross-country terrain or in a city environment and weather conditions (particularly, wind conditions are taken into account. Many research studies are concerned with these problems and reflected in series of publications (note the interesting survey [1] and references therein. Various methods were used for the control synthesis for these vehicles: linear approximations [2], sliding mode control [3], the covering method [4] and so on.In the paper, a quadrocopter is considered as a rigid body. The kinematic and dynamic equations of the motion are analyzed. Two cases of motion are emphasized: a motion in a vertical plane and in a horizontal plane. The control is based on transferring of the affine system to the canonical form [5] and the nonlinear stabilization method [6].

  10. In Situ Decommissioning Sensor Network, Meso-Scale Test Bed - Phase 3 Fluid Injection Test Summary Report

    Energy Technology Data Exchange (ETDEWEB)

    Serrato, M. G.

    2013-09-27

    The DOE Office of Environmental management (DOE EM) faces the challenge of decommissioning thousands of excess nuclear facilities, many of which are highly contaminated. A number of these excess facilities are massive and robust concrete structures that are suitable for isolating the contained contamination for hundreds of years, and a permanent decommissioning end state option for these facilities is in situ decommissioning (ISD). The ISD option is feasible for a limited, but meaningfull number of DOE contaminated facilities for which there is substantial incremental environmental, safety, and cost benefits versus alternate actions to demolish and excavate the entire facility and transport the rubble to a radioactive waste landfill. A general description of an ISD project encompasses an entombed facility; in some cases limited to the blow-grade portion of a facility. However, monitoring of the ISD structures is needed to demonstrate that the building retains its structural integrity and the contaminants remain entombed within the grout stabilization matrix. The DOE EM Office of Deactivation and Decommissioning and Facility Engineering (EM-13) Program Goal is to develop a monitoring system to demonstrate long-term performance of closed nuclear facilities using the ISD approach. The Savannah River National Laboratory (SRNL) has designed and implemented the In Situ Decommissioning Sensor Network, Meso-Scale Test Bed (ISDSN-MSTB) to address the feasibility of deploying a long-term monitoring system into an ISD closed nuclear facility. The ISDSN-MSTB goal is to demonstrate the feasibility of installing and operating a remote sensor network to assess cementitious material durability, moisture-fluid flow through the cementitious material, and resulting transport potential for contaminate mobility in a decommissioned closed nuclear facility. The original ISDSN-MSTB installation and remote sensor network operation was demonstrated in FY 2011-12 at the ISDSN-MSTB test cube

  11. Structure and Properties of Nano- and Meso-Scale Materials Prepared by Designed Self-Assembly of Nanoparticles

    Science.gov (United States)

    Lukach, Ariella

    The work presented in this thesis explores the homo- and co-assembly process, structural characteristics and properties of nano- and meso-scale, one- and three-dimensional structures composed of nanoscale building blocks. In chapter 3, we developed a method for terminating the colloidal polymerization process of gold nanorods by post-assembly photocrosslinking of polymer ligands. By functionalizing gold nanorods with a hydrophobic polymer containing pendant double bonds, we were able to compartmentalize a hydrophobic photoinitiator. We could then suppress the association ability of the polymer ligands by covalently crosslinking them using photoirradiation. The averaged aggregation number of the polymers could be predicted from the kinetics of molecular step-growth polymerization. Furthermore, we found that following crosslinking, the inert-rod distance reduced, and the nanorod co-linearity increased, both allowing for better electromagnetic coupling between the nanorods. In chapter 4, we further explored the resemblance between colloidal and molecular polymerization reactions by applying strategies from molecular copolymerization to the co-assembly of gold nanorods with different dimensions into random and block copolymer structures (plasmonic copolymers). The approach was extended to the co-assembly of random copolymers of gold and palladium nanorods. We showed that the formation of random copolymers is achieved regardless of the composition, size, or concentration if both co-monomers are present at the beginning of the copolymerization. Block copolymers were prepared by combining one pre-polymer with the second monomer, or two pre-polymers. A kinetic model validated and further expanded the kinetic theories developed for molecular copolymerization reactions. Chapters 5 and 6 explore a bottom-up method to produce composite materials from spherical nanoparticles with different core-composition, surface-characteristics, and concentrations and cellulose nanocrystals

  12. No Habitat Selection during Spring Migration at a Meso-Scale Range across Mosaic Landscapes: A Case Study with the Woodcock (Scolopax rusticola.

    Directory of Open Access Journals (Sweden)

    Ariñe Crespo

    Full Text Available Success of migration in birds in part depends on habitat selection. Overall, it is still poorly known whether there is habitat selection amongst landbird migrants moving across landscapes. Europe is chiefly covered by agro-forestry mosaic landscapes, so migratory species associated to either agricultural landscapes or woodland habitats should theoretically find suitable stopover sites along migration. During migration from wintering to breeding quarters, woodcocks (Scolopax rusticola tagged with PTT satellite-tracking transmitters were used to test for the hypothesis that migrants associated to agro-forest habitats have no habitat selection during migration, at a meso-scale level. Using a GIS platform we extracted at a meso-scale range habitat cover at stopover localities. Results obtained from comparisons of soil covers between points randomly selected and true stopover localities sites revealed, as expected, the species may not select for particular habitats at a meso-scale range, because the habitat (or habitats required by the species can be found virtually everywhere on their migration route. However, those birds stopping over in places richer in cropland or mosaic habitats including both cropland and forest and with proportionally less closed forest stayed for longer than in areas with lower surfaces of cropland and mosaic and more closed forest. This suggests that areas rich in cropland or mosaic habitat were optimal.

  13. Self versus environment motion in postural control.

    Directory of Open Access Journals (Sweden)

    Kalpana Dokka

    2010-02-01

    Full Text Available To stabilize our position in space we use visual information as well as non-visual physical motion cues. However, visual cues can be ambiguous: visually perceived motion may be caused by self-movement, movement of the environment, or both. The nervous system must combine the ambiguous visual cues with noisy physical motion cues to resolve this ambiguity and control our body posture. Here we have developed a Bayesian model that formalizes how the nervous system could solve this problem. In this model, the nervous system combines the sensory cues to estimate the movement of the body. We analytically demonstrate that, as long as visual stimulation is fast in comparison to the uncertainty in our perception of body movement, the optimal strategy is to weight visually perceived movement velocities proportional to a power law. We find that this model accounts for the nonlinear influence of experimentally induced visual motion on human postural behavior both in our data and in previously published results.

  14. Contouring controller for precise motion control systems

    OpenAIRE

    Golubovic, Edin; Baran, Eray Abdurrahman; Şabanoviç, Asif; Sabanovic, Asif

    2013-01-01

    This paper discusses the trajectory generation algorithm, contour error construction method and finally the contour controller design. In the trajectory generation algorithm combination of elliptical Fourier descriptors (EFD) and time based spline approximation (TBSA) is used to generate position, velocity and acceleration references.Contour error is constructed using transformation of trajectory tracking errors. Transformation is computationally efficient and requires only reference velocity...

  15. Controlling inertial focussing using rotational motion.

    Science.gov (United States)

    Prohm, Christopher; Zöller, Nikolas; Stark, Holger

    2014-05-01

    In inertial microfluidics lift forces cause a particle to migrate across streamlines to specific positions in the cross section of a microchannel. We control the rotational motion of a particle and demonstrate that this allows to manipulate the lift-force profile and thereby the particle's equilibrium positions. We perform two-dimensional simulation studies using the method of multi-particle collision dynamics. Particles with unconstrained rotational motion occupy stable equilibrium positions in both halfs of the channel while the center is unstable. When an external torque is applied to the particle, two equilibrium positions annihilate by passing a saddle-node bifurcation and only one stable fixpoint remains so that all particles move to one side of the channel. In contrast, non-rotating particles accumulate in the center and are pushed into one half of the channel when the angular velocity is fixed to a non-zero value.

  16. Ship motion control system; Sentai shisei seigyo

    Energy Technology Data Exchange (ETDEWEB)

    Yamaga, H. [Mitsui Shipbuilding and Engineering Co. Ltd., Tokyo (Japan)

    1998-09-15

    Techno-super-liner is a large object combining with catamaran in application of an amphibious principle of a hover craft, called as the air pressure type complex support from (TSL-A form). In this paper, the driving device in the ship motion control system (RCS), equipped with `HISYO` developed as an experimental ship of TSL-A 70m type in the marine area, was mainly introduced. This RCS was a motion control system for a propose to reduce swing of a ship body when high speed navigation in the opening sea, this structural device consisted of the control calculation device, the swing detection device, the operation monitoring device, the underwater fin flip driving device, the lopper driving device, and the hydraulic power unit. As investigation results on the effectiveness of RCS in the HISYO through the marine experiments and general experiments, it was proved that the expected effect was obtained, high speed navigation was possible in a worse weather. 1 figs., 4 tabs.

  17. Wildfire particulate matter in Europe during summer 2003: meso-scale modeling of smoke emissions, transport and radiative effects

    Directory of Open Access Journals (Sweden)

    A. Hodzic

    2007-08-01

    Full Text Available The present study investigates effects of wildfire emissions on air quality in Europe during an intense fire season that occurred in summer 2003. A meso-scale chemistry transport model CHIMERE is used, together with ground based and satellite aerosol optical measurements, to assess the dispersion of fire emissions and to quantify the associated radiative effects. The model has been improved to take into account a MODIS-derived daily smoke emission inventory as well as the injection altitude of smoke particles. The simulated aerosol optical properties are put into a radiative transfer model to estimate (off-line the effects of smoke particles on photolysis rates and atmospheric radiative forcing. We have found that the simulated wildfires generated comparable amounts of primary aerosol pollutants (130 kTons of PM2.5, fine particles to anthropogenic sources during August 2003, and caused significant changes in aerosol optical properties not only close to the fire source regions, but also over a large part of Europe as a result of the long-range transport of the smoke. Including these emissions into the model significantly improved its performance in simulating observed aerosol concentrations and optical properties. Quantitative comparison with MODIS and POLDER data during the major fire event (3–8 August 2003 showed the ability of the model to reproduce high aerosol optical thickness (AOT over Northern Europe caused by the advection of the smoke plume from the Portugal source region. Although there was a fairly good spatial agreement with satellite data (correlation coefficients ranging from 0.4 to 0.9, the temporal variability of AOT data at specific AERONET locations was not well captured by the model. Statistical analyses of model-simulated AOT data at AERONET ground stations showed a significant decrease in the model biases suggesting that wildfire emissions are responsible for a 30% enhancement in mean AOT values during the heat

  18. Wildfire particulate matter in Europe during summer 2003: meso-scale modeling of smoke emissions, transport and radiative effects

    Science.gov (United States)

    Hodzic, A.; Madronich, S.; Bohn, B.; Massie, S.; Menut, L.; Wiedinmyer, C.

    2007-08-01

    The present study investigates effects of wildfire emissions on air quality in Europe during an intense fire season that occurred in summer 2003. A meso-scale chemistry transport model CHIMERE is used, together with ground based and satellite aerosol optical measurements, to assess the dispersion of fire emissions and to quantify the associated radiative effects. The model has been improved to take into account a MODIS-derived daily smoke emission inventory as well as the injection altitude of smoke particles. The simulated aerosol optical properties are put into a radiative transfer model to estimate (off-line) the effects of smoke particles on photolysis rates and atmospheric radiative forcing. We have found that the simulated wildfires generated comparable amounts of primary aerosol pollutants (130 kTons of PM2.5, fine particles) to anthropogenic sources during August 2003, and caused significant changes in aerosol optical properties not only close to the fire source regions, but also over a large part of Europe as a result of the long-range transport of the smoke. Including these emissions into the model significantly improved its performance in simulating observed aerosol concentrations and optical properties. Quantitative comparison with MODIS and POLDER data during the major fire event (3-8 August 2003) showed the ability of the model to reproduce high aerosol optical thickness (AOT) over Northern Europe caused by the advection of the smoke plume from the Portugal source region. Although there was a fairly good spatial agreement with satellite data (correlation coefficients ranging from 0.4 to 0.9), the temporal variability of AOT data at specific AERONET locations was not well captured by the model. Statistical analyses of model-simulated AOT data at AERONET ground stations showed a significant decrease in the model biases suggesting that wildfire emissions are responsible for a 30% enhancement in mean AOT values during the heat-wave episode. The

  19. Optical motion control of maglev graphite.

    Science.gov (United States)

    Kobayashi, Masayuki; Abe, Jiro

    2012-12-26

    Graphite has been known as a typical diamagnetic material and can be levitated in the strong magnetic field. Here we show that the magnetically levitating pyrolytic graphite can be moved in the arbitrary place by simple photoirradiation. It is notable that the optical motion control system described in this paper requires only NdFeB permanent magnets and light source. The optical movement is driven by photothermally induced changes in the magnetic susceptibility of the graphite. Moreover, we demonstrate that light energy can be converted into rotational kinetic energy by means of the photothermal property. We find that the levitating graphite disk rotates at over 200 rpm under the sunlight, making it possible to develop a new class of light energy conversion system.

  20. Robust motion control design for dual-axis motion platform using ...

    Indian Academy of Sciences (India)

    (2003) and Liu et al (2005) to deal with precise X − Y − θ motion control for a linear motor direct-drive X − Y table. ...... is practical and is capable of dealing with the complicated multiple-axis motion control problem. This research was sponsored in part by the Ministry of Education, Taiwan, R.O.C. under the. ATU plan.

  1. Electrical Characteristics, Electrode Sheath and Contamination Layer Behavior of a Meso-Scale Premixed Methane-Air Flame Under AC/DC Electric Fields

    Science.gov (United States)

    Chen, Qi; Yan, Limin; Zhang, Hao; Li, Guoxiu

    2016-05-01

    Electrical characteristics of a nozzle-attached meso-scale premixed methane-air flame under low-frequency AC (0-4300 V, 0-500 Hz) and DC (0-3300 V) electric fields were studied. I-V curves were measured under different experimental conditions to estimate the magnitude of the total current 100-102 μA, the electron density 1015-1016 m-3 and further the power dissipation ≤ 0.7 W in the reaction zone. At the same time, the meso-scale premixed flame conductivity 10-4-10-3 Ω-1·m-1 as a function of voltage and frequency was experimentally obtained and was believed to represent a useful order-of magnitude estimate. Moreover, the influence of the collision sheath relating to Debye length (31-98 μm) and the contamination layer of an active electrode on measurements was discussed, based on the combination of simulation and theoretical analysis. As a result, the electrode sheath dimension was evaluated to less than 0.5 mm, which indicated a complex effect of the collision sheath on the current measurements. The surface contamination effect of an active electrode was further analyzed using the SEM imaging method, which showed elements immigration during the contamination layer formation process. supported by National Natural Science Foundation of China (No. 51376021), and the Fundamental Research Fund for Major Universities (No. 2013JBM079)

  2. Designing Laser Pulses to Control Molecular Motion

    Science.gov (United States)

    Ren, Qinghua; Balint-Kurti, Gabriel; Manby, Frederick; Artamonov, Maxim; Ho, Tak-San; Rabitz, Herschel

    2006-03-01

    A new method for incorporating polarization effects of the strong electric field into optimal control calculations is presented. An Electric-Nuclear Born-Oppenheimer approximation is introduced in which both the nuclear motion and the fluctuations of the external electric field are assumed to be slow compared with the speed at which the electronic wavefunction responds to these changes, which permits the generation of a potential energy surface that depends not only on the geometry of the nuclei, but also on the electric field strength and on the orientation of the molecule with respect to the electric field. As an illustration, it is firstly applied to the optimal control of the vibrational excitation of a hydrogen molecule aligned along with the field direction.^ [1] And then it is extended to full three dimensions by allowing the H2 molecules to rotate as well as vibrate.^ [2] All calculation results show that it is possible to design shaped laser pulses that can excite H2 either vibrationally, rotationally or both with a probability higher than 90%. ^[1] G. G. Balint-kurti, F. R. Manby, Q. Ren, M. Artamonov, T. Ho, and H. Rabitz, J. Chem. Phys. 122, 084110 (2005). ^[2] Q. Ren, G. G. Balint-kurti, F. R. Manby, M. Artamonov, T. Ho, and H. Rabitz, J. Chem. Phys. (in press).

  3. Universal CNC platform motion control technology for industrial CT

    International Nuclear Information System (INIS)

    Cheng Senlin; Wang Yang

    2011-01-01

    According to the more scanning methods and the higher speed of industrial CT, the higher precision of the motion location and the data collection sync-control is required at present, a new motion control technology was proposed, which was established based on the universal CNC system with high precision of multi-axis control. Aiming at the second and the third generation of CT scanning motion, a control method was researched, and achieved the demands of the changeable parameters and network control, Through the simulation of the second and the third generation of CT scanning motion process, the control precision of the rotation axis reached 0.001° and the linear axis reached 0.002 mm, Practical tests showed this system can meet the requirements of the multi-axis motion integration and the sync signal control, it also have advantages in the control precision and the performance. (authors)

  4. Imaging and controlling proton motion in molecules

    Science.gov (United States)

    Ibrahim, H.; Beaulieu, S.; Wanie, V.; Endo, T.; Wales, B.; Tong, X.-M.; Schuurman, M. S.; Sanderson, J.; Légaré, F.

    2017-11-01

    How do atoms move within a molecule? What are the paths they take? Coulomb Explosion Imaging combined with a multi-color pump probe scheme allows us to address these questions with a table top setup. Since the momentum information of molecular fragments is preserved at the moment of explosion, we can deduce the fragment's momentary position, representing the structure of the molecule. We have studied isomerization and dissociation events through the movement of protons, deuterons and electrons, taking advantage of the rich statistics this technique provides. In the case of proton migration in the acetylene cation, we were able to identify an isotope dependent to- and fro isomerization behavior [1]. Presently, we are expanding our studies on more complex processes. Aside from passively studying dynamics, we have also actively controlled the electron localization in small molecules [2] using two-color mid-infrared asymmetric laser fields. The manipulation of protons, the lightest atomic fragments in molecules, is of great interest due to the tremendous diversity of molecules containing them, in combination with the generality of how protons behave within molecules. Their detection involves certain challenges since they move extremely fast compared to heavier atoms. Here, we focus on two different proton motions which are triggered by excitation with ultrashort laser pulses and imaged with the Coulomb explosion imaging (CEI) technique. First, we will discuss proton migration dynamics in the acetylene cation launched due to strong field multiphoton ionization with UV pulses in a rather simple table top approach. Second, we will concentrate on controlling electron localization - and thus proton localization - in the cation of the hydrogen molecule by using an asymmetric two color field in the mid-infrared (MIR).

  5. Motion control, motion sickness, and the postural dynamics of mobile devices.

    Science.gov (United States)

    Stoffregen, Thomas A; Chen, Yi-Chou; Koslucher, Frank C

    2014-04-01

    Drivers are less likely than passengers to experience motion sickness, an effect that is important for any theoretical account of motion sickness etiology. We asked whether different types of control would affect the incidence of motion sickness, and whether any such effects would be related to participants' control of their own bodies. Participants played a video game on a tablet computer. In the Touch condition, the device was stationary and participants controlled the game exclusively through fingertip inputs via the device's touch screen. In the Tilt condition, participants held the device in their hands and moved the device to control some game functions. Results revealed that the incidence of motion sickness was greater in the Touch condition than in the Tilt condition. During game play, movement of the head and torso differed as a function of the type of game control. Before the onset of subjective symptoms of motion sickness, movement of the head and torso differed between participants who later reported motion sickness and those that did not. We discuss implications of these results for theories of motion sickness etiology.

  6. Atmospheric conditions of meso-scale convective systems over Colombia, during 1998 according to the mission TRMM and the re-analysis NCEP/NCAR

    International Nuclear Information System (INIS)

    Mejia, John Freddy; Poveda, German

    2005-01-01

    Diagnostics of prevalent atmospheric conditions during the life cycle of meso-scale convective systems (MCSs) over Colombia and the eastern tropical pacific are developed using satellite data from the tropical rainfall measuring mission (TRMM), and from the NCEP/NCAR reanalysis project. Atmospheric stability indices such as CAPE, CINE, LI, and equivalent potential temperature are quantified, as well as kinematical indices such as relative vertical vorticity and vertical wind shear. Atmospheric environments associated with MCS are studied for 1998; both as long-term means but also in terms of the seasonal cycle large-scale atmospheric indices are quantified for the most intense precipitation events within MCSs. Relationships between those indices are estimated, and atmospheric conditions are studied for the life cycle of MCSs, including antecedent and subsequent conditions surrounding MCSs activity

  7. Design and analysis of a rotary motion controller

    Directory of Open Access Journals (Sweden)

    Julio Cesar Caye

    2015-12-01

    Full Text Available This paper presents the design of a rotary motion controller based on the peritrochoid geometry of the rotary (Wankle engine. It uses an orifice limited flow of incompressible fluid between the chambers of the Wankle-type geometry to control the rotation of the rotor. The paper develops the theory of operation and then implements the design as a Matlab model to simulate the motion control under various conditions. It is found that the time to reach stabilised motion is determined by the orifice size and fluid density. When stabilised motion is achieved, the motion dependence on material and geometry factors is determined by the orifice flow equation. The angular velocity is also found to have a square root dependence on the applied torque when in the stabilised regime.

  8. Leap Motion controller application in augmented reality technology

    OpenAIRE

    Artemčiukas, Edgaras; Sakalauskas, Leonidas

    2014-01-01

    In this work the analysis of interaction techniques, devices and its’ possibilities were accomplished. It was determined that the problem, which many researchers tries to solve – more natural interaction between users and computers. Interaction system in augmented reality environment using Leap Motion controller was developed. To achieve this goal augmented reality NyARToolkit and Leap Motion controller libraries were used. Solution ensures extensive information about hand, finger...

  9. Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs

    Directory of Open Access Journals (Sweden)

    Francesco M. Raimondi

    2010-06-01

    Full Text Available A new closed loop fuzzy motion control system including on-line Kalman's filter (KF for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw torque control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine environment, forward surge speed and saturation of the control signals. Also Lyapunov's stability of the motion errors is proved based on the properties of the fuzzy maps. If Inertial Measurement Unit data (IMU is employed for the feedback directly, aleatory noises due to accelerometers and gyros damage the performances of the motion control. These noises denote a kind of non parametric uncertainty which perturbs the model of the ROV. Therefore a KF is inserted in the feedback of the control system to compensate for the above uncertainties and estimate the feedback signals with more precision.

  10. Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs

    Directory of Open Access Journals (Sweden)

    Francesco M. Raimondi

    2010-09-01

    Full Text Available A new closed loop fuzzy motion control system including on-line Kalman's filter (KF for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine environment, forward surge speed and saturation of the control signals. Also Lyapunov's stability of the motion errors is proved based on the properties of the fuzzy maps. If Inertial Measurement Unit data (IMU is employed for the feedback directly, aleatory noises due to accelerometers and gyros damage the performances of the motion control. These noises denote a king of non parametric uncertainty which perturbs the model of the ROV. Therefore a KF is inserted in the feedback of the control system to compensate for the above uncertainties and estimate the feedback signals with more precision.

  11. The influence of ship motion of manual control skills

    Science.gov (United States)

    Mcleod, P.; Poulton, C.; Duross, H.; Lewis, W.

    1981-01-01

    The effects of ship motion on a range of typical manual control skills were examined on the Warren Spring ship motion simulator driven in heave, pitch, and roll by signals taken from the frigate HMS Avenger at 13 m/s (25 knots) into a force 4 wind. The motion produced a vertical r.m.s. acceleration of 0.024g, mostly between 0.1 and 0.3 Hz, with comparatively little pitch or roll. A task involving unsupported arm movements was seriously affected by the motion; a pursuit tracking task showed a reliable decrement although it was still performed reasonably well (pressure and free moving tracking controls were affected equally by the motion); a digit keying task requiring ballistic hand movements was unaffected. There was no evidence that these effects were caused by sea sickness. The differing response to motion of the different tasks, from virtual destruction to no effect, suggests that a major benefit could come from an attempt to design the man/control interface onboard ship around motion resistant tasks.

  12. Hybrid control and motion planning of dynamical legged locomotion

    CERN Document Server

    2012-01-01

    "This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion. The major features range from offline and online motion planning algorithms to generate desired feasible periodic walking and running motions and tow-level control schemes, including within-stride feedback laws, continuous time update laws and event-based update laws, to asymptotically stabilize the generated desired periodic orbits. This book describes the current state of the art and future directions across all domains of dynamical legged locomotion so that readers can extend proposed motion planning algorithms and control methodologies to other types of planar and 3D legged robots".

  13. Stable carbon and nitrogen isotope variation in the northern lampfish and Neocalanus, marine survival rates of pink salmon, and meso-scale eddies in the Gulf of Alaska

    Science.gov (United States)

    Kline, Thomas C., Jr.

    2010-10-01

    Northern lampfish (NLF), Stenobrachius leucopsarus (Myctophidae), the dominant pelagic fish taxon of the subarctic North Pacific Ocean, were sampled opportunistically in MOCNESS tows made on continental slope waters of the Gulf of Alaska (GOA) as well as in deep areas of Prince William Sound (PWS) during 1997-2006. The overall mean whole-body lipid-corrected stable carbon isotope value of NLF from the GOA was -21.4 (SD = 0.7) whereas that from PWS was -19.5 (SD = 0.9). This pattern is similar to that observed for late feeding stage Neocalanus cristatus copepods thus confirming a mean cross-shelf carbon stable isotope gradient. As well, there was a statistically significant positive correlation between the considerable temporal variation in the monthly mean carbon stable isotope composition of GOA Neocalanus and GOA NLF ( r = 0.69, P food chain length whereas carbon stable isotopes reflect organic carbon production. The carbon stable isotope values of NLF, measured in May, were positively correlated to marine survival rate of PWS hatchery salmon cohorts entering the marine environment the same year ( r = 0.84, P < 0.001). The carbon stable isotope values for Neocalanus in May were also positively correlated to salmon marine survival ( r = 0.82, P < 0.001). Processes thus manifested through the carbon stable isotope value of biota from the continental slope more closely predicted marine survival rate than that of the salmon themselves. The incipient relationships suggested by the correlations are consistent with the hypothesis that exchange between coastal and oceanic waters in the study area is driven by meso-scale eddies. These eddies facilitate the occurrence of slope phytoplankton blooms as well as drive oceanic zooplankton subsidies into coastal waters. The strong as well as more significant correlations of salmon marine survival rate to NLF as well as slope Neocalanus carbon stable isotope values point to processes taking place at the slope (i.e., interactions

  14. PID motion control tuning rules in a damping injection framework

    NARCIS (Netherlands)

    Tadele, T.S.; de Vries, Theodorus J.A.; Stramigioli, Stefano

    2013-01-01

    This paper presents a general design approach for a performance based tuning of a damping injection framework impedance controller by using insights from PID motion control tuning rules. The damping injection framework impedance controller is suitable for human friendly robots as it enhances safety

  15. Geometrically controlled ratchet effect with collective vortex motion

    International Nuclear Information System (INIS)

    Rouco, V; Palau, A; Obradors, X; Puig, T; Monton, C; Del-Valle, N; Navau, C; Sanchez, A

    2015-01-01

    Rectified flux motion arising from the collective effect of many interacting vortices is obtained in a specially designed superconducting device. Ratchet structures with different asymmetric pinning potentials are generated by tuning the size, depth, and distribution of triangular blind-antidots in a high-temperature superconducting film. We experimentally and theoretically demonstrate that the amplitude and sign of the rectified vortex motion can be finely tuned with the pattern geometry. Two different dynamical regimes depending on the nature of vortices initiating the dissipation are identified, which can control the rectified vortex motion. (paper)

  16. Visual Flight Control of a Quadrotor Using Bioinspired Motion Detector

    Directory of Open Access Journals (Sweden)

    Lei Zhang

    2012-01-01

    Full Text Available Motion detection in the fly is extremely fast with low computational requirements. Inspired from the fly's vision system, we focus on a real-time flight control on a miniquadrotor with fast visual feedback. In this work, an elaborated elementary motion detector (EMD is utilized to detect local optical flow. Combined with novel receptive field templates, the yaw rate of the quadrotor is estimated through a lookup table established with this bioinspired visual sensor. A closed-loop control system with the feedback of yaw rate estimated by EMD is designed. With the motion of the other degrees of freedom stabilized by a camera tracking system, the yaw-rate of the quadrotor during hovering is controlled based on EMD feedback under real-world scenario. The control performance of the proposed approach is compared with that of conventional approach. The experimental results demonstrate the effectiveness of utilizing EMD for quadrotor control.

  17. Simulation of Wind-Driven Snow Redistribution at a High-Elevation Alpine Site Using a Meso-Scale Atmospheric Model

    Science.gov (United States)

    Vionnet, V.; Martin, E.; Masson, V.; Guyomarc'h, G.; Naaim-Bouvet, F.; Prokop, A.; Durand, Y.; Lac, C.

    2012-12-01

    In alpine regions, blowing snow events strongly influence the temporal and spatial evolution of the snow depth distribution throughout the winter season. We recently developed a new simulation system to gain understanding on the complex processes that drive the redistribution of snow by the wind in complex terrain. This new system couples directly the detailed snow-pack model Crocus with the meso-scale atmospheric model Meso-NH. A blowing snow scheme allows Meso-NH to simulate the transport of snow particles in the atmosphere. We used the coupled system to study a blowing snow event with snowfall that occurred in February 2011 in the Grandes Rousses range (French Alps). Three nested domains at an horizontal resolution of 450, 150 and 50 m allow the model to simulate the complex 3D precipitation and wind fields around our experimental site (2720 m a.s.l.) during this 22-hour event. Wind-induced snow transport is activated over the domains of higher resolution (150 and 50 m). We firstly assessed the ability of the model to reproduce atmospheric flows at high resolution in alpine terrain using a large dataset of observations (meteorological data, vertical profile of wind speed). Simulated blowing snow fluxes are then compared with measurements from SPC and mechanical snow traps. Finally a map of snow erosion and accumulation produced by Terrestrial Laser measurements allows to evaluate the quality of the simulated snow depth redistribution.

  18. Large-eddy simulation of turbulent winds during the Fukushima Daiichi Nuclear Power Plant accident by coupling with a meso-scale meteorological simulation model

    Science.gov (United States)

    Nakayama, H.; Takemi, T.; Nagai, H.

    2015-06-01

    A significant amount of radioactive material was accidentally discharged into the atmosphere from the Fukushima Dai-ichi Nuclear Power Plant from 12 March 2011, which produced high contaminated areas over a wide region in Japan. In conducting regional-scale atmospheric dispersion simulations, the computer-based nuclear emergency response system WSPEEDI-II developed by Japan Atomic Energy Agency was used. Because this system is driven by a meso-scale meteorological (MM) model, it is difficult to reproduce small-scale wind fluctuations due to the effects of local terrain variability and buildings within a nuclear facility that are not explicitly represented in MM models. In this study, we propose a computational approach to couple an LES-based CFD model with a MM model for detailed simulations of turbulent winds with buoyancy effects under real meteorological conditions using turbulent inflow technique. Compared to the simple measurement data, especially, the 10 min averaged wind directions of the LES differ by more than 30 degrees during some period of time. However, distribution patterns of wind speeds, directions, and potential temperature are similar to the MM data. This implies that our coupling technique has potential performance to provide detailed data on contaminated area in the nuclear accidents.

  19. Spatial design and control of graphene flake motion

    Science.gov (United States)

    Ghorbanfekr-Kalashami, H.; Peeters, F. M.; Novoselov, K. S.; Neek-Amal, M.

    2017-08-01

    The force between a sharp scanning probe tip and a surface can drive a graphene flake over crystalline substrates. The recent design of particular patterns of structural defects on a graphene surface allows us to propose an alternative approach for controlling the motion of a graphene flake over a graphene substrate. The thermally induced motion of a graphene flake is controlled by engineering topological defects in the substrate. Such defect regions lead to an inhomogeneous energy landscape and are energetically unfavorable for the motion of the flake, and will invert and scatter graphene flakes when they are moving toward the defect line. Engineering the distribution of these energy barriers results in a controllable trajectory for the thermal motion of the flake without using any external force. We predict superlubricity of the graphene flake for motion along and between particular defect lines. This Rapid Communication provides insights into the frictional forces of interfaces and opens a route to the engineering of the stochastic motion of a graphene flake over any crystalline substrate.

  20. Analytical one parameter method for PID motion controller settings

    NARCIS (Netherlands)

    van Dijk, Johannes; Aarts, Ronald G.K.M.

    2012-01-01

    In this paper analytical expressions for PID-controllers settings for electromechanical motion systems are presented. It will be shown that by an adequate frequency domain oriented parametrization, the parameters of a PID-controller are analytically dependent on one variable only, the cross-over

  1. IPMSM Motion-Sensorless Direct Torque and Flux Control

    DEFF Research Database (Denmark)

    Pitict, Christian Ilie; Andreescu, Gheorghe-Daniel; Blaabjerg, Frede

    2005-01-01

    The paper presents a rather comprehensive implementation of a wide speed motion-sensorless control of IPMSM drives via direct torque and flux control (DTFC) with space vector modulation (SVM). Signal injection with only one D-module vector filter and phase-locked loop (PLL) observer is used at low...

  2. Damper-controlled switch for SMA motion smoothing

    Science.gov (United States)

    Aguayo, Clover; Utter, Brent; Luntz, Jonathan; Gonzalez, Richard; Brei, Diann; Johnson, Nancy L.; Alexander, Paul W.

    2014-04-01

    While the use of SMA-actuated devices continues to grow in many industries, current device limitations pose a challenge to successful adoption for certain classes of applications. SMA-actuated devices typically demonstrate motion with non-constant velocity due to the non-linear thermo-mechanically coupled behavior of SMA material transformation, and motion sensitivity to external factors such as voltage and load. This variation in motion can lead to the perception of poor device quality, limiting SMA-actuated devices to applications hidden from the sight of the product user, or requiring them to be augmented with higher cost controls to improve the motion quality. Therefore, a need exists for simple, passive, low-cost device technologies that enable the designer to prescribe desired motion characteristics with relative insensitivity to fluctuation in operating conditions. This paper presents a Damper Controlled Switch (DCS) mechanism that delivers constant velocity and relative insensitivity to operating conditions when combined with a standard SMA wire actuator. The DCS includes a damper that acts against a spring to open a switch when the velocity exceeds a tunable threshold. To validate the ability of the DCS to provide the desired motion quality, experiments were conducted comparing the normal motion of the SMA actuator to the motion produced when the same actuator was fitted with a DCS prototype. The addition of the DCS produced nearly constant actuator velocity, performing significantly better than the SMA actuator alone. The tunability of the DCS was demonstrated producing a wide range of attainable constant velocities. Finally, a set of experiments explored the DCS's sensitivity to voltage and load, indicating a low sensitivity to a wide range of operating parameters for which the operating limits were identified. The DCS represents a simple, compact technology based on passive, low-cost components, providing a very practical solution that will enable

  3. Microwave control of atomic motion in optical lattices.

    Science.gov (United States)

    Förster, Leonid; Karski, Michał; Choi, Jai-Min; Steffen, Andreas; Alt, Wolfgang; Meschede, Dieter; Widera, Artur; Montano, Enrique; Lee, Jae Hoon; Rakreungdet, Worawarong; Jessen, Poul S

    2009-12-04

    We control the quantum mechanical motion of neutral atoms in an optical lattice by driving microwave transitions between spin states whose trapping potentials are spatially offset. Control of this offset with nanometer precision allows for adjustment of the coupling strength between different motional states, analogous to an adjustable effective Lamb-Dicke factor. This is used both for efficient one-dimensional sideband cooling of individual atoms to a vibrational ground state population of 97% and to drive coherent Rabi oscillation between arbitrary pairs of vibrational states. We further show that microwaves can drive well resolved transitions between motional states in maximally offset, shallow lattices, and thus in principle allow for coherent control of long-range quantum transport.

  4. Motion and Walking Stabilization of Humanoids Using Sensory Reflex Control

    Directory of Open Access Journals (Sweden)

    Jong-Wook Kim

    2016-04-01

    Full Text Available Humanoid robots are versatile robot platforms that can carry out intelligent tasks and services for humans, including intimate interactions. For high mobility, a robust stabilization of motion including biped walking is crucial. This paper employs and elaborates on sensory reflex control to stabilize standing motion and biped walking using basic sensors such as an inertial measurement unit (IMU and a force-sensing resistor (FSR. Specifically, normalized zero-moment points processed from FSR data are used in the reflexive control of a simple motion of swinging the whole body while standing, and the measured inclination angle of the trunk, filtered from IMU data, is used for biped walking on a sloped floor. The proposed control scheme is validated through experiments with the commercial humanoid robot, ROBOTIS-OP.

  5. Motion

    CERN Document Server

    Graybill, George

    2007-01-01

    Take the mystery out of motion. Our resource gives you everything you need to teach young scientists about motion. Students will learn about linear, accelerating, rotating and oscillating motion, and how these relate to everyday life - and even the solar system. Measuring and graphing motion is easy, and the concepts of speed, velocity and acceleration are clearly explained. Reading passages, comprehension questions, color mini posters and lots of hands-on activities all help teach and reinforce key concepts. Vocabulary and language are simplified in our resource to make them accessible to str

  6. Development of excavator training simulator using leap motion controller

    Science.gov (United States)

    Fahmi, F.; Nainggolan, F.; Andayani, U.; Siregar, B.

    2018-03-01

    Excavator is a heavy machinery that is used for many industries purposes. Controlling the excavator is not easy. Its operator has to be trained well in many skills to make sure it is safe, effective, and efficient while using the excavator. In this research, we proposed a virtual reality excavator simulator supported by a device called Leap Motion Controller that supports finger and hand motions as an input. This prototype will be developed than in the virtual reality environment to give a more real sensing to the user.

  7. Dynamics and control of Lorentz-augmented spacecraft relative motion

    CERN Document Server

    Yan, Ye; Yang, Yueneng

    2017-01-01

    This book develops a dynamical model of the orbital motion of Lorentz spacecraft in both unperturbed and J2-perturbed environments. It explicitly discusses three kinds of typical space missions involving relative orbital control: spacecraft hovering, rendezvous, and formation flying. Subsequently, it puts forward designs for both open-loop and closed-loop control schemes propelled or augmented by the geomagnetic Lorentz force. These control schemes are entirely novel and represent a significantly departure from previous approaches.

  8. Leap Motion Device Used to Control a Real Anthropomorphic Gripper

    Directory of Open Access Journals (Sweden)

    Ionel Staretu

    2016-06-01

    Full Text Available This paper presents for the first time the use of the Leap Motion device to control an anthropomorphic gripper with five fingers. First, a description of the Leap Motion device is presented, highlighting its main functional characteristics, followed by testing of its use for capturing the movements of a human hand's fingers in different configurations. Next, the HandCommander soft module and the Interface Controller application are described. The HandCommander is a software module created to facilitate interaction between a human hand and the GraspIT virtual environment, and the Interface Controller application is required to send motion data to the virtual environment and to test the communication protocol. For the test, a prototype of an anthropomorphic gripper with five fingers was made, including a proper hardware system of command and control, which is briefly presented in this paper. Following the creation of the prototype, the command system performance test was conducted under real conditions, evaluating the recognition efficiency of the objects to be gripped and the efficiency of the command and control strategies for the gripping process. The gripping test is exemplified by the gripping of an object, such as a screw spanner. It was found that the command system, both in terms of capturing human hand gestures with the Leap Motion device and effective object gripping, is operational. Suggestive figures are presented as examples.

  9. Toolkits Control Motion of Complex Robotics

    Science.gov (United States)

    2010-01-01

    That space is a hazardous environment for humans is common knowledge. Even beyond the obvious lack of air and gravity, the extreme temperatures and exposure to radiation make the human exploration of space a complicated and risky endeavor. The conditions of space and the space suits required to conduct extravehicular activities add layers of difficulty and danger even to tasks that would be simple on Earth (tightening a bolt, for example). For these reasons, the ability to scout distant celestial bodies and perform maintenance and construction in space without direct human involvement offers significant appeal. NASA has repeatedly turned to complex robotics for solutions to extend human presence deep into space at reduced risk and cost and to enhance space operations in low Earth orbit. At Johnson Space Center, engineers explore the potential applications of dexterous robots capable of performing tasks like those of an astronaut during extravehicular activities and even additional ones too delicate or dangerous for human participation. Johnson's Dexterous Robotics Laboratory experiments with a wide spectrum of robot manipulators, such as the Mitsubishi PA-10 and the Robotics Research K-1207i robotic arms. To simplify and enhance the use of these robotic systems, Johnson researchers sought generic control methods that could work effectively across every system.

  10. Combined influence of meso-scale circulation and bathymetry on the foraging behaviour of a diving predator, the king penguin (Aptenodytes patagonicus)

    Science.gov (United States)

    Scheffer, Annette; Trathan, Philip N.; Edmonston, Johnnie G.; Bost, Charles-André

    2016-02-01

    Investigating the responses of marine predators to environmental features is of key importance for understanding their foraging behaviour and reproductive success. In this study we examined the foraging behaviour of king penguins breeding at Kerguelen (southern Indian Ocean) in relation to oceanographic and bathymetric features within their foraging ambit. We used ARGOS and Global Positioning System tracking together with Time-Depth-Temperature-Recorders (TDR) to follow the at-sea movements of incubating and brooding king penguins. Combining the penguin behaviour with oceanographic data at the surface through satellite data and at depth through in-situ recordings by the TDRs enabled us to explore how these predators adjusted their horizontal and vertical foraging movements in response to their physical environment. Relating the observed behaviour and oceanographic patterns to local bathymetry lead to a comprehensive picture of the combined influence of bathymetry and meso-scale circulation on the foraging behaviour of king penguins. During both breeding stages king penguins foraged in the area to the south-east of Kerguelen, where they explored an influx of cold waters of southern origin interacting with the Kerguelen Plateau bathymetry. Foraging in the Polar Front and at the thermocline was associated with high prey capture rates. However, foraging trip orientation and water mass utilization suggested that bathymetrically entrained cold-water features provided the most favourable foraging locations. Our study explicitly reports the exploration of bathymetry-related oceanographic features by foraging king penguins. It confirms the presence of Areas of Ecological Significance for marine predators on the Kerguelen Plateau, and suggests the importance of further areas related to the cold-water flow along the shelf break of the Kerguelen Plateau.

  11. A novel thermodynamic framework for multi-scale data assimilation: First applications from micro CT-scans to meso-scale microstructure (Invited)

    Science.gov (United States)

    Regenauer-Lieb, K.; Karrech, A.; Schrank, C.; Fusseis, F.; Rosenbaum, G.; Weinberg, R. F.

    2009-12-01

    Predicting the way the Earth works at multiple spatial and temporal scales is a current challenge in computational physics. So far there has been no development of a clear roadmap for the practical implementation of a framework linking the range of scales in the Earth. We propose a thermodynamic approach that allows us to come up with a multi-scale prediction of basic (thermodynamic) length and time scales for dissipative processes. In this presentation we focus on the practical aspects and not the theory. We show how the approach may be coupled to data assimilation at multiple scales. The theoretical approach builds on an application of limit theorems in continuum mechanics to finite-time thermodynamics. Finite-time thermodynamics formalizes the concept of finite time availability for a particular resource (e.g. temperature, chemical species). This leads to concepts such as thermodynamic length (e.g. thermal, chemical diffusion length) for dissipative processes. Using this metric we can classify and nest processes on vastly different time scales. We do this by solving at a given time scale upper and lower bounds of entropy production. These two bounds give thermodynamic equilibrium properties (e.g. elastic properties), or upper bounds for dissipative properties (e.g. viscosity), respectively. These properties are benchmarked through assimilation of observational data and used to inform the large-scale explicit far-from-equilibrium calculations. We constrain the large scale Earth model through assimilation of data at smaller scales. We present significant progress in supplying tensor-valued transport properties from X-Ray synchrotron analyses. Using these observations we propose a way forward that allows a basic assessment of meso-scale modes of micro-structural deformation on the explicit formulation of the entropy production of the grain-scale microstructure. A first draft basic workflow from the grain-scale to the geodynamic scale will be presented. This

  12. High-frequency and meso-scale winter sea-ice variability in the Southern Ocean in a high-resolution global ocean model

    Science.gov (United States)

    Stössel, Achim; von Storch, Jin-Song; Notz, Dirk; Haak, Helmuth; Gerdes, Rüdiger

    2018-03-01

    This study is on high-frequency temporal variability (HFV) and meso-scale spatial variability (MSV) of winter sea-ice drift in the Southern Ocean simulated with a global high-resolution (0.1°) sea ice-ocean model. Hourly model output is used to distinguish MSV characteristics via patterns of mean kinetic energy (MKE) and turbulent kinetic energy (TKE) of ice drift, surface currents, and wind stress, and HFV characteristics via time series of raw variables and correlations. We find that (1) along the ice edge, the MSV of ice drift coincides with that of surface currents, in particular such due to ocean eddies; (2) along the coast, the MKE of ice drift is substantially larger than its TKE and coincides with the MKE of wind stress; (3) in the interior of the ice pack, the TKE of ice drift is larger than its MKE, mostly following the TKE pattern of wind stress; (4) the HFV of ice drift is dominated by weather events, and, in the absence of tidal currents, locally and to a much smaller degree by inertial oscillations; (5) along the ice edge, the curl of the ice drift is highly correlated with that of surface currents, mostly reflecting the impact of ocean eddies. Where ocean eddies occur and the ice is relatively thin, ice velocity is characterized by enhanced relative vorticity, largely matching that of surface currents. Along the ice edge, ocean eddies produce distinct ice filaments, the realism of which is largely confirmed by high-resolution satellite passive-microwave data.

  13. Meso-scale on-road vehicle emission inventory approach: a study on Dhaka City of Bangladesh supporting the 'cause-effect' analysis of the transport system.

    Science.gov (United States)

    Iqbal, Asif; Allan, Andrew; Zito, Rocco

    2016-03-01

    The study aims to develop an emission inventory (EI) approach and conduct an inventory for vehicular sources in Dhaka City, Bangladesh. A meso-scale modelling approach was adopted for the inventory; the factors that influence the emissions and the magnitude of emission variation were identified and reported on, which was an innovative approach to account emissions unlike the conventional inventory approaches. Two techniques for the emission inventory were applied, viz. (i) a combined top-down and bottom-up approach that considered the total vehicle population and the average diurnal on-road vehicle speed profile in the city and (ii) a bottom-up approach that accounted for road link-specific emissions of the city considering diurnal traffic volume and speed profiles of the respective roads. For the bottom-up approach, road link-specific detailed data were obtained through field survey in 2012, where mid-block traffic count of the day, vehicle speed profile, road network and congestion data were collected principally. The emission variances for the change in transport system characteristics (like change in fuel type, AC usage pattern, increased speed and reduced congestion/stopping) were predicted and analysed in this study; congestion influenced average speed of the vehicles, and fuel types in the vehicles were identified as the major stressors. The study performance was considered reasonable when comparing with the limited number of similar studies conducted earlier. Given the increasing trend of private vehicles each year coupled with increasing traffic congestion, the city is under threat of increased vehicular emissions unless a good management strategy is implemented. Although the inventory is conducted for Dhaka and the result may be important locally, the approach adopted in this research is innovative in nature to be followed for conducting research on other urban transport systems.

  14. Impact of selected agricultural management options on the reduction of nitrogen loads in three representative meso scale catchments in Central Germany.

    Science.gov (United States)

    Rode, Michael; Thiel, Enrico; Franko, Uwe; Wenk, Gerald; Hesser, Fred

    2009-05-15

    Nitrogen inputs into surface waters from diffuse sources are still unduly high and the assessment of mitigation measures is associated with large uncertainties. The objective of this paper is to investigate selected agricultural management scenarios on nitrogen loads and to assess the impact of differing catchment characteristics in central Germany. A new modelling approach, which simulates spatially distributed N-transport and transformation processes in soil and groundwater, was applied to three meso scale catchments with strongly deviating climate, soil and topography conditions. The approach uses the integrated modelling framework JAMS to link an agro-ecosystem, a rainfall-runoff and a groundwater nitrogen transport model. Different agricultural management measures with deviating levels of acceptance were analysed in the three study catchments. N-leaching rates in all three catchments varied with soil type, the lowest leaching rates being obtained for loess soil catchment (18.5 kg nitrate N ha(-1) yr(-1)) and the highest for the sandy soils catchment (41.2 kg nitrate N ha(-1) yr(-1)). The simulated baseflow nitrogen concentrations varied between the catchments from 1 to 6 mg N l(-1), reflecting the nitrogen reduction capacity of the subsurfaces. The management scenarios showed that the highest N leaching reduction could be achieved by good site-adapted agricultural management options. Nitrogen retention in the subsurface did not alter the ranking of the management scenarios calculated as losses from the soil zone. The reduction effect depended strongly on site specific conditions, especially climate, soil variety and the regional formation of the crop rotations.

  15. Meso-scale modelling of directional solidification and comparison with in situ X-ray radiographic observations made during the MASER-12 XRMON microgravity experiment

    Energy Technology Data Exchange (ETDEWEB)

    Murphy, A.G., E-mail: andrew.murphy.1@ucdconnect.ie [School of Mechanical and Materials Engineering, University College Dublin (Ireland); Reinhart, G.; Nguyen-Thi, H.; Salloum Abou Jaoude, G. [Aix-Marseille Univ., Campus Saint-Jérome Case 142, 13397 Marseille Cedex 20 (France); CNRS, IM2NP UMR 7334, Campus Saint-Jérome Case 142, 13397 Marseille Cedex 20 (France); Browne, D.J. [School of Mechanical and Materials Engineering, University College Dublin (Ireland)

    2013-10-05

    Highlights: •Mesoscopic simulation of in situ X-ray monitored solidification in microgravity. •Extent and magnitude of undercooled zone ahead of dendrite front predicted. •Dynamic thermal response of new XRMON-GF Bridgman furnace analysed. -- Abstract: Computational modelling of advanced solidification processes has made considerable advances over the last half century, with ever increasing levels of modelling complexity. There is, therefore, an increasing need for state of the art experimental investigation to provide suitable validation for these model predictions. In situ X-ray radiography has become a powerful tool for solidification experimentation. Using either synchrotron or microfocus X-ray sources, thin samples, encased in X-ray transparent crucibles, can be directionally or isothermally solidified, allowing for direct real time observation of dynamic solidification phenomena. This paper presents the results of a meso-scale Front Tracking simulation of a directional solidification experiment, performed using an Al–20 wt.% Cu alloy, carried out under microgravity conditions on board the MASER 12 sounding rocket. The sample was mounted in a Bridgman type gradient furnace and solidified using a prescribed cooling regime with a constant gradient, thus promoting directional solidification in the field of view. The actual thermal gradient in the sample was found to be lower than the nominal thermal gradient, as set/recorded by thermocouples embedded in the heater elements. The adjusted thermal data were supplied as inputs to the Front Tracking model and good agreement was then observed between the model predictions and the in situ observations. The extent and amplitude of the undercooled zone ahead of the columnar front was predicted based on analytical growth kinetics laws and the results were also compared to analytical models of columnar-to-equiaxed transition (CET) prediction.

  16. Stabilization of rotational motion with application to spacecraft attitude control

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    2000-01-01

    The objective of this paper is to develop a control scheme for stabilization of a hamiltonian system. The method generalizes the results available in the literature on motion control in the Euclidean space to an arbitrary differrential manifol equipped with a metric. This modification is essencial...... for global stabilization of a rotary motion. Along with a model of the system formulated in the Hamilton's canonical from the algorithm uses information about a required potential energy and a dissipation term. The control action is the sum of the gradient of the potential energy and the dissipation force....... It is shown that this control law makes the system uniformly asymptotically stable to the desired reference point. The concepet is very straightforward in the Euclidean space however a global rotation control cannot be tackled.An additional modification is made to address a system which flow lies...

  17. Stabilization of rotational motion with application to spacecraft attitude control

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    2001-01-01

    The objective of this paper is to develop a control scheme for stabilization of a hamiltonian system. The method generalizes the results available in the literature on motion control in the Euclidean space to an arbitrary differrential manifol equipped with a metric. This modification is essencial...... for global stabilization of a rotary motion. Along with a model of the system formulated in the Hamilton's canonical from the algorithm uses information about a required potential energy and a dissipation term. The control action is the sum of the gradient of the potential energy and the dissipation force....... It is shown that this control law makes the system uniformly asymptotically stable to the desired reference point. The concepet is very straightforward in the Euclidean space however a global rotation control cannot be tackled.An additional modification is made to address a system which flow lies...

  18. DSP applications in advanced, intelligent motion control: the future

    Energy Technology Data Exchange (ETDEWEB)

    Beierke, S. [Texas Instruments Deutschland GmBh, Freising (Germany); Vas, P. [Univ. of Aberdeen, Dept. of Engineering (United Kingdom)

    2000-08-01

    Recently there has been a rapid increase in the number of DSPs for various motion control applications. However, in the future, further significant increase is expected due to wider applications in existing and new areas (e.g. household appliances, automotive auxiliaries, micro-electromechanical systems, military applications, etc.). The present paper discusses the state-of-art Texas Instruments fixed point and floating point DSPs used in motion control applications and will also focus on future activities. Currently new chip technologies are being developed which involve copper interconnects, silicon-on-insulator wafers, insulators with- low dielectric constants, etc. It is expected that future single-chip DSPs for advanced intelligent motion control will have higher performance, reduced costs, simpler designs, will incorporate various sensors, different modules for optimised PWM generation, efficiency control, vector and direct torque control (sensorless and quasisensorless solutions as well), condition monitoring, selfcommissioning, artificial-intelligence-based control, etc. A manufacturer's task of implementing sensorless and/or quasisensorless torque control schemes for induction, synchronous and switched reluctance motor drives will be significantly reduced by the application of the newly developed DSPs. The paper will discuss these issues and will also show some implementation results in various sensorless (classical DTC; DTC with torque-ripple reduction schemes; vector) and quasisensorless ac drives (e.g. a vector controlled induction motor drive). (orig.)

  19. Validation of the Leap Motion Controller using markered motion capture technology.

    Science.gov (United States)

    Smeragliuolo, Anna H; Hill, N Jeremy; Disla, Luis; Putrino, David

    2016-06-14

    The Leap Motion Controller (LMC) is a low-cost, markerless motion capture device that tracks hand, wrist and forearm position. Integration of this technology into healthcare applications has begun to occur rapidly, making validation of the LMC׳s data output an important research goal. Here, we perform a detailed evaluation of the kinematic data output from the LMC, and validate this output against gold-standard, markered motion capture technology. We instructed subjects to perform three clinically-relevant wrist (flexion/extension, radial/ulnar deviation) and forearm (pronation/supination) movements. The movements were simultaneously tracked using both the LMC and a marker-based motion capture system from Motion Analysis Corporation (MAC). Adjusting for known inconsistencies in the LMC sampling frequency, we compared simultaneously acquired LMC and MAC data by performing Pearson׳s correlation (r) and root mean square error (RMSE). Wrist flexion/extension and radial/ulnar deviation showed good overall agreement (r=0.95; RMSE=11.6°, and r=0.92; RMSE=12.4°, respectively) with the MAC system. However, when tracking forearm pronation/supination, there were serious inconsistencies in reported joint angles (r=0.79; RMSE=38.4°). Hand posture significantly influenced the quality of wrist deviation (P<0.005) and forearm supination/pronation (P<0.001), but not wrist flexion/extension (P=0.29). We conclude that the LMC is capable of providing data that are clinically meaningful for wrist flexion/extension, and perhaps wrist deviation. It cannot yet return clinically meaningful data for measuring forearm pronation/supination. Future studies should continue to validate the LMC as updated versions of their software are developed. Copyright © 2016 Elsevier Ltd. All rights reserved.

  20. IT-tool Concept for Design and Intelligent Motion Control

    DEFF Research Database (Denmark)

    Conrad, Finn; Hansen, Poul Erik; Sørensen, Torben

    2000-01-01

    The paper presents results obtained from a Danish mechatronic research program focusing on intelligent motion control as well as results from the Esprit project SWING on IT-tools for rapid prototyping of fluid power components and systems. A mechatronic test facility with digital controllers...... for a hydraulic robot and a CNC XY-machine table was implemented. The controllers apply transputers and digital signal processors (DSPs), respectively. The DSP controller utilises the dSPACE System that is suitable for real-time experimentation, evaluation and validation of control laws and algorithms...

  1. FPGA Implementation of Real-Time Ethernet for Motion Control

    Directory of Open Access Journals (Sweden)

    Chen Youdong

    2013-01-01

    Full Text Available This paper provides an applicable implementation of real-time Ethernet named CASNET, which modifies the Ethernet medium access control (MAC to achieve the real-time requirement for motion control. CASNET is the communication protocol used for motion control system. Verilog hardware description language (VHDL has been used in the MAC logic design. The designed MAC serves as one of the intellectual properties (IPs and is applicable to various industrial controllers. The interface of the physical layer is RJ45. The other layers have been implemented by using C programs. The real-time Ethernet has been implemented by using field programmable gate array (FPGA technology and the proposed solution has been tested through the cycle time, synchronization accuracy, and Wireshark testing.

  2. Research on NC motion controller based on SOPC technology

    Science.gov (United States)

    Jiang, Tingbiao; Meng, Biao

    2006-11-01

    With the rapid development of the digitization and informationization, the application of numerical control technology in the manufacturing industry becomes more and more important. However, the conventional numerical control system usually has some shortcomings such as the poor in system openness, character of real-time, cutability and reconfiguration. In order to solve these problems, this paper investigates the development prospect and advantage of the application in numerical control area with system-on-a-Programmable-Chip (SOPC) technology, and puts forward to a research program approach to the NC controller based on SOPC technology. Utilizing the characteristic of SOPC technology, we integrate high density logic device FPGA, memory SRAM, and embedded processor ARM into a single programmable logic device. We also combine the 32-bit RISC processor with high computing capability of the complicated algorithm with the FPGA device with strong motivable reconfiguration logic control ability. With these steps, we can greatly resolve the defect described in above existing numerical control systems. For the concrete implementation method, we use FPGA chip embedded with ARM hard nuclear processor to construct the control core of the motion controller. We also design the peripheral circuit of the controller according to the requirements of actual control functions, transplant real-time operating system into ARM, design the driver of the peripheral assisted chip, develop the application program to control and configuration of FPGA, design IP core of logic algorithm for various NC motion control to configured it into FPGA. The whole control system uses the concept of modular and structured design to develop hardware and software system. Thus the NC motion controller with the advantage of easily tailoring, highly opening, reconfigurable, and expandable can be implemented.

  3. Guaranteeing Isochronous Control of Networked Motion Control Systems Using Phase Offset Adjustment

    Directory of Open Access Journals (Sweden)

    Ikhwan Kim

    2015-06-01

    Full Text Available Guaranteeing isochronous transfer of control commands is an essential function for networked motion control systems. The adoption of real-time Ethernet (RTE technologies may be profitable in guaranteeing deterministic transfer of control messages. However, unpredictable behavior of software in the motion controller often results in unexpectedly large deviation in control message transmission intervals, and thus leads to imprecise motion. This paper presents a simple and efficient heuristic to guarantee the end-to-end isochronous control with very small jitter. The key idea of our approach is to adjust the phase offset of control message transmission time in the motion controller by investigating the behavior of motion control task. In realizing the idea, we performed a pre-runtime analysis to determine a safe and reliable phase offset and applied the phase offset to the runtime code of motion controller by customizing an open-source based integrated development environment (IDE. We also constructed an EtherCAT-based motion control system testbed and performed extensive experiments on the testbed to verify the effectiveness of our approach. The experimental results show that our heuristic is highly effective even for low-end embedded controller implemented in open-source software components under various configurations of control period and the number of motor drives.

  4. Repetitive motion planning and control of redundant robot manipulators

    CERN Document Server

    Zhang, Yunong

    2013-01-01

    Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Informa...

  5. Active Control Does Not Eliminate Motion-Induced Illusory Displacement

    Directory of Open Access Journals (Sweden)

    Ian M. Thornton

    2011-05-01

    Full Text Available When the sine-wave grating of a Gabor patch drifts to the left or right, the perceived position of the entire object is shifted in the direction of local motion. In the current work we explored whether active control of the physical position of the patch overcomes such motion induced illusory displacement. In Experiment 1 we created a simple computer game and asked participants to continuously guide a Gabor patch along a randomly curving path using a joystick. When the grating inside the Gabor patch was stationary, participants could perform this task without error. When the grating drifted to either left or right, we observed systematic errors consistent with previous reports of motion-induced illusory displacement. In Experiment 2 we created an iPad application where the built-in accelerometer tilt control was used to steer the patch through as series of “gates”. Again, we observed systematic guidance errors that depended on the direction and speed of local motion. In conclusion, we found no evidence that participants could adapt or compensate for illusory displacement given active control of the target.

  6. Motion

    CERN Document Server

    Rivera, Andrea

    2017-01-01

    Motion is all around us. Learn how it is used in art, technology, and engineering. Five easy-to-read chapters explain the science behind motion, as well as its real-world applications. Vibrant, full-color photos, bolded glossary words, and a key stats section let readers zoom in even deeper. Aligned to Common Core Standards and correlated to state standards. Abdo Zoom is a division of ABDO.

  7. Adaptive neural network motion control for aircraft under uncertainty conditions

    Science.gov (United States)

    Efremov, A. V.; Tiaglik, M. S.; Tiumentsev, Yu V.

    2018-02-01

    We need to provide motion control of modern and advanced aircraft under diverse uncertainty conditions. This problem can be solved by using adaptive control laws. We carry out an analysis of the capabilities of these laws for such adaptive systems as MRAC (Model Reference Adaptive Control) and MPC (Model Predictive Control). In the case of a nonlinear control object, the most efficient solution to the adaptive control problem is the use of neural network technologies. These technologies are suitable for the development of both a control object model and a control law for the object. The approximate nature of the ANN model was taken into account by introducing additional compensating feedback into the control system. The capabilities of adaptive control laws under uncertainty in the source data are considered. We also conduct simulations to assess the contribution of adaptivity to the behavior of the system.

  8. Motion Control of a Quadrotor Aircraft via Singular Perturbations

    Directory of Open Access Journals (Sweden)

    Salvador González-Vázquez

    2013-10-01

    Full Text Available In this paper, a new motion controller for a quadrotor aircraft is introduced. A reformulation of the control inputs of the dynamic model is discussed and then the control algorithm is given in a constructive form. The stability proof of the state space origin of the overall closed-loop system relies on the theory of singularly perturbed systems. Numerical simulations corroborate the viability of the proposed control scheme and the conclusions concerning stability. A set of simulations under practical conditions is also presented, where the system is affected by different types of disturbances and nonlinearities such as noise and actuator saturation.

  9. Motion Control and Implementation for an AC Servomotor System

    Directory of Open Access Journals (Sweden)

    L. Canan Dülger

    2007-01-01

    Full Text Available This paper presents a study on trajectory tracking problem for an AC synchronous servomotor. A mathematical model for the system including AC synchronous servomotor, gearbox, and a load is developed to examine the systems dynamic behavior. The system is controlled by a traditional PID (proportional + integral + derivative controller. The required values for the controller settings are found experimentally. Different motion profiles are designed, and trapezoidal ones are implemented. Thus, the experimental validation of the model is achieved using the experimental setup. The simulation and experimental results are presented. The tracking performance of an AC servomotor system is illustrated with proposed PID controller.

  10. Delayless acceleration measurement method for motion control applications

    Energy Technology Data Exchange (ETDEWEB)

    Vaeliviita, S.; Ovaska, S.J. [Helsinki University of Technology, Otaniemi (Finland). Institute of Intelligent Power Electronics

    1997-12-31

    Delayless and accurate sensing of angular acceleration can improve the performance of motion control in motor drives. Acceleration control is, however, seldom implemented in practical drive systems due to prohibitively high costs or unsatisfactory results of most acceleration measurement methods. In this paper we propose an efficient and accurate acceleration measurement method based on direct differentiation of the corresponding velocity signal. Polynomial predictive filtering is used to smooth the resulting noisy signal without delay. This type of prediction is justified by noticing that a low-degree polynomial can usually be fitted into the primary acceleration curve. No additional hardware is required to implement the procedure if the velocity signal is already available. The performance of the acceleration measurement method is evaluated by applying it to a demanding motion control application. (orig.) 12 refs.

  11. Energy efficient motion control of the electric bus on route

    Science.gov (United States)

    Kotiev, G. O.; Butarovich, D. O.; Kositsyn, B. B.

    2018-02-01

    At present, the urgent problem is the reduction of energy costs of urban motor transport. The article proposes a method of solving this problem by developing an energy-efficient law governing the movement of an electric bus along a city route. To solve this problem, an algorithm is developed based on the dynamic programming method. The proposed method allows you to take into account the constraints imposed on the phase coordinates, control action, as well as on the time of the route. In the course of solving the problem, the model of rectilinear motion of an electric bus on a horizontal reference surface is considered, taking into account the assumptions that allow it to be adapted for the implementation of the method. For the formation of a control action in the equations of motion dynamics, an algorithm for changing the traction / braking torque on the wheels of an electric bus is considered, depending on the magnitude of the control parameter and the speed of motion. An optimal phase trajectory was obtained on a selected section of the road for the prototype of an electric bus. The article presents the comparison of simulation results obtained with the optimal energy efficient control law with the results obtained by a test driver. The comparison proved feasibility of the energy efficient control law for the automobile city electric transport.

  12. Hummingbirds control hovering flight by stabilizing visual motion.

    Science.gov (United States)

    Goller, Benjamin; Altshuler, Douglas L

    2014-12-23

    Relatively little is known about how sensory information is used for controlling flight in birds. A powerful method is to immerse an animal in a dynamic virtual reality environment to examine behavioral responses. Here, we investigated the role of vision during free-flight hovering in hummingbirds to determine how optic flow--image movement across the retina--is used to control body position. We filmed hummingbirds hovering in front of a projection screen with the prediction that projecting moving patterns would disrupt hovering stability but stationary patterns would allow the hummingbird to stabilize position. When hovering in the presence of moving gratings and spirals, hummingbirds lost positional stability and responded to the specific orientation of the moving visual stimulus. There was no loss of stability with stationary versions of the same stimulus patterns. When exposed to a single stimulus many times or to a weakened stimulus that combined a moving spiral with a stationary checkerboard, the response to looming motion declined. However, even minimal visual motion was sufficient to cause a loss of positional stability despite prominent stationary features. Collectively, these experiments demonstrate that hummingbirds control hovering position by stabilizing motions in their visual field. The high sensitivity and persistence of this disruptive response is surprising, given that the hummingbird brain is highly specialized for sensory processing and spatial mapping, providing other potential mechanisms for controlling position.

  13. New calibration technique for water-vapor Raman lidar combined with the GNSS precipitable water vapor and the Meso-Scale Model

    Science.gov (United States)

    Kakihara, H.; Yabuki, M.; Kitafuji, F.; Tsuda, T.; Tsukamoto, M.; Hasegawa, T.; Hashiguchi, H.; Yamamoto, M.

    2017-12-01

    Atmospheric water vapor plays an important role in atmospheric chemistry and meteorology, with implications for climate change and severe weather. The Raman lidar technique is useful for observing water-vapor with high spatiotemporal resolutions. However, the calibration factor must be determined before observations. Because the calibration factor is generally evaluated by comparing Raman-signal results with those of independent measurement techniques (e.g., radiosonde), it is difficult to apply this technique to lidar sites where radiosonde observation cannot be carried out. In this study, we propose a new calibration technique for water-vapor Raman lidar using global navigation satellite system (GNSS)-derived precipitable water vapor (PWV) and Japan Meteorological Agency meso-scale model (MSM). The analysis was accomplished by fitting the GNSS-PWV to integrated water-vapor profiles combined with the MSM and the results of the lidar observations. The maximum height of the lidar signal applicable to this method was determined within 2.0 km by considering the signal noise mainly caused by low clouds. The MSM data was employed at higher regions that cannot apply the lidar data. This method can be applied to lidar signals lower than a limited height range due to weather conditions and lidar specifications. For example, Raman lidar using a laser operating in the ultraviolet C (UV-C) region has the advantage of daytime observation since there is no solar background radiation in the system. The observation range is, however, limited at altitudes lower than 1-3 km because of strong ozone absorption at the UV-C region. The new calibration technique will allow the utilization of various types of Raman lidar systems and provide many opportunities for calibration. We demonstrated the potential of this method by using the UV-C Raman lidar and GNSS observation data at the Shigaraki MU radar observatory (34°51'N, 136°06'E; 385m a.s.l.) of the Research Institute for Sustainable

  14. Identifying residence times and streamflow generation processes using δ18O and δ2H in meso-scale catchments in the Abay/Upper Blue Nile, Ethiopia

    Science.gov (United States)

    Tekleab, S.; Wenninger, J.; Uhlenbrook, S.

    2013-08-01

    Measurements of the stable isotopes oxygen-18 (18O) and deuterium (2H) were carried out in two meso-scale catchments, Chemoga (358 km2) and Jedeb (296 km2) south of Lake Tana, Abay/Upper Blue Nile basin, Ethiopia. The region is of paramount importance for the water resources in the Nile basin. Stable isotope composition in precipitation, spring water and streamflow were analyzed (i) to characterize the spatial and temporal variations of water fluxes; (ii) to estimate the mean residence time of water using a sine wave regression approach; and (iii) to identify runoff components using classical two component hydrograph separations at a seasonal time scale. The results show that the isotopic composition of precipitation exhibit marked seasonal variations, which suggests different sources of moisture generation for the rainfall in the study area. The Atlantic-Indian ocean, Congo basin, and the Sud swamps are the likely the potential moisture source areas during the main rainy (summer) season. While, the Indian-Arabian, and Mediterranean Sea moisture source areas during little rain (spring), and dry (winter) seasons. The spatial variation of the isotopic composition is affected by the amount effect and to less extent by altitude and temperature effects. A mean altitude effect of -0.12‰ (100 m)-1 for 18O and -0.58‰ (100 m)-1 for 2H were discernable in precipitation isotope composition. The seasonal variations of the isotopic signature of the spring water exhibit a damped response as compared to the river waters, which shows that the spring water has longer residence times than the river water. Results from the hydrograph separation at a seasonal time scale indicate the dominance of event water with an average of 71% and 64% of the total runoff during the wet season in the Chemoga and Jedeb catchment, respectively. The stable isotope compositions of streamflow samples were damped compared to the input function of precipitation for both catchments and this damping was

  15. Velocity and Motion Control of a Self-Balancing Vehicle Based on a Cascade Control Strategy

    Directory of Open Access Journals (Sweden)

    Miguel Velazquez

    2016-06-01

    Full Text Available This paper presents balancing, velocity and motion control of a self-balancing vehicle. A cascade controller is implemented for both balancing control and angular velocity control. This controller is tested in simulations using a proposed mathematical model of the system. Motion control is achieved based on the kinematics of the robot. Control hardware is designed and integrated to implement the proposed controllers. Pitch is kept under 1° from the equilibrium position with no external disturbances. The linear cascade control is able to handle slight changes in the system dynamics, such as in the centre of mass and the slope on an inclined surface.

  16. What Is Being Done to Control Motion Sickness?

    Science.gov (United States)

    Hall, Y. D.

    1985-01-01

    AFT (Autogenic Feedback Training) involves practicing a series of mental exercises to speed up or slow down the control of autonomic activity. This produces a reduced tendency for autonomic activity levels to diverge from baseline (at rest) under stressful motion-sickness-inducing conditions. Subjects conditions. Subjects engaged in applying AFT exercises are required to closely monitor their own bodily sensations during motion-sickness-eliciting tests. These tests include the Coriolis Sickness Susceptibility Index (CSSI), which consists of sitting a subject into a rotating chair that moves at various speeds while a visual background turns at differing speeds and directions, and the Vertical Acceleration Rotation Device (VARD) test, which involves the placing of a subject in a drum that moves in an upward and downward motion until he or she is sick, while simultaneously monitoring the subject's vital signs. These tests provide investigators with evidence of slight changes in autonomic activities such as increases in heart rate, skin temperature, and sweat. All of these symptoms occur in subjects that experience bodily weakness or discomfort with the onset of motion sickness.

  17. Techniques for tyre pressure control of vehicles in motion

    OpenAIRE

    2012-01-01

    M.Ing. Vehicles used in military, agricultural, forestry, or construction applications often encounter different road surfaces during a single journey. In order to optimise the mobility of these vehicles, different tyre pressures are required for different types of terrain (sand, mud, cross country, tar road, etc.). An in-motion tyre pressure control system will enable the vehicle's operator to change the tyre pressures without leaving the vehicle. Such a system will not only allow optimum...

  18. Motion Control of the Soccer Robot Based on Fuzzy Logic

    Science.gov (United States)

    Coman, Daniela; Ionescu, Adela

    2009-08-01

    Robot soccer is a challenging platform for multi-agent research, involving topics such as real-time image processing and control, robot path planning, obstacle avoidance and machine learning. The conventional robot control consists of methods for path generation and path following. When a robot moves away the estimated path, it must return immediately, and while doing so, the obstacle avoidance behavior and the effectiveness of such a path are not guaranteed. So, motion control is a difficult task, especially in real time and high speed control. This paper describes the use of fuzzy logic control for the low level motion of a soccer robot. Firstly, the modelling of the soccer robot is presented. The soccer robot based on MiroSoT Small Size league is a differential-drive mobile robot with non-slipping and pure-rolling. Then, the design of fuzzy controller is describes. Finally, the computer simulations in MATLAB Simulink show that proposed fuzzy logic controller works well.

  19. Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm

    Science.gov (United States)

    Svečko, Rajko

    2014-01-01

    This paper describes the use of a multiobjective genetic algorithm for robust motion controller design. Motion controller structure is based on a disturbance observer in an RIC framework. The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised. This paper involves novel objectives for robustness and performance assessments for such an approach. Objective functions for the robustness property of RIC are based on simple even polynomials with nonnegativity conditions. Regional pole placement method is presented with the aims of controllers' structures simplification and their additional arbitrary selection. Regional pole placement involves arbitrary selection of central polynomials for both loops, with additional admissible region of the optimized pole location. Polynomial deviation between selected and optimized polynomials is measured with derived performance objective functions. A multiobjective function is composed of different unrelated criteria such as robust stability, controllers' stability, and time-performance indexes of closed loops. The design of controllers and multiobjective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm—differential evolution. PMID:24987749

  20. Motion control of rigid bodies in SE(3)

    Science.gov (United States)

    Roza, Ashton

    This thesis investigates the control of motion for a general class of vehicles that rotate and translate in three-space, and are propelled by a thrust vector which has fixed direction in body frame. The thesis addresses the problems of path following and position control. For path following, a feedback linearization controller is presented that makes the vehicle follow an arbitrary closed curve while simultaneously allowing the designer to specify the velocity profile of the vehicle on the path and its heading. For position control, a two-stage approach is presented that decouples position control from attitude control, allowing for a modular design and yielding almost global asymptotic stability of any desired hovering equilibrium. The effectiveness of the proposed method is verified both in simulation and experimentally by means of a hardware-in-the-loop setup emulating a co-axial helicopter.

  1. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  2. Do Motion Controllers Make Action Video Games Less Sedentary? A Randomized Experiment

    OpenAIRE

    Elizabeth J. Lyons; Deborah F. Tate; Dianne S. Ward; Kurt M. Ribisl; J. Michael Bowling; Sriram Kalyanaraman

    2012-01-01

    Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100) were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12). An interaction was found such that in one pair, motion control (mean [SD] 0....

  3. Dual arm generalized compliant motion with shared control

    Science.gov (United States)

    Backes, Paul G.

    1993-03-01

    A multiple arm generalized compliant motion robot control system governs dual multi-joint robot arms handling an object with both of the arms in accordance with input parameters governing plural respective behaviors to be exhibited by the robot in respective behavior spaces simultaneously. A move-squeeze decomposition processor computes actual move and squeeze decomposition forces based upon current robot force sensor outputs. A compliant motion processor transforms plural object position perturbations of the plural behaviors from the respective behavior spaces to a common space and computes a relative transformation to a behavior-commanded object position in accordance with the object position perturbations of the plural behaviors. A kinematics processor updates a transformation to a current commanded object position based upon the relative transformation to the behavior-commanded object position. A multiple arm squeeze control processor computes from appropriate squeeze force input parameters and from actual squeeze forces for each of the arms, a squeeze control position perturbation for each of the arms, to provide squeeze control. An inverse kinematics processor computes from the commanded object position transformation and from the squeeze control position perturbation, new robot joint angles, and controls respective joints of the robot arms in accordance with the new robot joint angles.

  4. Dual-arm generalized compliant motion with shared control

    Science.gov (United States)

    Backes, Paul G.

    1993-03-01

    A multiple arm generalized compliant motion robot control system governs dual multi-joint robot arms handling an object with both of the arms in accordance with input parameters governing plural respective behaviors to be exhibited by the robot in respective behavior spaces simultaneously. A move-squeeze decomposition processor computes actual move and squeeze decomposition forces based upon current robot force sensor outputs. A compliant motion processor transforms plural object position perturbations of the plural behaviors from the respective behavior spaces to a common space and computes a relative transformation to a behavior-commanded object position in accordance with the object position perturbations of the plural behaviors. A kinematics processor updates a transformation to a current commanded object position based upon the relative transformation to the behavior-commanded object position. A multiple arm squeeze control processor computes from appropriate squeeze force input parameters and from actual squeeze forces for each of the arms, a squeeze control position perturbation for each of the arms, to provide squeeze control. An inverse kinematics processor computes from the commanded object position transformation and from the squeeze control position perturbation, new robot joint angles, and controls respective joints of the robot arms in accordance with the new robot joint angles.

  5. Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents

    Directory of Open Access Journals (Sweden)

    Debabrata Atta

    2010-01-01

    Full Text Available This paper presents a motion control strategy for a rigid and constraint consistent formation that can be modeled by a directed graph whose each vertex represents individual agent kinematics and each of directed edges represents distance constraints maintained by an agent, called follower, to its neighbouring agent. A rigid and constraint consistent graph is called persistent graph. A persistent graph is minimally persistent if it is persistent, and no edge can be removed without losing its persistence. An acyclic (free of cycles in its sensing pattern minimally persistent graph of Leader-Follower structure has been considered here which can be constructed from an initial Leader-Follower seed (initial graph with two vertices, one is Leader and another one is First Follower and one edge in between them is directed towards Leader by Henneberg sequence (a procedure of growing a graph containing only vertex additions. A set of nonlinear optimization-based decentralized control laws for mobile autonomous point agents in two dimensional plane have been proposed. An infinitesimal deviation in formation shape created continuous motion of Leader is compensated by corresponding continuous motion of other agents fulfilling the shortest path criteria.

  6. Advances in Inertial Measurement Technology for Marine Motion Control

    Directory of Open Access Journals (Sweden)

    Mathias Håndlykken

    1996-01-01

    Full Text Available This paper describes the function of an inertial "strap down" attitude sensor based on solid state Coriolis force rate gyros, accelerometers and magnetic sensor. Performance is analyzed taking into account the typical excitations in attitude and linear motion seen in marine applications. The use is for control of fast crafts, ROV and AUV heading, roll, pitch and heave control. The influence on performance given by utilization of external information from velocity log and more accurate heading devices is also analyzed. Typical performance of this low cost type of technology is shown.

  7. Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

    Science.gov (United States)

    Wood, S. J.; Rupert, A. H.; Vanya, R. D.; Esteves, J. T.; Clement, G.

    2011-01-01

    We hypothesize that adaptive changes in how inertial cues from the vestibular system are integrated with other sensory information leads to perceptual disturbances and impaired manual control following transitions between gravity environments. The primary goals of this ongoing post-flight investigation are to quantify decrements in manual control of tilt motion following short-duration spaceflight and to evaluate vibrotactile feedback of tilt as a sensorimotor countermeasure. METHODS. Data is currently being collected on 9 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s, body axis, thereby eliciting canal reflexes without concordant otolith or visual cues. A simple 4 tactor system was implemented to provide feedback when tilt position exceeded predetermined levels in either device. Closed-loop nulling tasks are performed during random tilt steps or sum-of-sines (TTS only) with and without vibrotactile feedback of chair position. RESULTS. On landing day the manual control performance without vibrotactile feedback was reduced by >30% based on the gain or the amount of tilt disturbance successfully nulled. Manual control performance tended to return to baseline levels within 1-2 days following landing. Root-mean-square position error and tilt velocity were significantly reduced with vibrotactile feedback. CONCLUSIONS. These preliminary results are consistent with our hypothesis that adaptive changes in vestibular processing corresponds to reduced manual control performance following G-transitions. A simple vibrotactile prosthesis improves the ability to null out tilt motion within a limited range of motion disturbances.

  8. Coordinated Control of Wave Energy Converters Subject to Motion Constraints

    Directory of Open Access Journals (Sweden)

    Liguo Wang

    2016-06-01

    Full Text Available In this paper, a generic coordinated control method for wave energy converters is proposed, and the constraints on motion amplitudes and the hydrodynamic interaction between converters are considered. The objective of the control problem is to maximize the energy converted from ocean waves, and this is achieved by coordinating the power take-off (PTO damping of each wave energy converter in the frequency domain in each sea state. In a case study, a wave energy farm consisting of four converters based on the concept developed by Uppsala University is studied. In the solution, motion constraints, including constraints on the amplitudes of displacement and velocity, are included. Twelve months of sea states, based on measured wave data at the Lysekil test site on the Swedish west coast, are used in the simulation to evaluate the performance of the wave energy farm using the new method. Results from the new coordinated control method and traditional control method are compared, indicating that the coordinated control of wave energy converters is an effective way to improve the energy production of wave energy farm in harmonic waves.

  9. STcontrol and NEWPORT Motion Controller Model ESP 301 Device

    CERN Document Server

    Kapanadze, Giorgi

    2015-01-01

    Pixel detectors are used to detect particle tracks in LHC experiments. This kind of detectors are built with silicon semiconductor diodes. Ionizing particles create charge in the diode and the reverse bias voltage creates electric field in the diode which causes effective charge collection by the drift of electrons [1]. One of the main parameter of tracker detectors is efficiency. The efficiency as a function of position in the pixel matrix can be evaluated by scanning the matrix with red and infrared lasers. It is important to know what is happening between pixels in terms of efficiency. We perform these measurements to test new type of pixel detectors for the LHC future upgrade in 2023. New type of detectors are needed because the radiation level will be much higher [2]. For the measurements we need to control a stage motion controller (NEWPORT Motion Controller Model ESP 301) with the existing software STcontrol, which is used for readout data from pixel detectors and to control other devices like the lase...

  10. Incorporating expert knowledge in a complex hydrological conceptual model: A FLEX-TOPO case study for a central European meso-scale catchment

    Science.gov (United States)

    Gharari, S.; Hrachowitz, M.; Fenicia, F.; Gao, H.; Savenije, H.

    2013-12-01

    Models are essential tools in capturing system behavior, catchments, spatially and extrapolating it temporarily for prediction. In recent years conceptual models have been in the center of attention rather than so called physically based models which are often over-parameterized and encounter difficulties for up-scaling of small scale processes. Conceptual models however are heavily dependent on calibration as one or more of their parameters can typically not be physically measured at the catchment scale. In this study we try to constrain parameters of a complex conceptual model built on landscape units classified according to their hydrological functions, based on our logical considerations and general lessons from previous studies across the globe for the Luxembourgish meso-scale Wark catchment. The classified landscapes were used to assign different model structures to the individual hydrological response units. As an example deep percolation was defined as dominant process for plateaus, while rapid subsurface flow as dominant process for hillslope, and saturation overland flow as dominant process for wetlands. The modeled runoffs from each hydrological unit were combined in a parallel set-up to proportionally contribute to the total catchment runoff. The hydrological units are, in addition, linked by a common groundwater reservoir. The parallel hydrological units, although increasing the number of parameters, have the benefit of separate calibration. By stepwise calibration different mechanisms can be calibrated at periods when these mechanisms are active in isolation. For instance, the groundwater module is calibrated during dry season recession and the wetland module during isolated summer storms when the hillslopes are below the activation threshold. Moreover, one can constrain parameters by realistic conditions. As an example, the lag time of wetlands is likely to be shorter than the lag time of water traveling to the outlet from a plateau. Moreover, due to

  11. Incorporating expert knowledge in calibrating a complex hydrological conceptual model: A FLEX-TOPO case study for a central European meso-scale catchment

    Science.gov (United States)

    Gharari, Shervan; Hrachowitz, Markus; Fenicia, Fabrizio; Gao, Hongkai; Euser, Tanja; Savenije, Huub

    2013-04-01

    Catchments are open systems meaning that it is impossible to find out the exact boundary conditions of the real system spatially and temporarily. Therefore models are essential tools in capturing system behavior spatially and extrapolating it temporarily for prediction. In recent years conceptual models have been in the center of attention rather than so called physically based models which are often over-parameterized and encounter difficulties for up-scaling of small scale processes. Conceptual models however are heavily dependent on calibration as one or more of their parameters can typically not be physically measured at the catchment scale. Parallel to the evolution of modeling attempts, our understanding of rainfall/runoff models increased due to improvements of measurement techniques. Heavily instrumented catchments have been studied, and measured system responses have been modeled for testing a priori hypothesis of system function. Although our understanding of how catchments may work has increased the lessons learned from the case specific studies remain locally valid and are not widely used in model calibration and development. In this study we try to constrain parameters of a complex conceptual model built on landscape units classified according to their hydrological functions, based on our logical considerations and general lessons from previous studies across the globe for the Luxembourgish meso-scale Wark catchment. The classified landscapes were used to assign different model structures to the individual hydrological response units. As an example deep percolation was defined as dominant process for plateaus, while rapid subsurface flow as dominant process for hillslope, and saturation overland flow as dominant process for wetlands. The modeled runoffs from each hydrological unit were combined in a parallel set-up to proportionally contribute to the total catchment runoff. The hydrological units are, in addition, linked by a common groundwater

  12. An evaluation of control rod motion simulator of research reactor

    International Nuclear Information System (INIS)

    Sanda

    2010-01-01

    Motion simulator for rod control research reactor has been carried out using a servo motor. Reactor rod motion control at any point should be in the right position, one of the motors that can move in a precise and correct is the servo motor. To ensure that the servo motor to move in accordance with the desired program, then the servo motor function test should be carried out to ensure having good performance. Tests carried out on meshes stress disorder, the load is stable within a certain period and travel time safety control rod up and down, travel time regulating control rods up and down and travel time compensation control rods up and down. In testing the breakdown voltage V out nets at 24 V, 6.5 A with 12 Q load deviation obtained V0= V1 = 0.1% and 0.65% and for the stability of the load in a certain time deviation V = 0.7125% , next to the breakdown voltage V out nets at 12 V, 4.2 A with a 6 Q load deviation obtained V0= V1 = 0.275% and 1.158% for the stability of the load in a certain time deviation V = 1.463% and the net-voltage noise nets on V out 24 V, 4.5 A with 12 Q load deviation obtained V0 = V1 = 0.196% and 0.496% and for the stability of the load in a certain time deviation V = 0.3625%. While the travel time of a safety control rod up and down, up and down the regulator and compensation rise and fall showed a steady linear graph. The results show that the performance of the servo motor is very stable with the working area below the tolerance limit, it is 5% - 10%.(author)

  13. Simulating control rod and fuel assembly motion using moving meshes

    Energy Technology Data Exchange (ETDEWEB)

    Gilbert, D. [Department of Electrical and Computer Engineering, McMaster University, 1280 Main Street West, Hamilton Ontario, L8S 4K1 (Canada)], E-mail: gilbertdw1@gmail.com; Roman, J.E. [Departamento de Sistemas Informaticos y Computacion, Universidad Politecnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain); Garland, Wm. J. [Department of Engineering Physics, McMaster University, 1280 Main Street West, Hamilton Ontario, L8S 4K1 (Canada); Poehlman, W.F.S. [Department of Computing and Software, McMaster University, 1280 Main Street West, Hamilton Ontario, L8S 4K1 (Canada)

    2008-02-15

    A prerequisite for designing a transient simulation experiment which includes the motion of control and fuel assemblies is the careful verification of a steady state model which computes k{sub eff} versus assembly insertion distance. Previous studies in nuclear engineering have usually approached the problem of the motion of control rods with the use of nonlinear nodal models. Nodal methods employ special approximations for the leading and trailing cells of the moving assemblies to avoid the rod cusping problem which results from the naive volume weighted cell cross-section approximation. A prototype framework called the MOOSE has been developed for modeling moving components in the presence of diffusion phenomena. A linear finite difference model is constructed, solutions for which are computed by SLEPc, a high performance parallel eigenvalue solver. Design techniques for the implementation of a patched non-conformal mesh which links groups of sub-meshes that can move relative to one another are presented. The generation of matrices which represent moving meshes which conserve neutron current at their boundaries, and the performance of the framework when applied to model reactivity insertion experiments is also discussed.

  14. Motion control solution for new PLC-based standard development platform for VLT instrument control systems

    Science.gov (United States)

    Popovic, D.; Brast, R.; Di Lieto, N.; Kiekebusch, M.; Knudstrup, J.; Lucuix, C.

    2014-07-01

    More than a decade ago, due to obsolescence issues, ESO initiated the design and implementation of a custom-made CANbus based motion controller (CAN-RMC) to provide, together with a tailor-made software library (motor library), the motion control capabilities for the VME platform needed for the second generation VLT/VLTI instruments. The CAN-RMC controller has been successfully used in a number of VLT instruments but it has high production costs compared to the commercial off-the-shelf (COTS) industrial solutions available on the market today. In the scope of the selection of a new PLC-based platform for the VLT instrument control systems, ESO has evaluated motion control solutions from the company Beckhoff. This paper presents the investigation, implementation and testing of the PLC/TwinCAT/EtherCAT motion controllers for DC and stepper motors and their adaptation and integration into the VLT instrumentation framework. It reports functional and performance test results for the most typical use cases of astronomical instruments like initialization sequences, tracking, switch position detections, backslash compensation, brake handling, etc. In addition, it gives an overview of the main features of TwinCAT NC/PTP, PLCopen MC, EtherCAT motion control terminals and the engineering tools like TwinCAT Scope that are integrated into the development environment and simplify software development, testing and commissioning of motorized instrument functions.

  15. IPMSM Motion-Sensorless Direct Torque and Flux Control

    DEFF Research Database (Denmark)

    Pitict, Christian Ilie; Andreescu, Gheorghe-Daniel; Blaabjerg, Frede

    2005-01-01

    The paper presents a rather comprehensive implementation of a wide speed motion-sensorless control of IPMSM drives via direct torque and flux control (DTFC) with space vector modulation (SVM). Signal injection with only one D-module vector filter and phase-locked loop (PLL) observer is used at low...... speeds to estimate the rotor position and speed, to be used in the stator flux observer and, respectively, as speed feedback. A combined voltage-current model flux observer suits the whole speed range, while the current model fades away as speed increases. PWM and inverter nonlinearities compensation...... provides for a smooth current waveform even at 1 rpm. The paper demonstrates through ample experiments a 1750 rpm 1 1 rpm speed range full-loaded with sensorless DTFC-SVM....

  16. Learning Silhouette Features for Control of Human Motion

    National Research Council Canada - National Science Library

    Ren, Liu; Shakhnarovich, Gregory; Hodgins, Jessica K; Pfister, Hanspeter; Viola, Paul A

    2004-01-01

    .... The system combines information about the user's motion contained in silhouettes from several viewpoints with domain knowledge contained in a motion capture database to interactively produce a high quality animation...

  17. Fine-Motion-Control Method for Realizing High-Accuracy and High-Speed Contact Motion of Industrial Robots by Employing Sensorless Force Control

    Science.gov (United States)

    Shimada, Naoki; Yoshioka, Takashi; Ohishi, Kiyoshi; Miyazaki, Toshimasa

    This paper proposes a new fine-motion-control method for realizing high-accuracy and high-speed contact motion of industrial robots by employing sensorless force control. Today, although industrial robots have become considerably important in the modern industrial society, their functions are limited. A typical limited function is the positioning motion control of robots used in the manufacturing industry. Contact motion is necessary for almost all new applications. In this study, by employing the proposed motion control, smooth and quick contact motion of industrial robots is realized by using a sensorless I-P (Integral-Proportional) force feedback controller. The proposed method is simple and effective, takes into account both the inertia of a robot and the behavior of the I-P force controller. In the experiments, a three-degree-of-freedom robot is brought into contact with an object (a concrete block or a rubber board) by the I-P force control using the proposed method. Further, in the experiment, the motion of the robot's end-effector was considered. The validity of the proposed method is confirmed by using a six-axis force sensor and an acceleration sensor in the contact motion experiments.

  18. A Decoupled MPC for Motion Control in Robotino Using a Geometric Approach

    Science.gov (United States)

    Straßberger, Daniel; Mercorelli, Paolo; Sergiyenko, Oleg

    2015-11-01

    This paper proposes a controller for motion control of the Robotino. The proposed controller considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. Horizontal, Vertical and Angular motions are considered and once the decoupling between these motions is obtained, a Model Predictive Control (MPC) strategy is used in combination with the inverse DC-drive model. Simulation results using real data of Robotino are shown.

  19. A comparison of drive mechanisms for precision motion controlled stages

    Energy Technology Data Exchange (ETDEWEB)

    Buice, E S; Yang, H; Otten, D; Smith, S T; Hocken, R J; Trumper, D L; Seugling, R M

    2006-03-22

    This abstract presents a comparison of two drive mechanisms, a Rohlix{reg_sign} drive and a polymer nut drive, for precision motion controlled stages. A single-axis long-range stage with a 50 mm traverse combined with a short-range stage with a 16 {micro}m traverse at a operational bandwidth of 2.2 kHz were developed to evaluate the performance of the drives. The polymer nut and Rohlix{reg_sign} drives showed 4 nm RMS and 7 nm RMS positioning capabilities respectively, with traverses of 5 mm at a maximum velocity of 0.15 mm{sup -}s{sup -1} with the short range stage operating at a 2.2 kHz bandwidth. Further results will be presented in the subsequent sections.

  20. The Digital Motion Control System for the Submillimeter Array Antennas

    Science.gov (United States)

    Hunter, T. R.; Wilson, R. W.; Kimberk, R.; Leiker, P. S.; Patel, N. A.; Blundell, R.; Christensen, R. D.; Diven, A. R.; Maute, J.; Plante, R. J.; Riddle, P.; Young, K. H.

    2013-09-01

    We describe the design and performance of the digital servo and motion control system for the 6-meter parabolic antennas of the Submillimeter Array (SMA) on Mauna Kea, Hawaii. The system is divided into three nested layers operating at a different, appropriate bandwidth. (1) A rack-mounted, real-time Unix system runs the position loop which reads the high resolution azimuth and elevation encoders and sends velocity and acceleration commands at 100 Hz to a custom-designed servo control board (SCB). (2) The microcontroller-based SCB reads the motor axis tachometers and implements the velocity loop by sending torque commands to the motor amplifiers at 558 Hz. (3) The motor amplifiers implement the torque loop by monitoring and sending current to the three-phase brushless drive motors at 20 kHz. The velocity loop uses a traditional proportional-integral-derivative (PID) control algorithm, while the position loop uses only a proportional term and implements a command shaper based on the Gauss error function. Calibration factors and software filters are applied to the tachometer feedback prior to the application of the servo gains in the torque computations. All of these parameters are remotely adjustable in the software. The three layers of the control system monitor each other and are capable of shutting down the system safely if a failure or anomaly occurs. The Unix system continuously relays the antenna status to the central observatory computer via reflective memory. In each antenna, a Palm Vx hand controller displays the complete system status and allows full local control of the drives in an intuitive touchscreen user interface. The hand controller can also be connected outside the cabin, a major convenience during the frequent reconfigurations of the interferometer. Excellent tracking performance ( 0.3‧‧ rms) is achieved with this system. It has been in reliable operation on 8 antennas for over 10 years and has required minimal maintenance.

  1. Passive Motion Paradigm: an alternative to Optimal Control

    Directory of Open Access Journals (Sweden)

    Vishwanathan eMohan

    2011-12-01

    Full Text Available In the last years, optimal control theory (OCT has emerged as the leading approach for investigating neural control of movement and motor cognition for two complementary research lines: behavioural neuroscience and humanoid robotics. In both cases, there are general problems that need to be addressed, such as the ‘degrees of freedom problem’, the common core of production, observation, reasoning, and learning of ‘actions’. OCT, directly derived from engineering design techniques of control systems quantifies task goals as ‘cost functions’ and uses the sophisticated formal tools of optimal control to obtain desired behaviour (and predictions. We propose an alternative ‘softer’ approach (PMP: Passive Motion Paradigm that we believe is closer to the biomechanics and cybernetics of action. The basic idea is that actions (overt and overt are the consequences of an internal simulation process that ‘animates’ the body schema with the attractor dynamics of force fields induced by the goal and task specific constraints. This internal simulation offers the brain a way to dynamically link motor redundancy with task oriented constraints ‘at runtime’, hence solving the ‘degrees of freedom problem’ without explicit kinematic inversion and cost function computation. We argue that the function of such computational machinery is not only to shape motor output during action execution but also to provide the self with information on the feasibility, consequence, understanding and meaning of ‘potential actions’. In this sense, taking into account recent developments in neuroscience (motor imagery, simulation theory, mirror neurons and in embodied robotics, PMP offers a novel framework for understanding motor cognition that goes beyond the engineering control paradigm provided by OCT. Therefore, the paper is at the same time a review of the PMP rationale, as a computational theory, and a perspective presentation of how to develop it

  2. The synchronization of loosely coupled motion control systems

    Energy Technology Data Exchange (ETDEWEB)

    Tuominen, P. [VTT Automation, Tampere (Finland). Machine Automation

    1996-12-31

    The aim of this thesis is to create an easily implemented, effective, dynamically schedulable flow control method, and to show how the methods introduced can be analysed using fixed priority scheduling. One of the most important problems in a distributed system is the delay and variation of it (the jitter) caused by a serial based network, especially when media load is relatively high. This thesis has looked for possibilities to implement a deterministic motion control system which can also operate with high media loads. The problem of end-to-end delay in distributed control systems has been addressed. The most promising ones are based on the two window concept, where critical messages are transmitted in the statically scheduled part of window while other, non-critical messages are transmitted in the remaining part. The concept of the chained link is introduced and it is shown how the latency time of a certain set of messages can be controlled. This thesis has introduced the detailed characteristics of this easy-to-assemble chain which is simpler than time or sync-message based methods used commercially. One benefit is that only those nodes needing synchronization must support synchronization tasks. Other nodes are exempt from supporting unnecessary functions, making system programming easier. The chain can be scheduled dynamically as one long message. The concept of a CAN based producer-consumer method, a statical scheduling method which can be used with a bus-master has been introduced. A hydraulic mobile is used as a practical example for analysing and comparing the introduced distribution and flow control methods

  3. Space motion sickness: The sensory motor controls and cardiovascular correlation

    Science.gov (United States)

    Souvestre, Philippe A.; Blaber, Andrew P.; Landrock, Clinton K.

    Background and PurposeSpace motion sickness (SMS) and related symptoms remain a major limiting factor in Space operations. A recent comprehensive literature review [J.R. Lackner, Z. DiZio, Space motion sickness, Experimental Brain Research 175 (2006) 377-399, doi 10.1007/s00221-006-0697-y] concluded that SMS does not represent a unique diagnostic entity, and there is no adequate predictor of SMS' susceptibility and severity. No countermeasure has been found reliable to prevent or treat SMS symptoms onset. Recent neurophysiological findings on sensory-motor controls monitoring [P.A. Souvestre, C. Landrock, Biomedical-performance monitoring and assessment of astronauts by means of an ocular vestibular monitoring system, Acta Astronautica, 60 (4-7) (2007) 313-321, doi:10.1016/j.actaastro.2006.08.013] and heart-rate variability (HRV) measurements relationship could explain post-flight orthostatic intolerance (PFOI) in astronauts [A.P. Blaber, R.L. Bondar, M.S. Kassam, Heart rate variability and short duration space flight: relationship to post-flight orthostatic intolerance, BMC Physiology 4 (2004) 6]. These two methodologies are generally overlooked in SMS' analysis. In this paper we present the case for a strong relationship between sensory-motor controls related symptoms, including orthostatic intolerance (OI) and SMS symptoms. MethodsThis paper expands on several previously published papers [J.R. Lackner, Z. DiZio, Space motion sickness, Experimental Brain Research 175 (2006) 377-399, doi 10.1007/s00221-006-0697-y; P.A. Souvestre, C. Landrock, Biomedical-performance monitoring and assessment of astronauts by means of an ocular vestibular monitoring system, Acta Astronautica, 60 (4-7) (2007) 313-321, doi:10.1016/j.actaastro.2006.08.013] along with an updated literature review. An analysis of a 10-year period clinical data from trauma patients experiencing postural deficiency syndrome (PDS) show assessment and monitoring techniques which successfully identify trauma

  4. Analysis of achievable disturbance attenuation in a precision magnetically-suspended motion control system

    Science.gov (United States)

    Kuzin, Alexander V.; Holmes, Michael L.; Behrouzjou, Roxana; Trumper, David L.

    1994-01-01

    The results of the analysis of the achievable disturbance attenuation to get an Angstrom motion control resolution and macroscopic travel in a precision magnetically-suspended motion control system are presented in this paper. Noise sources in the transducers, electronics, and mechanical vibrations are used to develop the control design.

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

    Science.gov (United States)

    Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

    2016-01-01

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

  6. Voltage Controlled Magnetic Skyrmion Motion for Racetrack Memory.

    Science.gov (United States)

    Kang, Wang; Huang, Yangqi; Zheng, Chentian; Lv, Weifeng; Lei, Na; Zhang, Youguang; Zhang, Xichao; Zhou, Yan; Zhao, Weisheng

    2016-03-15

    Magnetic skyrmion, vortex-like swirling topologically stable spin configurations, is appealing as information carrier for future nanoelectronics, owing to the stability, small size and extremely low driving current density. One of the most promising applications of skyrmion is to build racetrack memory (RM). Compared to domain wall-based RM (DW-RM), skyrmion-based RM (Sky-RM) possesses quite a few benefits in terms of energy, density and speed etc. Until now, the fundamental behaviors, including nucleation/annihilation, motion and detection of skyrmion have been intensively investigated. However, one indispensable function, i.e., pinning/depinning of skyrmion still remains an open question and has to be addressed before applying skyrmion for RM. Furthermore, Current research mainly focuses on physical investigations, whereas the electrical design and evaluation are still lacking. In this work, we aim to promote the development of Sky-RM from fundamental physics to realistic electronics. First, we investigate the pinning/depinning characteristics of skyrmion in a nanotrack with the voltage-controlled magnetic anisotropy (VCMA) effect. Then, we propose a compact model and design framework of Sky-RM for electrical evaluation. This work completes the elementary memory functionality of Sky-RM and fills the technical gap between the physicists and electronic engineers, making a significant step forward for the development of Sky-RM.

  7. Internal Mass Motion for Spacecraft Dynamics and Control

    National Research Council Canada - National Science Library

    Hall, Christopher D

    2008-01-01

    We present a detailed description of the application of a noncanonical Hamiltonian formulation to the modeling, analysis, and simulation of the dynamics of gyrostat spacecraft with internal mass motion...

  8. Nonholonomic Variable Geometry Truss Assemblies. 1. Motion Control

    National Research Council Canada - National Science Library

    Krishnaprasad, P. S; Tsakiris, Dimitris P

    1993-01-01

    We consider the nonholonomic motion planning problem for a novel class of snake-like modular mobile manipulators, where each module is implemented as a planar parallel rnanipulator with idler wheels...

  9. Effects of Different Heave Motion Components on Pilot Pitch Control Behavior

    Science.gov (United States)

    Zaal, Petrus M. T.; Zavala, Melinda A.

    2016-01-01

    The study described in this paper had two objectives. The first objective was to investigate if a different weighting of heave motion components decomposed at the center of gravity, allowing for a higher fidelity of individual components, would result in pilot manual pitch control behavior and performance closer to that observed with full aircraft motion. The second objective was to investigate if decomposing the heave components at the aircraft's instantaneous center of rotation rather than at the center of gravity could result in additional improvements in heave motion fidelity. Twenty-one general aviation pilots performed a pitch attitude control task in an experiment conducted on the Vertical Motion Simulator at NASA Ames under different hexapod motion conditions. The large motion capability of the Vertical Motion Simulator also allowed for a full aircraft motion condition, which served as a baseline. The controlled dynamics were of a transport category aircraft trimmed close to the stall point. When the ratio of center of gravity pitch heave to center of gravity heave increased in the hexapod motion conditions, pilot manual control behavior and performance became increasingly more similar to what is observed with full aircraft motion. Pilot visual and motion gains significantly increased, while the visual lead time constant decreased. The pilot visual and motion time delays remained approximately constant and decreased, respectively. The neuromuscular damping and frequency both decreased, with their values more similar to what is observed with real aircraft motion when there was an equal weighting of the heave of the center of gravity and heave due to rotations about the center of gravity. In terms of open- loop performance, the disturbance and target crossover frequency increased and decreased, respectively, and their corresponding phase margins remained constant and increased, respectively. The decomposition point of the heave components only had limited

  10. 14 CFR 25.779 - Motion and effect of cockpit controls.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 25.779 Section 25.779 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION.... Controls Motion and effect Aileron Right (clockwise) for right wing down. Elevator Rearward for nose up...

  11. An Open-Access Educational Tool for Teaching Motion Dynamics in Multi-Axis Servomotor Control

    Science.gov (United States)

    Rivera-Guillen, J. R.; de Jesus Rangel-Magdaleno, J.; de Jesus Romero-Troncoso, R.; Osornio-Rios, R. A.; Guevara-Gonzalez, R. G.

    2012-01-01

    Servomotors are widely used in computerized numerically controlled (CNC) machines, hence motion control is a major topic covered in undergraduate/graduate engineering courses. Despite the fact that several syllabi include the motion dynamics topic in their courses, there are neither suitable tools available for designing and simulating multi-axis…

  12. Laser control of atomic beam motion and applications

    International Nuclear Information System (INIS)

    Balykin, V.I.; Letokhov, V.S.

    1987-01-01

    The authors present the results of an experimental investigation of the control of atomic beam motion by the light pressure of laser radiation. Collimation, focusing and reflection of the atomic beam are considered. Collimation of the atomic beam is achieved by the interaction of laser radiation with atoms, when the light pressure force depends only on the atom's velocity. A similar regime of atomic beam interaction with radiation was performed with transversal irradiation of a beam by the axis-symmetrical field. The axis-symmetrical field was formed by laser radiation reflected from the conical mirror surface of a reflecting axicon. The axis of the atomic beam coincided with that of the axicon. The collimation regime was reached under negative detuning of the laser radiation frequency from the atomic transition frequency by a value equal to several homogeneous widths. With positive detuning by the same value the regime of beam decollimation was observed. The density of atoms on the beam axis was changed by 10 3 times, when the collimation regime was replaced by that of decollimation. Focusing of the atomic beam was achieved by light pressure dependent on the atomic coordinate. Focusing was performed within the field configuration formed by divergent laser Gaussian beams propagating in the direction +- X, +- Y of a Cartesian coordinate system. Waists of the laser beams were an equal distance from the atomic beam axis. With an atomic beam propagating along the z axis, expressions for local distance and a formula for the laser lens were obtained. Focusing of the atomic beam was experimentally accomplished, and the image of the atomic beam was received. In this work they also investigated reflection of the atomic beam by laser radiation. The possibility of creating the optics of a neutral atomic beam is shown

  13. Control of a virtual ambulation influences body movement and motion sickness

    Directory of Open Access Journals (Sweden)

    Hagstrom Jens

    2011-12-01

    Full Text Available Drivers typically are less susceptible to motion sickness than passengers. The influence of vehicle control has theoretical implications for the etiology of motion sickness, and has practical implications for the design of virtual environments. In the present study, participants either controlled or did not control a nonvehicular virtual avatar (i.e., an ambulatory character in a console video game. We examined the incidence of motion sickness and patterns of movement of the head and torso as participants either played or watched the game. Motion sickness incidence was lower when controlling the virutal avatar than when watching an avatar that was controlled by someone else. Patterns of head and torso movement differed between particpants who did and did not control the avatar. Indepenently, patterns of movement differed between participants who reported motion sickness and those who did not. The results suggest that motion sickness is influenced by control of stimulus motion, whether that motion arises from a vehicle or from any other source. We consider implications for the design of humancomputer interfaces.

  14. ModelSim/Simulink Cosimulation and FPGA Realization of a Multiaxis Motion Controller

    Directory of Open Access Journals (Sweden)

    Ying-Shieh Kung

    2015-01-01

    Full Text Available This paper is to implement a multiaxis servo controller and a motion trajectory planning within one chip. At first, SoPC (system on a programmable chip technology which is composed of an Altera FPGA (field programmable gate arrays chip and an embedded soft-core Nios II processor is taken as the development of a multiaxis motion control IC. The multiaxis motion control IC has two modules. The first module is Nios II processor which realizes the motion trajectory planning by software. It includes the step, circular, window, star, and helical motion trajectory. The second module presents a function of the multiaxis position/speed/current controller IP (intellectual property by hardware. And VHDL (VHSIC Hardware Description Language is applied to describe the multiaxis servo controller behavior. Before the FPGA realization, a cosimulation work by ModelSim/Simulink is applied to test the VHDL code. Then, this IP combined by Nios II processor will be downloaded to FPGA. Therefore, a fully digital multiaxis motion controller can be realized by a single FPGA chip. Finally, to verify the effectiveness and correctness of the proposed multiaxis motion control IP, a three-axis motion platform (XYZ table is constructed and some experimental results are presented.

  15. A Digital Motion Control System for Large Telescopes

    Science.gov (United States)

    Hunter, T. R.; Wilson, R. W.; Kimberk, R.; Leiker, P. S.

    2001-05-01

    We have designed and programmed a digital motion control system for large telescopes, in particular, the 6-meter antennas of the Submillimeter Array on Mauna Kea. The system consists of a single robust, high-reliability microcontroller board which implements a two-axis velocity servo while monitoring and responding to critical safety parameters. Excellent tracking performance has been achieved with this system (0.3 arcsecond RMS at sidereal rate). The 24x24 centimeter four-layer printed circuit board contains a multitude of hardware devices: 40 digital inputs (for limit switches and fault indicators), 32 digital outputs (to enable/disable motor amplifiers and brakes), a quad 22-bit ADC (to read the motor tachometers), four 16-bit DACs (that provide torque signals to the motor amplifiers), a 32-LED status panel, a serial port to the LynxOS PowerPC antenna computer (RS422/460kbps), a serial port to the Palm Vx handpaddle (RS232/115kbps), and serial links to the low-resolution absolute encoders on the azimuth and elevation axes. Each section of the board employs independent ground planes and power supplies, with optical isolation on all I/O channels. The processor is an Intel 80C196KC 16-bit microcontroller running at 20MHz on an 8-bit bus. This processor executes an interrupt-driven, scheduler-based software system written in C and assembled into an EPROM with user-accessible variables stored in NVSRAM. Under normal operation, velocity update requests arrive at 100Hz from the position-loop servo process running independently on the antenna computer. A variety of telescope safety checks are performed at 279Hz including routine servicing of a 6 millisecond watchdog timer. Additional ADCs onboard the microcontroller monitor the winding temperature and current in the brushless three-phase drive motors. The PID servo gains can be dynamically changed in software. Calibration factors and software filters can be applied to the tachometer readings prior to the application of

  16. Stirling engine power control and motion conversion mechanism

    Science.gov (United States)

    Marks, David T.

    1983-01-01

    A motion conversion device for converting between the reciprocating motion of the pistons in a Stirling engine and the rotating motion of its output shaft, and for changing the stroke and phase of the pistons, includes a lever pivoted at one end and having a cam follower at the other end. The piston rod engages the lever intermediate its ends and the cam follower engages a cam keyed to the output shaft. The lever pivot can be moved to change the length of the moment arm defined between the cam follower and the piston rod the change the piston stroke and force exerted on the cam, and the levers can be moved in opposite directions to change the phase between pistons.

  17. A Geometric Approach to Decouple Robotino Motions and its Functional Controllability

    OpenAIRE

    Straßberger, Daniel; Mercorelli, Paolo; Sergiyenko, Oleg Yu

    2015-01-01

    This paper analyses a functional control of the Robotino. The proposed controlstrategy considers a functional decoupling control strategy realized using a geometric Approach and the invertibility property of the DC-drives with which the Robotino is equipped. For a given control structure the functional controllability is proven for motion trajectories of class C^3, continuous functions with third derivative also being continuous. Horizontal, Vertical andAngular motions are considered and the ...

  18. Optimal control of a programmed motion of a rigid spacecraft using redundant kinematics parameterizations

    International Nuclear Information System (INIS)

    El-Gohary, Awad

    2005-01-01

    This paper considers the problem of optimal controlling of a programmed motion of a rigid spacecraft. Given a cost of the spacecraft as a quadratic function of state and control variables we seek for optimal control laws as functions of the state variables and the angle of programmed rotation that minimize this cost and asymptotically stabilize the required programmed motion. The stabilizing properties of the proposed controllers are proved using the optimal Liapunov techniques. Numerical simulation study is presented

  19. Changes in pilot control behaviour across Stewart platform motion systems

    NARCIS (Netherlands)

    Nieuwenhuizen, F.M.

    2012-01-01

    Flight simulators provide an effective, efficient, and safe environment for practising flight-critical manoeuvres without requiring a real aircraft. Most simulators are equipped with a Stewart-type motion system, which consists of six linear actuators in a hexapod configuration. The argument for use

  20. Stimulation of PPC Affects the Mapping between Motion and Force Signals for Stiffness Perception But Not Motion Control.

    Science.gov (United States)

    Leib, Raz; Mawase, Firas; Karniel, Amir; Donchin, Opher; Rothwell, John; Nisky, Ilana; Davare, Marco

    2016-10-12

    How motion and sensory inputs are combined to assess an object's stiffness is still unknown. Here, we provide evidence for the existence of a stiffness estimator in the human posterior parietal cortex (PPC). We showed previously that delaying force feedback with respect to motion when interacting with an object caused participants to underestimate its stiffness. We found that applying theta-burst transcranial magnetic stimulation (TMS) over the PPC, but not the dorsal premotor cortex, enhances this effect without affecting movement control. We explain this enhancement as an additional lag in force signals. This is the first causal evidence that the PPC is not only involved in motion control, but also has an important role in perception that is disassociated from action. We provide a computational model suggesting that the PPC integrates position and force signals for perception of stiffness and that TMS alters the synchronization between the two signals causing lasting consequences on perceptual behavior. When selecting an object such as a ripe fruit or sofa, we need to assess the object's stiffness. Because we lack dedicated stiffness sensors, we rely on an as yet unknown mechanism that generates stiffness percepts by combining position and force signals. Here, we found that the posterior parietal cortex (PPC) contributes to combining position and force signals for stiffness estimation. This finding challenges the classical view about the role of the PPC in regulating position signals only for motion control because we highlight a key role of the PPC in perception that is disassociated from action. Altogether this sheds light on brain mechanisms underlying the interaction between action and perception and may help in the development of better teleoperation systems and rehabilitation of patients with sensory impairments. Copyright © 2016 Leib et al.

  1. Robust motion control of oscillatory-base manipulators h∞-control and sliding-mode-control-based approaches

    CERN Document Server

    Toda, Masayoshi

    2016-01-01

    This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals, and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researche...

  2. Real-time visual feedback of COM and COP motion properties differentially modifies postural control structures.

    Science.gov (United States)

    Kilby, Melissa C; Molenaar, Peter C M; Slobounov, Semyon M; Newell, Karl M

    2017-01-01

    The experiment was setup to investigate the control of human quiet standing through the manipulation of augmented visual information feedback of selective properties of the motion of two primary variables in postural control: center of pressure (COP) and center of mass (COM). Five properties of feedback information were contrasted to a no feedback dual-task (watching a movie) control condition to determine the impact of visual real-time feedback on the coordination of the joint motions in postural control in both static and dynamic one-leg standing postures. The feedback information included 2D COP or COM position and macro variables derived from the COP and COM motions, namely virtual time-to-contact (VTC) and the COP-COM coupling. The findings in the static condition showed that the VTC and COP-COM coupling feedback conditions decreased postural motion more than the 2D COP or COM positional information. These variables also induced larger sway amplitudes in the dynamic condition showing a more progressive search strategy in exploring the stability limits. Canonical correlation analysis (CCA) found that COP-COM coupling contributed less than the other feedback variables to the redundancy of the system reflected in the common variance between joint motions and properties of sway motion. The COP-COM coupling had the lowest weighting of the motion properties to redundancy under the feedback conditions but overall the qualitative pattern of the joint motion structures was preserved within the respective static and dynamic balance conditions.

  3. Fractional order differentiation and robust control design crone, h-infinity and motion control

    CERN Document Server

    Sabatier, Jocelyn; Melchior, Pierre; Oustaloup, Alain

    2015-01-01

    This monograph collates the past decade’s work on fractional models and fractional systems in the fields of analysis, robust control and path tracking. Themes such as PID control, robust path tracking design and motion control methodologies involving fractional differentiation are amongst those explored. It juxtaposes recent theoretical results at the forefront in the field, and applications that can be used as exercises that will help the reader to assimilate the proposed methodologies. The first part of the book deals with fractional derivative and fractional model definitions, as well as recent results for stability analysis, fractional model physical interpretation, controllability, and H-infinity norm computation. It also presents a critical point of view on model pseudo-state and “real state”, tackling the problem of fractional model initialization. Readers will find coverage of PID, Fractional PID and robust control in the second part of the book, which rounds off with an extension of H-infinity ...

  4. Brain-machine interfacing control of whole-body humanoid motion

    Science.gov (United States)

    Bouyarmane, Karim; Vaillant, Joris; Sugimoto, Norikazu; Keith, François; Furukawa, Jun-ichiro; Morimoto, Jun

    2014-01-01

    We propose to tackle in this paper the problem of controlling whole-body humanoid robot behavior through non-invasive brain-machine interfacing (BMI), motivated by the perspective of mapping human motor control strategies to human-like mechanical avatar. Our solution is based on the adequate reduction of the controllable dimensionality of a high-DOF humanoid motion in line with the state-of-the-art possibilities of non-invasive BMI technologies, leaving the complement subspace part of the motion to be planned and executed by an autonomous humanoid whole-body motion planning and control framework. The results are shown in full physics-based simulation of a 36-degree-of-freedom humanoid motion controlled by a user through EEG-extracted brain signals generated with motor imagery task. PMID:25140134

  5. Motion Control of Industrial Robot by Considering Vibration Suppression and Fast Path Tracking

    Science.gov (United States)

    Kumagai, Satoru; Miyazaki, Toshimasa; Ohishi, Kiyoshi

    This paper proposes a new motion control strategy for industrial robots. It is important to achieve rapid and accurate control of the motion of industrial robots. However, industrial robots often have vibration which is caused by the resonant frequency and nonlinear interference force from various joints of the robot. In this case, the notch filtering method for generating a reference is useful for suppressing the resonant phenomenon. However, the path tracking error of the robot motion increases because phase delay becomes large by using the notch filter. In order to overcome these problems, this paper proposes a zero-phase notch filter without phase delay for fast path tracking. Moreover, this paper proposes a fast position control method based on D-PD control with dynamic feed-forward compensation. Using these proposed strategies, this paper achieves fast and accurate robot motion control without vibration and overshoot.

  6. Robust motion control design for dual-axis motion platform using ...

    Indian Academy of Sciences (India)

    An evolutionary algorithm possessing the universal solution seeking capability is proposed for finding the optimal connecting weights of the neural compensator and PID control gains for the and axis control loops. Numerical studies and a real-world experiment for a watch cambered surface polishing platform have ...

  7. Robust motion control design for dual-axis motion platform using ...

    Indian Academy of Sciences (India)

    Horn-Yong Jan et al the use of pre-sliding friction characteristics were proposed to tracking control of X−Y table. (Park et al 2003 and Han & Jafari 2007). H∞ control approaches were ... systems (Hashimoto et al 1992). ...... Inshguro A, Furuhashi T, Okumura S 1992 A neural network compensator for uncertainties of robotics.

  8. A Geometric Approach to Decouple Robotino Motions and its Functional Controllability

    Science.gov (United States)

    Straßberger, Daniel; Mercorelli, Paolo; Sergiyenko, Oleg

    2015-11-01

    This paper analyses a functional control of the Robotino. The proposed control strategy considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. For a given control structure the functional controllability is proven for motion trajectories of class C3, continuous functions with third derivative also being continuous. Horizontal, Vertical and Angular motions are considered and the decoupling between these motions is obtained. Control simulation results using real data of the Robotino are shown. The used control which enables to produce the presented results is a standard Linear Model Predictive Control (LMPC), even though for sake of brevity the standard algorithm is not shown.

  9. Optimization of motion control laws for tether crawler or elevator systems

    Science.gov (United States)

    Swenson, Frank R.; Von Tiesenhausen, Georg

    1988-01-01

    Based on the proposal of a motion control law by Lorenzini (1987), a method is developed for optimizing motion control laws for tether crawler or elevator systems in terms of the performance measures of travel time, the smoothness of acceleration and deceleration, and the maximum values of velocity and acceleration. The Lorenzini motion control law, based on powers of the hyperbolic tangent function, is modified by the addition of a constant-velocity section, and this modified function is then optimized by parameter selections to minimize the peak acceleration value for a selected travel time or to minimize travel time for the selected peak values of velocity and acceleration. It is shown that the addition of a constant-velocity segment permits further optimization of the motion control law performance.

  10. Robust Control and Motion Planning for Nonlinear Underactuated Systems Using H infinity Techniques

    National Research Council Canada - National Science Library

    Toussaint, Gregory

    2000-01-01

    This thesis presents new techniques for planning and robustly controlling the motion of nonlinear underactuated vehicles when disturbances are present and only imperfect state measurements are available for feedback...

  11. An improved sliding mode control method for omnidirectional mobile robots based on motion characteristics

    Science.gov (United States)

    Leng, Chuntao; Cao, Qixin; Lo, Charles

    2010-01-01

    An improved sliding mode control (SMC) method for omni-directional mobile robots (OMRs) is proposed in this paper. Due to the motion characteristics of OMRs, the driving torque acting on each axis while the robot moves in different directions is distinct. Accordingly, a novel concept of anisotropy characteristics for OMRs is proposed here. In order to achieve a coordinated motion in a multi-axis system such as an OMR, the anisotropy characteristics are introduced into SMC system to coordinate the driving torque. The improved motion control method can guarantee that each driving wheel will reach the target speed with proper driving torque. Owing to the advantage of SMC, the control system of OMRs is insensitive to parametric vibration and external disturbances. To validate the performance of the improved motion control method, experiments have been carried out.

  12. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Science.gov (United States)

    2010-01-01

    ... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Design and Construction Personnel and Cargo... forward motion to increase power. (c) Normal landing gear controls must operate downward to extend the landing gear. ...

  13. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Science.gov (United States)

    2010-01-01

    ... AIRCRAFT AIRWORTHINESS STANDARDS: NORMAL CATEGORY ROTORCRAFT Design and Construction Personnel and Cargo... forward motion to increase power. (c) Normal landing gear controls must operate downward to extend the landing gear. ...

  14. Autogenic-feedback training exercise is superior to promethazine for control of motion sickness symptoms

    Science.gov (United States)

    Cowings, P. S.; Toscano, W. B.

    2000-01-01

    Motion sickness symptoms affect approximately 50% of the crew during space travel and are commonly treated with intramuscular injections of promethazine. The purpose of this paper is to compare the effectiveness of three treatments for motion sickness: intramuscular injections (i.m.) of promethazine, a physiological training method (autogenic-feedback training exercise [AFTE]), and a no-treatment control. An earlier study tested the effects of promethazine on cognitive and psychomotor performance and motion sickness tolerance in a rotating chair. For the present paper, motion sickness tolerance, symptom reports, and physiological responses of these subjects were compared to matched subjects selected from an existing database who received either AFTE or no treatment. Three groups of 11 men, between the ages of 33 and 40 years, were matched on the number of rotations tolerated during their initial rotating-chair motion sickness test. The motion sickness test procedures and the 7-day interval between tests were the same for all subjects. The drug group was tested under four treatment conditions: baseline (no injections), a 25 mg dose of promethazine, a 50 mg dose of promethazine, and a placebo of sterile saline. AFTE subjects were given four 30-minute AFTE sessions before their second, third, and fourth motion sickness tests (6 hours total). The no-treatment control subjects were only given the four rotating-chair tests. Motion sickness tolerance was significantly increased after 4 hours of AFTE when compared to either 25 mg (p training.

  15. Coordinating robot motion, sensing, and control in plans. LDRD project final report

    Energy Technology Data Exchange (ETDEWEB)

    Xavier, P.G.; Brown, R.G.; Watterberg, P.A. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center

    1997-08-01

    The goal of this project was to develop a framework for robotic planning and execution that provides a continuum of adaptability with respect to model incompleteness, model error, and sensing error. For example, dividing robot motion into gross-motion planning, fine-motion planning, and sensor-augmented control had yielded productive research and solutions to individual problems. Unfortunately, these techniques could only be combined by hand with ad hoc methods and were restricted to systems where all kinematics are completely modeled in planning. The original intent was to develop methods for understanding and autonomously synthesizing plans that coordinate motion, sensing, and control. The project considered this problem from several perspectives. Results included (1) theoretical methods to combine and extend gross-motion and fine-motion planning; (2) preliminary work in flexible-object manipulation and an implementable algorithm for planning shortest paths through obstacles for the free-end of an anchored cable; (3) development and implementation of a fast swept-body distance algorithm; and (4) integration of Sandia`s C-Space Toolkit geometry engine and SANDROS motion planer and improvements, which yielded a system practical for everyday motion planning, with path-segment planning at interactive speeds. Results (3) and (4) have either led to follow-on work or are being used in current projects, and they believe that (2) will eventually be also.

  16. Hand Motion-Based Remote Control Interface with Vibrotactile Feedback for Home Robots

    Directory of Open Access Journals (Sweden)

    Juan Wu

    2013-06-01

    Full Text Available This paper presents the design and implementation of a hand-held interface system for the locomotion control of home robots. A handheld controller is proposed to implement hand motion recognition and hand motion-based robot control. The handheld controller can provide a ‘connect-and-play’ service for the users to control the home robot with visual and vibrotactile feedback. Six natural hand gestures are defined for navigating the home robots. A three-axis accelerometer is used to detect the hand motions of the user. The recorded acceleration data are analysed and classified to corresponding control commands according to their characteristic curves. A vibration motor is used to provide vibrotactile feedback to the user when an improper operation is performed. The performances of the proposed hand motion-based interface and the traditional keyboard and mouse interface have been compared in robot navigation experiments. The experimental results of home robot navigation show that the success rate of the handheld controller is 13.33% higher than the PC based controller. The precision of the handheld controller is 15.4% more than that of the PC and the execution time is 24.7% less than the PC based controller. This means that the proposed hand motion-based interface is more efficient and flexible.

  17. The 3D Human Motion Control Through Refined Video Gesture Annotation

    Science.gov (United States)

    Jin, Yohan; Suk, Myunghoon; Prabhakaran, B.

    In the beginning of computer and video game industry, simple game controllers consisting of buttons and joysticks were employed, but recently game consoles are replacing joystick buttons with novel interfaces such as the remote controllers with motion sensing technology on the Nintendo Wii [1] Especially video-based human computer interaction (HCI) technique has been applied to games, and the representative game is 'Eyetoy' on the Sony PlayStation 2. Video-based HCI technique has great benefit to release players from the intractable game controller. Moreover, in order to communicate between humans and computers, video-based HCI is very crucial since it is intuitive, easy to get, and inexpensive. On the one hand, extracting semantic low-level features from video human motion data is still a major challenge. The level of accuracy is really dependent on each subject's characteristic and environmental noises. Of late, people have been using 3D motion-capture data for visualizing real human motions in 3D space (e.g, 'Tiger Woods' in EA Sports, 'Angelina Jolie' in Bear-Wolf movie) and analyzing motions for specific performance (e.g, 'golf swing' and 'walking'). 3D motion-capture system ('VICON') generates a matrix for each motion clip. Here, a column is corresponding to a human's sub-body part and row represents time frames of data capture. Thus, we can extract sub-body part's motion only by selecting specific columns. Different from low-level feature values of video human motion, 3D human motion-capture data matrix are not pixel values, but is closer to human level of semantics.

  18. Motion Normalized Proportional Control for Improved Pattern Recognition-Based Myoelectric Control.

    Science.gov (United States)

    Scheme, Erik; Lock, Blair; Hargrove, Levi; Hill, Wendy; Kuruganti, Usha; Englehart, Kevin

    2014-01-01

    This paper describes two novel proportional control algorithms for use with pattern recognition-based myoelectric control. The systems were designed to provide automatic configuration of motion-specific gains and to normalize the control space to the user's usable dynamic range. Class-specific normalization parameters were calculated using data collected during classifier training and require no additional user action or configuration. The new control schemes were compared to the standard method of deriving proportional control using a one degree of freedom Fitts' law test for each of the wrist flexion/extension, wrist pronation/supination and hand close/open degrees of freedom. Performance was evaluated using the Fitts' law throughput value as well as more descriptive metrics including path efficiency, overshoot, stopping distance and completion rate. The proposed normalization methods significantly outperformed the incumbent method in every performance category for able bodied subjects (p < 0.001) and nearly every category for amputee subjects. Furthermore, one proposed method significantly outperformed both other methods in throughput (p < 0.0001), yielding 21% and 40% improvement over the incumbent method for amputee and able bodied subjects, respectively. The proposed control schemes represent a computationally simple method of fundamentally improving myoelectric control users' ability to elicit robust, and controlled, proportional velocity commands.

  19. Motion control for a walking companion robot with a novel human–robot interface

    Directory of Open Access Journals (Sweden)

    Yunqi Lv

    2016-09-01

    Full Text Available A walking companion robot is presented for rehabilitation from dyskinesia of lower limbs in this article. A new human–robot interface (HRI is designed which adopts one-axis force sensor and potentiometer connector to detect the motion of the user. To accompany in displacement and angle between the user and the robot precisely in real time, the common motions are classified into two elemental motion states. With distinction method of motion states, a classification scheme of motion control is adopted. The mathematical model-based control method is first introduced and the corresponding control systems are built. Due to the unavoidable deviation of the mathematical model-based control method, a force control method is proposed and the corresponding control systems are built. The corresponding simulations demonstrate that the efficiency of the two proposed control methods. The experimental data and paths of robot verify the two control methods and indicate that the force control method can better satisfy the user’s requirements.

  20. Robust cascade control for the horizontal motion of a vehicle with single-wheel actuators

    Science.gov (United States)

    Moseberg, Jan-Erik; Roppenecker, Günter

    2015-12-01

    The article presents a cascade control for the horizontal motion of a vehicle with single-wheel actuators. The outer control loop for the longitudinal and lateral accelerations and the yaw rate ensures a desired vehicle motion. By a combination of state feedback control and observer-based disturbance feedforward the inner control loop robustly stabilises the rotating and steering motions of the wheels in spite of unknown frictions between tyres and ground. Since the three degrees of freedom of the horizontal motion are affected by eight tyre forces, the vehicle considered is an over-actuated system. Thus additional control objectives can be realised besides the desired motion trajectory as, for example, a maximum in driving safety. The corresponding analytical tyre force allocation also guarantees real-time capability because of its relatively low computational effort. Provided suitable fault detection and isolation are available, the proposed cascade control has the potential of fault-tolerance, because the force allocation is adaptable. Another benefit results from the modular control structure, because it allows a stepwise implementation. Besides, it only requires a small number of measurements for control purposes. These measurements are the rotational speeds and steering angles of the wheels, the longitudinal and lateral acceleration and the yaw rate of the vehicle.

  1. Inhibitory Control of Feature Selectivity in an Object Motion Sensitive Circuit of the Retina

    Directory of Open Access Journals (Sweden)

    Tahnbee Kim

    2017-05-01

    Full Text Available Object motion sensitive (OMS W3-retinal ganglion cells (W3-RGCs in mice respond to local movements in a visual scene but remain silent during self-generated global image motion. The excitatory inputs that drive responses of W3-RGCs to local motion were recently characterized, but which inhibitory neurons suppress W3-RGCs’ responses to global motion, how these neurons encode motion information, and how their connections are organized along the excitatory circuit axis remains unknown. Here, we find that a genetically identified amacrine cell (AC type, TH2-AC, exhibits fast responses to global motion and slow responses to local motion. Optogenetic stimulation shows that TH2-ACs provide strong GABAA receptor-mediated input to W3-RGCs but only weak input to upstream excitatory neurons. Cell-type-specific silencing reveals that temporally coded inhibition from TH2-ACs cancels W3-RGC spike responses to global but not local motion stimuli and, thus, controls the feature selectivity of OMS signals sent to the brain.

  2. Walking motion generation, synthesis, and control for biped robot by using PGRL, LPI, and fuzzy logic.

    Science.gov (United States)

    Li, Tzuu-Hseng S; Su, Yu-Te; Lai, Shao-Wei; Hu, Jhen-Jia

    2011-06-01

    This paper proposes the implementation of fuzzy motion control based on reinforcement learning (RL) and Lagrange polynomial interpolation (LPI) for gait synthesis of biped robots. First, the procedure of a walking gait is redefined into three states, and the parameters of this designed walking gait are determined. Then, the machine learning approach applied to adjusting the walking parameters is policy gradient RL (PGRL), which can execute real-time performance and directly modify the policy without calculating the dynamic function. Given a parameterized walking motion designed for biped robots, the PGRL algorithm automatically searches the set of possible parameters and finds the fastest possible walking motion. The reward function mainly considered is first the walking speed, which can be estimated from the vision system. However, the experiment illustrates that there are some stability problems in this kind of learning process. To solve these problems, the desired zero moment point trajectory is added to the reward function. The results show that the robot not only has more stable walking but also increases its walking speed after learning. This is more effective and attractive than manual trial-and-error tuning. LPI, moreover, is employed to transform the existing motions to the motion which has a revised angle determined by the fuzzy motion controller. Then, the biped robot can continuously walk in any desired direction through this fuzzy motion control. Finally, the fuzzy-based gait synthesis control is demonstrated by tasks and point- and line-target tracking. The experiments show the feasibility and effectiveness of gait learning with PGRL and the practicability of the proposed fuzzy motion control scheme.

  3. Three axis electronic flight motion simulator real time control system design and implementation

    Energy Technology Data Exchange (ETDEWEB)

    Gao, Zhiyuan; Miao, Zhonghua, E-mail: zhonghua-miao@163.com; Wang, Xiaohua [School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200072 (China); Wang, Xuyong [School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2014-12-15

    A three axis electronic flight motion simulator is reported in this paper including the modelling, the controller design as well as the hardware implementation. This flight motion simulator could be used for inertial navigation test and high precision inertial navigation system with good dynamic and static performances. A real time control system is designed, several control system implementation problems were solved including time unification with parallel port interrupt, high speed finding-zero method of rotary inductosyn, zero-crossing management with continuous rotary, etc. Tests were carried out to show the effectiveness of the proposed real time control system.

  4. Research and development of a control system for multi axis cooperative motion based on PMAC

    Science.gov (United States)

    Guo, Xiao-xiao; Dong, Deng-feng; Zhou, Wei-hu

    2017-10-01

    Based on Programmable Multi-axes Controller (PMAC), a design of a multi axis motion control system for the simulator of spatial targets' dynamic optical properties is proposed. According to analysis the properties of spatial targets' simulator motion control system, using IPC as the main control layer, TurboPMAC2 as the control layer to meet coordinated motion control, data acquisition and analog output. A simulator using 5 servomotors which is connected with speed reducers to drive the output axis was implemented to simulate the motion of both the sun and the space target. Based on PMAC using PID and a notch filter algorithm, negative feedback, the speed and acceleration feed forward algorithm to satisfy the axis' requirements of the good stability and high precision at low speeds. In the actual system, it shows that the velocity precision is higher than 0.04 s ° and the precision of repetitive positioning is better than 0.006° when each axis is at a low-speed. Besides, the system achieves the control function of multi axis coordinated motion. The design provides an important technical support for detecting spatial targets, also promoting the theoretical research.

  5. Do motion controllers make action video games less sedentary? A randomized experiment.

    Science.gov (United States)

    Lyons, Elizabeth J; Tate, Deborah F; Ward, Dianne S; Ribisl, Kurt M; Bowling, J Michael; Kalyanaraman, Sriram

    2012-01-01

    Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100) were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12). An interaction was found such that in one pair, motion control (mean [SD] 0.96 [0.20] kcal · kg(-1) · hr(-1)) produced 0.10 kcal · kg(-1) · hr(-1) (95% confidence interval 0.03 to 0.17) greater energy expenditure than traditional control (0.86 [0.17] kcal · kg(-1) · hr(-1), P = .048). All games were sedentary. As currently implemented, motion control is unlikely to produce moderate intensity physical activity in action games. However, some games produce small but significant increases in energy expenditure, which may benefit health by decreasing sedentary behavior.

  6. Do Motion Controllers Make Action Video Games Less Sedentary? A Randomized Experiment

    Directory of Open Access Journals (Sweden)

    Elizabeth J. Lyons

    2012-01-01

    Full Text Available Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100 were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12. An interaction was found such that in one pair, motion control (mean [SD] 0.96 [0.20] kcal ⋅ kg-1 ⋅ hr-1 produced 0.10 kcal ⋅ kg-1 ⋅ hr-1 (95% confidence interval 0.03 to 0.17 greater energy expenditure than traditional control (0.86 [0.17] kcal ⋅ kg-1 ⋅ hr-1, P = .048. All games were sedentary. As currently implemented, motion control is unlikely to produce moderate intensity physical activity in action games. However, some games produce small but significant increases in energy expenditure, which may benefit health by decreasing sedentary behavior.

  7. Do Motion Controllers Make Action Video Games Less Sedentary? A Randomized Experiment

    Science.gov (United States)

    Lyons, Elizabeth J.; Tate, Deborah F.; Ward, Dianne S.; Ribisl, Kurt M.; Bowling, J. Michael; Kalyanaraman, Sriram

    2012-01-01

    Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100) were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12). An interaction was found such that in one pair, motion control (mean [SD] 0.96 [0.20] kcal · kg−1 · hr−1) produced 0.10 kcal · kg−1 · hr−1 (95% confidence interval 0.03 to 0.17) greater energy expenditure than traditional control (0.86 [0.17] kcal · kg−1 · hr−1, P = .048). All games were sedentary. As currently implemented, motion control is unlikely to produce moderate intensity physical activity in action games. However, some games produce small but significant increases in energy expenditure, which may benefit health by decreasing sedentary behavior. PMID:22028959

  8. Modification of Motion Perception and Manual Control Following Short-Durations Spaceflight

    Science.gov (United States)

    Wood, S. J.; Vanya, R. D.; Esteves, J. T.; Rupert, A. H.; Clement, G.

    2011-01-01

    Adaptive changes during space flight in how the brain integrates vestibular cues with other sensory information can lead to impaired movement coordination and spatial disorientation following G-transitions. This ESA-NASA study was designed to examine both the physiological basis and operational implications for disorientation and tilt-translation disturbances following short-duration spaceflights. The goals of this study were to (1) examine the effects of stimulus frequency on adaptive changes in motion perception during passive tilt and translation motion, (2) quantify decrements in manual control of tilt motion, and (3) evaluate vibrotactile feedback as a sensorimotor countermeasure.

  9. Enhancement of vortex induced forces and motion through surface roughness control

    Science.gov (United States)

    Bernitsas, Michael M [Saline, MI; Raghavan, Kamaldev [Houston, TX

    2011-11-01

    Roughness is added to the surface of a bluff body in a relative motion with respect to a fluid. The amount, size, and distribution of roughness on the body surface is controlled passively or actively to modify the flow around the body and subsequently the Vortex Induced Forces and Motion (VIFM). The added roughness, when designed and implemented appropriately, affects in a predetermined way the boundary layer, the separation of the boundary layer, the level of turbulence, the wake, the drag and lift forces, and consequently the Vortex Induced Motion (VIM), and the fluid-structure interaction. The goal of surface roughness control is to increase Vortex Induced Forces and Motion. Enhancement is needed in such applications as harnessing of clean and renewable energy from ocean/river currents using the ocean energy converter VIVACE (Vortex Induced Vibration for Aquatic Clean Energy).

  10. Bifurcations of a Controlled Two-Bar Linkage Motion with Considering Viscous Frictions

    Directory of Open Access Journals (Sweden)

    Qingkai Han

    2011-01-01

    Full Text Available In this paper, we investigate the joint viscous friction effects on the motions of a two-bar linkage under controlling of OPCL. The dynamical model of the two-bar linkage with an OPCL controller is firstly set up with considering the two joints' viscous frictions. Thereafter, the motion bifurcations of the two-bar linkage along the values of joint viscous frictions are obtained using shooting method. Then, single-periodic, multiple-periodic, quasi-periodic and chaotic motions of link rotating angles are simulated with given different viscous friction values, and they are illustrated in time domain waveforms, phase space portraits, amplitude spectra and Poincare mapping graphs, respectively. Additionally, for the chaotic case, Lyapunov exponents and hypothesis possibilities of the two joint motions are also estimated.

  11. Reduction of vortex induced forces and motion through surface roughness control

    Science.gov (United States)

    Bernitsas, Michael M; Raghavan, Kamaldev

    2014-04-01

    Roughness is added to the surface of a bluff body in a relative motion with respect to a fluid. The amount, size, and distribution of roughness on the body surface is controlled passively or actively to modify the flow around the body and subsequently the Vortex Induced Forces and Motion (VIFM). The added roughness, when designed and implemented appropriately, affects in a predetermined way the boundary layer, the separation of the boundary layer, the level of turbulence, the wake, the drag and lift forces, and consequently the Vortex Induced Motion (VIM), and the fluid-structure interaction. The goal of surface roughness control is to decrease/suppress Vortex Induced Forces and Motion. Suppression is required when fluid-structure interaction becomes destructive as in VIM of flexible cylinders or rigid cylinders on elastic support, such as underwater pipelines, marine risers, tubes in heat exchangers, nuclear fuel rods, cooling towers, SPAR offshore platforms.

  12. Evaluation of Cloud Microphysics Simulated using a Meso-Scale Model Coupled with a Spectral Bin Microphysical Scheme through Comparison with Observation Data by Ship-Borne Doppler and Space-Borne W-Band Radars

    Science.gov (United States)

    Iguchi, T.; Nakajima, T.; Khain, A. P.; Saito, K.; Takemura, T.; Okamoto, H.; Nishizawa, T.; Tao, W.-K.

    2012-01-01

    Equivalent radar reflectivity factors (Ze) measured by W-band radars are directly compared with the corresponding values calculated from a three-dimensional non-hydrostatic meso-scale model coupled with a spectral-bin-microphysical (SBM) scheme for cloud. Three case studies are the objects of this research: one targets a part of ship-borne observation using 95 GHz Doppler radar over the Pacific Ocean near Japan in May 2001; other two are aimed at two short segments of space-borne observation by the cloud profiling radar on CloudSat in November 2006. The numerical weather prediction (NWP) simulations reproduce general features of vertical structures of Ze and Doppler velocity. A main problem in the reproducibility is an overestimation of Ze in ice cloud layers. A frequency analysis shows a strong correlation between ice water contents (IWC) and Ze in the simulation; this characteristic is similar to those shown in prior on-site studies. From comparing with the empirical correlations by the prior studies, the simulated Ze is overestimated than the corresponding values in the studies at the same IWC. Whereas the comparison of Doppler velocities suggests that large-size snowflakes are necessary for producing large velocities under the freezing level and hence rules out the possibility that an overestimation of snow size causes the overestimation of Ze. Based on the results of several sensitivity tests, we conclude that the source of the overestimation is a bias in the microphysical calculation of Ze or an overestimation of IWC. To identify the source of the problems needs further validation research with other follow-up observations.

  13. Coordinated joint motion control system with position error correction

    Science.gov (United States)

    Danko, George [Reno, NV

    2011-11-22

    Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

  14. Range-Space Predictive Control for Optimal Robot Motion

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav; Böhm, Josef

    2008-01-01

    Roč. 1, č. 1 (2008), s. 1-7 ISSN 1998-0140 R&D Projects: GA ČR GP102/06/P275 Institutional research plan: CEZ:AV0Z10750506 Keywords : Accurate manipulation * Industrial robot ics * Predictive control * Range-space control Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/historie/belda-0305644.pdf

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

    Directory of Open Access Journals (Sweden)

    Musa Mailah

    2005-06-01

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

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

    Directory of Open Access Journals (Sweden)

    Endra Pitowarno

    2008-11-01

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

  17. Maximum Principle for General Controlled Systems Driven by Fractional Brownian Motions

    International Nuclear Information System (INIS)

    Han Yuecai; Hu Yaozhong; Song Jian

    2013-01-01

    We obtain a maximum principle for stochastic control problem of general controlled stochastic differential systems driven by fractional Brownian motions (of Hurst parameter H>1/2). This maximum principle specifies a system of equations that the optimal control must satisfy (necessary condition for the optimal control). This system of equations consists of a backward stochastic differential equation driven by both fractional Brownian motions and the corresponding underlying standard Brownian motions. In addition to this backward equation, the maximum principle also involves the Malliavin derivatives. Our approach is to use conditioning and Malliavin calculus. To arrive at our maximum principle we need to develop some new results of stochastic analysis of the controlled systems driven by fractional Brownian motions via fractional calculus. Our approach of conditioning and Malliavin calculus is also applied to classical system driven by standard Brownian motions while the controller has only partial information. As a straightforward consequence, the classical maximum principle is also deduced in this more natural and simpler way.

  18. Linear motion device and method for inserting and withdrawing control rods

    Science.gov (United States)

    Smith, J.E.

    Disclosed is a linear motion device and more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core. The CRDM and method disclosed is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.

  19. Nonlinear Model Predictive Control of a Cable-Robot-Based Motion Simulator

    DEFF Research Database (Denmark)

    Katliar, Mikhail; Fischer, Joerg; Frison, Gianluca

    2017-01-01

    In this paper we present the implementation of a model-predictive controller (MPC) for real-time control of a cable-robot-based motion simulator. The controller computes control inputs such that a desired acceleration and angular velocity at a defined point in simulator's cabin are tracked while ....... (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved....

  20. Response analysis of curved bridge with unseating failure control system under near-fault ground motions

    Science.gov (United States)

    Zuo, Ye; Sun, Guangjun; Li, Hongjing

    2018-01-01

    Under the action of near-fault ground motions, curved bridges are prone to pounding, local damage of bridge components and even unseating. A multi-scale fine finite element model of a typical three-span curved bridge is established by considering the elastic-plastic behavior of piers and pounding effect of adjacent girders. The nonlinear time-history method is used to study the seismic response of the curved bridge equipped with unseating failure control system under the action of near-fault ground motion. An in-depth analysis is carried to evaluate the control effect of the proposed unseating failure control system. The research results indicate that under the near-fault ground motion, the seismic response of the curved bridge is strong. The unseating failure control system perform effectively to reduce the pounding force of the adjacent girders and the probability of deck unseating.

  1. Path plan and motion control for mobile robot based on ultrasonic data fusion

    Science.gov (United States)

    Li, Yibin; Li, Caihong; Zhou, Fengyu; Song, Rui; Su, Xuecheng

    2000-05-01

    In order to overcome the limitation usage of a single or a single kind of sensors in detecting obstacles around the mobile robot, we usually adopted multi-sensor in traditional navigation technique. This method can cause the hardware circuit complexity and the information disposal boring. In this paper, we adopt a ultrasonic sensor which is installed on a rotating plane to scan the obstacles around the mobile robot. Furthermore we use an artificial potential field method which have been gotten rid of the dead zone to fuse the obtained information for planning path and motion control. The control circuit and the method is simple and convenient. This increase the reliability and response of the motion control. The experimental result shows that the moving trajectory is smooth and continuous therefore the method is effective and can satisfy the need of the motion control for the mobile robot.

  2. Experimental Study on Position Control System Using Encoderless Magnetic Motion

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hong Youn; Heo, Hoon [Korea Univ., Seoul (Korea, Republic of); Yun, Young Min; Shim, Ho Keun; Kwon, Young Mok [TPC Mechatronics, Daejeon (Korea, Republic of)

    2016-01-15

    A position control system composed of the PMLSM(Permanent Magnet Linear Synchronous Motor), unlike conventional linear permanent magnet synchronous motor is fixed to the permanent magnet moving coil rails (permanent magnet = stator, coil = mover), the coil is fixed, moving the permanent magnet, we propose a position control system (permanent magnet = mover, coil = stator) structure. Position is measured not using conventional encoder or resolver but by adopting vector control method using 2 hall sensors generating rectangular signal. This method estimate the velocity and position of mover by using the quadruple of two hall sensor signal instead of encoder signal. Vector control of PMLSM using 2 hall sensor generating rectangular wave is proved to control the system stable and efficiently through simulation. Also hardware experiment reveals that the position control performance is measured within the range of 30-50μ in the accuracy of 10-20μ, which is improved twice to the conventional method. The proposed method exhibits its economical efficiency and practical usefulness. The vector control technique using two hall sensors can be installed in narrow place, accordingly it can be implemented on the system where the conventional encoder or resolver cannot operate.

  3. Masticatory motion is controlled in humans by a limited set of muscle synergies.

    Science.gov (United States)

    Hattori, Yoshinori; Shimizu, Yoshiyuki; Satoh, Chiaki; Watanabe, Makoto

    2010-03-01

    The masticatory motion, whereby food introduced into the mouth is processed into a bolus suitable for swallowing, can be divided into successive masticatory cycles, each comprising downward and subsequent upward movements of the mandible. The present study deals with the problem of the existence of muscle synergies in mastication, that is whether some of the muscles involved in mastication receive common motor drives, rather than controlled individually. Evidence for muscle synergy during mastication is scarce, partly due to the difficulties in simultaneous recording of the electromyographic (EMG) activities from all the muscles involved. Thus, we analyzed the variability of the mandibular motion during mastication rather than to examine the EMG patterns, based on the hypothesis that a motion elicited by a limited set of muscle synergies can be approximated as a superposition of the same number of independent motions. Mandibular motion paths were recorded from 8 healthy males (25-31 years), who chewed gum or gummy candy. A morphometric technique, which describes the shape of a closed curve by using normalized elliptic Fourier descriptors and reduces the variance of the shape by using principal component analysis, was applied to analyze the variability of the mandibular motion paths. We found three independent variations of the motion paths, whose linear combinations accounted for an average of 93% (range, 88-96%) of the total variance. The extracted variations were similar among the subjects. These findings provide indirect evidence for the existence of a limited set of muscle synergies for mastication in humans.

  4. Development of an FPGA-Based Motion Control IC for Caving Machine

    Directory of Open Access Journals (Sweden)

    Chiu-Keng Lai

    2014-03-01

    Full Text Available Since the Field Programmable Gate Arrays (FPGAs with high density are available nowadays, systems with complex functions can thus be realized by FPGA in a single chip while they are traditionally implemented by several individual chips. In this research, the control of stepping motor drives as well as motion controller is integrated and implemented on Altera Cyclone III FPGA; the resulting system is evaluated by applying it to a 3-axis caving machine which is driven by stepping motors. Finally, the experimental results of current regulation and motion control integrated in FPGA IC are shown to prove the validness.

  5. How NASA KSC Controls Interfaces with the use of Motion Skeletons and Product Structure

    Science.gov (United States)

    Jones, Corey

    2013-01-01

    This presentation will show how NASA KSC controls interfaces for Modular Product Architecture (MPA) using Locator Skeletons, Interface Skeletons, and Product Structure, to be combined together within a Motion Skeleton. The user will learn how to utilize skeleton models to communicate interface data, as successfully done at NASA KSC in their use of Motion Skeletons to control interfaces for multi-launch systems. There will be discussion of the methodology used to control design requirements through WTParts, and how to utilize product structure for non-CAD documents.

  6. Alternative Motion Control for Educational Biped BRAT Robots

    Directory of Open Access Journals (Sweden)

    Levente Barabas

    2015-12-01

    Full Text Available In this paper an alternative control solution will be proposed for an educational biped BRAT robot by replacing its SSC-32 servomotor controller with an Arduino R3 development board. Also we will be approaching the problem of adapting the existing electronic circuit to the new requirements and proposing a new application by adding an ultrasonic distance sensor in order to increase the versatility of the robot and make it capable to interact with its environment.

  7. Optimal control of molecular motion expressed through quantum fluid dynamics

    Science.gov (United States)

    Dey, Bijoy K.; Rabitz, Herschel; Askar, Attila

    2000-04-01

    A quantum fluid-dynamic (QFD) control formulation is presented for optimally manipulating atomic and molecular systems. In QFD the control quantum system is expressed in terms of the probability density ρ and the quantum current j. This choice of variables is motivated by the generally expected slowly varying spatial-temporal dependence of the fluid-dynamical variables. The QFD approach is illustrated for manipulation of the ground electronic state dynamics of HCl induced by an external electric field.

  8. POSTURAL CONTROL IN HEALTHY YOUNG ADULTS WITH AND WITHOUT CHRONIC MOTION SENSITIVITY

    Directory of Open Access Journals (Sweden)

    Alyahya D

    2016-02-01

    Full Text Available Background: Postural control requires complex processing of peripheral sensory inputs from the visual, somatosensory and vestibular systems. Motion sensitivity and decreased postural control are influenced by visual-vestibular conflicts.The purpose of this study was to measure the difference between the postural control of healthy adults with and without history of sub-clinical chronic motion sensitivity using a computerized dynamic posturography in a virtual reality environment. Sub-clinical chronic motion sensitivity was operationally defined as a history of avoiding activities causing dizziness, nausea, imbalance, and/or blurred vision without having a related medical diagnosis. Methods: Twenty healthy adults between 22 and 33 years of age participated in the study. Eleven subjects had sub-clinical chronic motion sensitivity and 9 subjects did not. Postural control was measured in both groups using the Bertec Balance Advantage-Dynamic Computerized Dynamic Posturography with Immersion Virtual Reality (CDP-IVR. The CDP-IVR reports an over-all equilibrium score based on subjects’ center of gravity displacement and postural sway while immersed in a virtual reality environment. Subjects were tested on stable (condition 1 and unstable (condition2 platform conditions. Results: There was no significant difference between the two groups in terms of mean age, height, weight, body mass index in kg/m2, postural control scores for conditions 2, and average (p>0.05. However, significant differences were observed in mean postural control for condition 1 between groups (p=0.03. Conclusions: Results of this study suggest that healthy young adults without chronic sub-clinical motion sensitivity have better postural control than those with chronic sub-clinical motion sensitivity. Further investigation is warranted to explore wider age ranges with larger samples sizes as well as intervention strategies to improve postural control.

  9. Assistive control of motion therapy devices based on pneumatic soft-actuators with rotary elastic chambers.

    Science.gov (United States)

    Wilkening, André; Baiden, David; Ivlev, Oleg

    2011-01-01

    Robot assisted motion therapy attains increasingly importance and acceptance especially in neurorehabilitation after stroke or spinal injury, but also in orthopedic rehabilitation and surgical interventions. Several studies have shown that a patient-cooperative (assistive) motion therapy, which activates remaining muscle strength and so optimizes recovery, will cause a much higher effectiveness compared to commonly used continuous passive motion (CPM) machines with pre-programmed trajectories (motion profiles). This article describes an assistive control concept developed for orthopedic rehabilitation based on inherent compliant (soft) actuators. Control concept takes into acccount specific properties of physiotherapists behavior during treatment. The patient will be supported and at the same time encouraged to generate own muscular strength to perform desired movement. Concept has been implemented for two prototypes of motion therapy devices (MTD) for knee and shoulder motion therapy. The first prototype (Knee-MTD) has been extensively tested with healthy persons and now is being tested in the Clinic for Orthopaedics and Trauma Surgery of Klinikum Stuttgart to prove concept in real-life conditions. © 2011 IEEE

  10. DNA motion induced by electrokinetic flow near an Au coated nanopore surface as voltage controlled gate.

    Science.gov (United States)

    Sugimoto, Manabu; Kato, Yuta; Ishida, Kentaro; Hyun, Changbae; Li, Jiali; Mitsui, Toshiyuki

    2015-02-13

    We used fluorescence microscopy to investigate the diffusion and drift motion of λ DNA molecules on an Au-coated membrane surface near nanopores, prior to their translocation through solid-state nanopores. With the capability of controlling electric potential at the Au surface as a gate voltage, Vgate, the motions of DNA molecules, which are presumably generated by electrokinetic flow, vary dramatically near the nanopores in our observations. We carefully investigate these DNA motions with different values of Vgate in order to alter the densities and polarities of the counterions, which are expected to change the flow speed or direction, respectively. Depending on Vgate, our observations have revealed the critical distance from a nanopore for DNA molecules to be attracted or repelled-DNA's anisotropic and unsteady drifting motions and accumulations of DNA molecules near the nanopore entrance. Further finite element method (FEM) numerical simulations indicate that the electrokinetic flow could qualitatively explain these unusual DNA motions near metal-collated gated nanopores. Finally, we demonstrate the possibility of controlling the speed and direction of DNA motion near or through a nanopore, as in the case of recapturing a single DNA molecule multiple times with alternating current voltages on the Vgate.

  11. Control of vacuum arc source cathode spots contraction motion by changing electromagnetic field

    Science.gov (United States)

    Xin, SONG; Qing, WANG; Zeng, LIN; Puhui, ZHANG; Shuhao, WANG

    2018-02-01

    This paper investigates the magnetic field component impact on cathode spots motion trajectory and the mechanism of periodic contraction. Electromagnetic coils and permanent magnets were installed at the different sides of cathode surface, the photographs of cathode spots motion trajectory were captured by a camera. Increasing the number of magnets and decreasing the distance between magnets and cathode both lead to enhancing cathode spots motion velocity. Radii of cathode spots trajectory decrease gradually with the increasing of electromagnetic coil’s current, from 40 mm at 0 A to 10 mm at 2.7 A. Parallel magnetic field component intensity influence the speed of cathode spots rotate motion, and perpendicular magnetic field component drives spots drift in the radial direction. Cathode spot’s radial drift is controlled by changing the location of the ‘zero line’ where perpendicular magnetic component shifts direction and the radius of cathode spots trajectory almost equal to ‘zero line’.

  12. Differences in kinematic control of ankle joint motions in people with chronic ankle instability.

    Science.gov (United States)

    Kipp, Kristof; Palmieri-Smith, Riann M

    2013-06-01

    People with chronic ankle instability display different ankle joint motions compared to healthy people. The purpose of this study was to investigate the strategies used to control ankle joint motions between a group of people with chronic ankle instability and a group of healthy, matched controls. Kinematic data were collected from 11 people with chronic ankle instability and 11 matched control subjects as they performed a single-leg land-and-cut maneuver. Three-dimensional ankle joint angles were calculated from 100 ms before, to 200 ms after landing. Kinematic control of the three rotational ankle joint degrees of freedom was investigated by simultaneously examining the three-dimensional co-variation of plantarflexion/dorsiflexion, toe-in/toe-out rotation, and inversion/eversion motions with principal component analysis. Group differences in the variance proportions of the first two principal components indicated that the angular co-variation between ankle joint motions was more linear in the control group, but more planar in the chronic ankle instability group. Frontal and transverse plane motions, in particular, contributed to the group differences in the linearity and planarity of angular co-variation. People with chronic ankle instability use a different kinematic control strategy to coordinate ankle joint motions during a single-leg landing task. Compared to the healthy group, the chronic ankle instability group's control strategy appeared to be more complex and involved joint-specific contributions that would tend to predispose this group to recurring episodes of instability. Copyright © 2013 Elsevier Ltd. All rights reserved.

  13. Multi-robot motion control for cooperative observation

    International Nuclear Information System (INIS)

    Parker, L.E.

    1997-01-01

    An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring (or observing) the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement--determining where sensors should be located to maintain the targets in view. In complex applications involving limited-range sensors, the use of multiple sensors dynamically moving over time is required. In this paper, the authors investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. They focus primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robot team member in the area of interest. This paper first formalizes the problem and discusses related work. The authors then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. They analyze the effectiveness of the approach by comparing it to 3 other feasible algorithms for cooperative control, showing the superiority of the approach for a large class of problems

  14. Multi-robot motion control for cooperative observation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E. [Oak Ridge National Lab., TN (United States). Center for Engineering Systems Advanced Research

    1997-06-01

    An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring (or observing) the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement--determining where sensors should be located to maintain the targets in view. In complex applications involving limited-range sensors, the use of multiple sensors dynamically moving over time is required. In this paper, the authors investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. They focus primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robot team member in the area of interest. This paper first formalizes the problem and discusses related work. The authors then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. They analyze the effectiveness of the approach by comparing it to 3 other feasible algorithms for cooperative control, showing the superiority of the approach for a large class of problems.

  15. Cooperative motion control for multi-target observation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1997-08-01

    An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring (or observing) the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement--determining where sensors should be located to maintain the targets in view. In complex applications involving limited-range sensors, the use of multiple sensors dynamically moving over time is required. In this paper, the author investigates the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. The focus is primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robot team member in the area of interest. This paper first formalizes the problem and discusses related work. The author then presents a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. The effectiveness of the approach is analyzed by comparing it to three other feasible algorithms for cooperative control, showing the superiority of the approach for a large class of problems.

  16. Cooperative motion control for multi-target observation

    International Nuclear Information System (INIS)

    Parker, L.E.

    1997-01-01

    An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring (or observing) the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement--determining where sensors should be located to maintain the targets in view. In complex applications involving limited-range sensors, the use of multiple sensors dynamically moving over time is required. In this paper, the author investigates the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. The focus is primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robot team member in the area of interest. This paper first formalizes the problem and discusses related work. The author then presents a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. The effectiveness of the approach is analyzed by comparing it to three other feasible algorithms for cooperative control, showing the superiority of the approach for a large class of problems

  17. Coordinated motion control model of a six-wheeled rocker lunar rover

    Directory of Open Access Journals (Sweden)

    Tianxiang Ding

    2016-08-01

    Full Text Available At present, control methods of the six-wheeled rocker lunar rover primarily consist of setting the same driving parameters for each wheel. This type of control method ignores the multiple active driving characteristics of the lunar rover and causes parasitic power loss. The main cause of the parasitic power loss is the uncoordinated motion of the driving elements. Therefore, in this article, a coordinated motion programming model of the six-wheeled rocker lunar rover based on the velocity projection theorem, the quasi-static mechanical model, and the rated power of the motor is established to eliminate parasitic loss, reduce driving energy, and improve energy efficiency. The analytical solution of the programming model based on the Kuhn–Tucker condition is also calculated. The coordinated motion control model saves energy, and it is suitable for other wheeled-type planet rovers. This model provides technical support for reducing the energy consumption of planet rovers.

  18. Development of visual motion perception for prospective control: Brain and behavioural studies in infants

    Directory of Open Access Journals (Sweden)

    Seth B. Agyei

    2016-02-01

    Full Text Available During infancy, smart perceptual mechanisms develop allowing infants to judge time-space motion dynamics more efficiently with age and locomotor experience. This emerging capacity may be vital to enable preparedness for upcoming events and to be able to navigate in a changing environment. Little is known about brain changes that support the development of prospective control and about processes, such as preterm birth, that may compromise it. As a function of perception of visual motion, this paper will describe behavioural and brain studies with young infants investigating the development of visual perception for prospective control. By means of the three visual motion paradigms of occlusion, looming, and optic flow, our research shows the importance of including behavioural data when studying the neural correlates of prospective control.

  19. The Application of Euler-Lagrange Method of Optimization for Electromechanical Motion Control

    Directory of Open Access Journals (Sweden)

    Cristian VASILACHE

    2000-12-01

    Full Text Available Industrial and non-industrial processes such as production plans, robots, pumps, compressors, home applications, transportation of people and goods etc., require some kinds of motion control. The main functions of electromechanical drives are to adjust these processes by controlling the torque, speed or position. The objective of this paper is to perform the control of motion while minimizing power losses, that is ∫Ri2dt, in process conversion of electrical energy to mechanical energy. The optimal control laws for our problem is find using the Euler - Lagrange principle. We consider three types of controlled drives: torque, speed and position. Each of them has different control laws. By implementation of these controls with Borland C++ and Matlab environment, substantial energy savings are obtained.

  20. The influence of motion control shoes on the running gait of mature and young females.

    Science.gov (United States)

    Lilley, Kim; Stiles, Vicky; Dixon, Sharon

    2013-03-01

    This study compared the running gait of mature and young females, and investigated the effect of a motion control shoe. First, it was hypothesised that in a neutral shoe, mature females would display significantly greater rearfoot eversion, knee internal rotation and external adductor moments when compared to a younger group. Secondly, the motion control shoe would reduce rearfoot eversion and knee internal rotation in both groups. Thirdly it was hypothesised that the motion control shoe would increase knee external adductor moment, through an increase in knee varus and moment arm. 15 mature (40-60 years) and 15 young (18-25 years) females performed 10 running trials at 3.5ms(-1)±5% over a force platform. Two shoes were tested, the Adidas Supernova Glide (neutral), and the Adidas Supernova Sequence (motion control). Ankle and knee joint dynamics were analysed for the right leg, and the mean of ten trials was calculated. Joint moments were calculated using inverse dynamics. In the neutral condition, mature females presented greater peak rearfoot eversion, knee internal rotation, and external adductor moments than young females (p<0.05). A motion control shoe significantly reduced peak rearfoot eversion and knee internal rotation among both groups (p<0.05). No between shoe differences in knee external adductor moment were observed. A motion control shoe is recommended to reduce risk of injury associated with rearfoot eversion and knee internal rotation in mature females. However since the knee external adductor moment is a variable commonly associated with medial knee loading it is suggested that alternative design features are required to influence this moment. Copyright © 2012 Elsevier B.V. All rights reserved.

  1. Controlling Motion at the Nanoscale: Rise of the Molecular Machines.

    Science.gov (United States)

    Abendroth, John M; Bushuyev, Oleksandr S; Weiss, Paul S; Barrett, Christopher J

    2015-08-25

    As our understanding and control of intra- and intermolecular interactions evolve, ever more complex molecular systems are synthesized and assembled that are capable of performing work or completing sophisticated tasks at the molecular scale. Commonly referred to as molecular machines, these dynamic systems comprise an astonishingly diverse class of motifs and are designed to respond to a plethora of actuation stimuli. In this Review, we outline the conditions that distinguish simple switches and rotors from machines and draw from a variety of fields to highlight some of the most exciting recent examples of opportunities for driven molecular mechanics. Emphasis is placed on the need for controllable and hierarchical assembly of these molecular components to display measurable effects at the micro-, meso-, and macroscales. As in Nature, this strategy will lead to dramatic amplification of the work performed via the collective action of many machines organized in linear chains, on functionalized surfaces, or in three-dimensional assemblies.

  2. Active Perturbation Rejection in Motion Control of Milling Machine Tools

    Directory of Open Access Journals (Sweden)

    Francisco Beltrán Carbajal

    2013-01-01

    Full Text Available En este artículo se aborda el problema de control robusto de los ejes de movimiento de máquinas- herramienta fresadoras sujetos a fuerzas de perturbación que se inducen durante el proceso de maquinado del metal. Se propone un esquema de control por retroalimentación de la salida de posición para el rechazo robusto de fuerzas de perturbación de fricción y de corte desconocidas, y para tareas de seguimiento robusto de trayectorias de movimiento planificadas para una máquina-herramienta fresadora de tres ejes. Se considera la fricción de Coulomb, el amortiguamiento viscoso y las fuerzas de corte como términos de una señal de entrada de perturbación variable en el tiempo desconocida, la cual afecta la dinámica de los ejes de movimiento de la máquina fresadora. En el diseño del control de movimiento, se modela la señal de perturbación mediante una familia de polinomios en el tiempo de Taylor de cuarto grado. Entonces, se diseña un observador de estado para estimar las señales de velocidad y perturbación que se requieren para la implementación del controlador de movimiento propuesto. Se incluye resultados en simulación para mostrar el desempeño robusto del esquema de control de movimiento propuesto y la estimación efectiva y rápida de las señales de perturbación y velocidad.

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

    Science.gov (United States)

    Scheller, Johannes; Braza, Marianna; Triantafyllou, Michael

    2016-11-01

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

  4. Method for neural network control of motion using real-time environmental feedback

    Science.gov (United States)

    Buckley, Theresa M. (Inventor)

    1997-01-01

    A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.

  5. Hybrid motion control of humanoid robot for leader-follower cooperative tasks

    Directory of Open Access Journals (Sweden)

    Savić Srđan Ž.

    2016-01-01

    Full Text Available This paper presents a framework for leader-follower type cooperative transportation of an object by multiple humanoid robots or a single robot and a human. The emphasis in this paper is on the hybrid control algorithm and motion generation of the follower robot, while the influence of the leader has been simulated as external force acting on the follower’s hands. The presented approach uses impedance controller to provide compliant behavior of robot arms and it is an extension of our previous work on dual-mode impedance controller for safe human-robot interaction. Synthesis of the follower’s legs and trunk motion is based on the reconfigurable adaptive motion primitives, which are defined as simple, parameterized motion building blocks that can be combined in a sequence or in parallel to generate complex motion. It has been already proven that motion generation, based on reconfigurable adaptive primitives enables the robot to modify gait parameters online, at any time instant, and to synthesize dynamically balanced walk. Motion of the follower is based on the reactive approach, where the gait parameters (walking velocity, direction and step length depend on the intensity and the direction of the external force vector. Robot end-effectors are compliant in the horizontal plain, adapting to the physical guidance of the leader, while being stiff in the vertical direction in order to compensate the external force in negative Z direction. The proposed framework has been tested by numerical simulations involving a dynamic robot model. [Projekat Ministarstva nauke Republike Srbije, br. III44008 and by Provincial secretariat for science and technological development under contract 114-451-2116/2011

  6. Decision Making and Finite-Time Motion Control for a Group of Robots.

    Science.gov (United States)

    Lu, Qiang; Liu, Shirong; Xie, Xiaogao; Wang, Jian

    2013-04-01

    This paper deals with the problem of odor source localization by designing and analyzing a decision-control system (DCS) for a group of robots. In the decision level, concentration magnitude information and wind information detected by robots are used to predict a probable position of the odor source. Specifically, the idea of particle swarm optimization is introduced to give a probable position of the odor source in terms of concentration magnitude information. Moreover, an observation model of the position of the odor source is built according to wind information, and a Kalman filter is used to estimate the position of the odor source, which is combined with the position obtained by using concentration magnitude information in order to make a decision on the position of the odor source. In the control level, two types of the finite-time motion control algorithms are designed; one is a finite-time parallel motion control algorithm, while the other is a finite-time circular motion control algorithm. Precisely, a nonlinear finite-time consensus algorithm is first proposed, and a Lyapunov approach is used to analyze the finite-time convergence of the proposed consensus algorithm. Then, on the basis of the proposed finite-time consensus algorithm, a finite-time parallel motion control algorithm, which can control the group of robots to trace the plume and move toward the probable position of odor source, is derived. Next, a finite-time circular motion control algorithm, which can enable the robot group to circle the probable position of the odor source in order to search for odor clues, is also developed. Finally, the performance capabilities of the proposed DCS are illustrated through the problem of odor source localization.

  7. Nonresonant Multiple-Pulse Control of Molecular Motions in Liquid

    Directory of Open Access Journals (Sweden)

    Nikiforov V.G.

    2015-01-01

    Full Text Available We propose the implementation of the multiple-pulse excitation for manipulation of the molecular contributions to the optically-heterodyne-detected optical-Kerr-effect. The key parameters controlling the specificity of the multiple-pulse excitation scenarios are the pulses durations, the delays between pulses, the relation between the pump pulses amplitudes and the pulses polarizations. We model the high-order optical responses and consider some principles of the scenarios construction. We show that it is possible to adjust the excitation scenario in such a way that the some responses can be removed from detected signal along with the enhancement of the interested response amplitude. The theoretical analysis and first experimental data reveal that the multiple-pulse excitation technique can be useful for the selective spectroscopy of the molecular vibrations and rotations in liquid.

  8. On transcending the impasse of respiratory motion correction applications in routine clinical imaging - a consideration of a fully automated data driven motion control framework

    Energy Technology Data Exchange (ETDEWEB)

    Kesner, Adam L [Division of Nuclear Medicine, Department of Radiology, Anschutz Medical Campus, University of Colorado Denver, 12700 E 19th Ave, Box C-278, Aurora, CO 80045 (United States); Schleyer, Paul J [Division of Imaging Sciences and Biomedical Engineering, King’s College London, London, WC2R 2LS (United Kingdom); Büther, Florian [European Institute for Molecular Imaging, University of Münster, Münster, 48149 (Germany); Walter, Martin A [Institute of Nuclear Medicine and Department of Clinical Research, University Hospital Bern, Bern, 3010 (Switzerland); Schäfers, Klaus P [European Institute for Molecular Imaging, University of Münster, Münster, 48149 (Germany); Koo, Phillip J [Division of Nuclear Medicine, Department of Radiology, Anschutz Medical Campus, University of Colorado Denver, 12700 E 19th Ave, Box C-278, Aurora, CO 80045 (United States)

    2014-06-17

    Positron emission tomography (PET) is increasingly used for the detection, characterization, and follow-up of tumors located in the thorax. However, patient respiratory motion presents a unique limitation that hinders the application of high-resolution PET technology for this type of imaging. Efforts to transcend this limitation have been underway for more than a decade, yet PET remains for practical considerations a modality vulnerable to motion-induced image degradation. Respiratory motion control is not employed in routine clinical operations. In this article, we take an opportunity to highlight some of the recent advancements in data-driven motion control strategies and how they may form an underpinning for what we are presenting as a fully automated data-driven motion control framework. This framework represents an alternative direction for future endeavors in motion control and can conceptually connect individual focused studies with a strategy for addressing big picture challenges and goals. The online version of this article (doi:10.1186/2197-7364-1-8) contains supplementary material, which is available to authorized users.

  9. Experimental investigation of shaping disturbance observer design for motion control of precision mechatronic stages with resonances

    Science.gov (United States)

    Yang, Jin; Hu, Chuxiong; Zhu, Yu; Wang, Ze; Zhang, Ming

    2017-08-01

    In this paper, shaping disturbance observer (SDOB) is investigated for precision mechatronic stages with middle-frequency zero/pole type resonance to achieve good motion control performance in practical manufacturing situations. Compared with traditional standard disturbance observer (DOB), in SDOB a pole-zero cancellation based shaping filter is cascaded to the mechatronic stage plant to meet the challenge of motion control performance deterioration caused by actual resonance. Noting that pole-zero cancellation is inevitably imperfect and the controller may even consequently become unstable in practice, frequency domain stability analysis is conducted to find out how each parameter of the shaping filter affects the control stability. Moreover, the robust design criterion of the shaping filter, and the design procedure of SDOB, are both proposed to guide the actual design and facilitate practical implementation. The SDOB with the proposed design criterion is applied to a linear motor driven stage and a voice motor driven stage, respectively. Experimental results consistently validate the effectiveness nature of the proposed SDOB scheme in practical mechatronics motion applications. The proposed SDOB design actually could be an effective unit in the controller design for motion stages of mechanical manufacture equipments.

  10. Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

    Science.gov (United States)

    Xu, Bing; Cheng, Min

    2017-11-01

    This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

  11. Control of Dynamic Limb Motion Using Fatigue-Resistant Asynchronous Intrafascicular Multi-Electrode Stimulation

    Directory of Open Access Journals (Sweden)

    Mitchell A. Frankel

    2016-09-01

    Full Text Available Asynchronous intrafascicular multi-electrode stimulation (aIFMS of small independent populations of peripheral nerve motor axons can evoke selective, fatigue-resistant muscle forces. We previously developed a real-time proportional closed-loop control method for aIFMS generation of isometric muscle force and the present work extends and adapts this closed-loop controller to the more demanding task of dynamically controlling joint position in the presence of opposing joint torque. A proportional-integral-velocity controller, with integrator anti-windup strategies, was experimentally validated as a means to evoke motion about the hind-limb ankle joint of an anesthetized feline via aIFMS stimulation of fast-twitch plantar-flexor muscles. The controller was successful in evoking steps in joint position with 2.4% overshoot, 2.3-s rise time, 4.5-s settling time, and near-zero steady-state error. Controlled step responses were consistent across changes in step size, stable against external disturbances, and reliable over time. The controller was able to evoke smooth eccentric motion at joint velocities up to 8 deg./s, as well as sinusoidal trajectories with frequencies up to 0.1 Hz, with time delays less than 1.5 s. These experiments provide important insights toward creating a robust closed-loop aIFMS controller that can evoke precise fatigue-resistant motion in paralyzed individuals, despite the complexities introduced by aIFMS.

  12. Role Identification of Yaw and Sway Motion in Helicopter Yaw Control Tasks

    NARCIS (Netherlands)

    Ellerbroek, J.; Stroosma, O.; Van Paassen, M.M.; Mulder, M.

    2008-01-01

    A set of experiments has been conducted to investigate the relative effect of translational and rotational motion cues on pilot performance. Two helicopter yaw control tasks were performed on the SIMONA: a yaw capture task and a target-tracking task with simulated turbulence. The yaw capture task

  13. Near-surface effects on the controlled motion of magnetotactic bacteria

    NARCIS (Netherlands)

    Khalil, Islam S.M.; Tabak, Ahmet Fatih; Hageman, Tijmen; Ewis, Mohamed; Pichel, Marc; Mitwally, Mohamed E.; El-Din, Nermeen Serag; Abelmann, Leon; Sitti, Metin

    2017-01-01

    Magnetotactic bacteria have the potential to controllably reach stagnant fluids inside the human body and achieve targeted drug delivery. In this application, motion of the magnetotactic bacteria is influenced by the near-surface effects such as the background flows and surface interactions. Here,

  14. Motion Controllers for Learners to Manipulate and Interact with 3D Objects for Mental Rotation Training

    Science.gov (United States)

    Yeh, Shih-Ching; Wang, Jin-Liang; Wang, Chin-Yeh; Lin, Po-Han; Chen, Gwo-Dong; Rizzo, Albert

    2014-01-01

    Mental rotation is an important spatial processing ability and an important element in intelligence tests. However, the majority of past attempts at training mental rotation have used paper-and-pencil tests or digital images. This study proposes an innovative mental rotation training approach using magnetic motion controllers to allow learners to…

  15. Novel Motion Sensorless Control of Single Phase Brushless D.C. PM Motor Drive, with experiments

    DEFF Research Database (Denmark)

    Lepure, Liviu Ioan; Boldea, Ion; Andreescu, Gheorghe Daniel

    2010-01-01

    A motion sensorless control for single phase permanent magnet brushless d.c. (PM-BLDC) motor drives, based on flux integration and prior knowledge of the PM flux/position characteristic is proposed here and an adequate correction algorithm is adopted, in order to increase the robustness to noise...

  16. Energy intake and expenditure during sedentary screen time and motion-controlled video gaming123

    OpenAIRE

    Lyons, Elizabeth J; Tate, Deborah F; Ward, Dianne S; Wang, Xiaoshan

    2012-01-01

    Background: Television watching and playing of video games (VGs) are associated with higher energy intakes. Motion-controlled video games (MC) may be a healthier alternative to sedentary screen-based activities because of higher energy expenditures, but little is known about the effects of these games on energy intakes.

  17. Pengenalan Isyarat Tangan Menggunakan Leap Motion Controller untuk Pertunjukan Boneka Tangan Virtual

    Directory of Open Access Journals (Sweden)

    Iskandar Dzulkarnain

    2017-01-01

    Full Text Available Leap Motion Controller memiliki keterbatasan dalam menangkap gerak isyarat tangan. Keterbatasan tersebut menyebabkan gerakan tangan model boneka virtual tidak seakurat gerakan tangan pelakon. Selain itu, konfigurasi bone model dimensi tiga untuk Leap Motion Controller berbeda dengan konfigurasi bone dimensi tiga pada umumnya. Oleh karena itu, dilakukan pengenalan isyarat tangan menggunakan Leap Motion Controller untuk pertunjukan boneka tangan virtual. Pengenalan isyarat tangan tersebut dilakukan dengan memetakan hasil penjejakan tangan dari Leap Motion Controller ke dalam model prefab tangan Leap SDK. Setelah berhasil dipetakan, konfigurasi bone dari model prefab tangan Leap SDK diadaptasi ke dalam model boneka tangan virtual. Adaptasi tersebut dilakukan dengan mengatur posisi dan orientasi bone pada model dimensi tiga boneka tangan. Setelah posisi dan orientasi bone yang sesuai ditemukan, model dimensi tiga boneka tangan diuji menirukan gerakan boneka tangan asli. Pengujian boneka tangan virtual pada sembarang orang dilakukan untuk mengetahui tingkat kesinkronan gerak mulut atas dan mulut bawah boneka tangan virtual. Dari pengujian sembarang orang, didapatkan hasil 50% setuju dan 5,6% sangat setuju gerak mulut atas sinkron dengan gerak tangan. Sedangkan untuk gerak mulut bawah sinkron dengan gerak tangan didapatkan 16,7% setuju dan 11,1% sangat setuju.

  18. Prediction of fretting motion in a controllable pitch propeller during service

    NARCIS (Netherlands)

    Godjevac, M.; van der Beek, T.; Grimmelius, H.T.; Tinga, Tiedo; Stapersma, D.

    2009-01-01

    This paper focuses on the forces acting in a controllable pitch propeller (CPP) mechanism and the manifestation of unwilling, small amplitude, vibrating motion (fretting) in a blade bearing caused by seaway. If this happens, fretting can result in fretting fatigue of components, fretting wear, and

  19. Data acquisition and motion control of the second generation accelerator industry CT

    International Nuclear Information System (INIS)

    Chen Fa; Ye Yunchang; Yang Wan

    2009-01-01

    Radial pulse, data acquisition, platform motion's adoption and coupling in the developing of second generation of the second generation high energy industry CT were introduced. The practical method to exact fit these parameter was constructed and the special control software was accomplished. And the position of the platform in data acquisition's effect on the space resolution factor of the CT system was discussed. (authors)

  20. Injury risk in runners using standard or motion control shoes: a randomised controlled trial with participant and assessor blinding.

    Science.gov (United States)

    Malisoux, Laurent; Chambon, Nicolas; Delattre, Nicolas; Gueguen, Nils; Urhausen, Axel; Theisen, Daniel

    2016-04-01

    This randomised controlled trial investigated if the usage of running shoes with a motion control system modifies injury risk in regular leisure-time runners compared to standard shoes, and if this influence depends on foot morphology. Recreational runners (n=372) were given either the motion control or the standard version of a regular running shoe model and were followed up for 6 months regarding running activity and injury. Foot morphology was analysed using the Foot Posture Index method. Cox regression analyses were used to compare injury risk between the two groups, based on HRs and their 95% CIs, controlling for potential confounders. Stratified analyses were conducted to evaluate the effect of motion control system in runners with supinated, neutral and pronated feet. The overall injury risk was lower among the participants who had received motion control shoes (HR=0.55; 95% CI 0.36 to 0.85) compared to those receiving standard shoes. This positive effect was only observed in the stratum of runners with pronated feet (n=94; HR=0.34; 95% CI 0.13 to 0.84); there was no difference in runners with neutral (n=218; HR=0.78; 95% CI 0.44 to 1.37) or supinated feet (n=60; HR=0.59; 95% CI 0.20 to 1.73). Runners with pronated feet using standard shoes had a higher injury risk compared to those with neutral feet (HR=1.80; 95% CI 1.01 to 3.22). The overall injury risk was lower in participants who had received motion control shoes. Based on secondary analysis, those with pronated feet may benefit most from this shoe type. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/

  1. A novel controller based on robust backstepping and neural network for flight motion simulator

    Science.gov (United States)

    Liu, Zhenghua; Wu, Yunjie; Wang, Weihong

    2008-10-01

    The flight motion simulator is one kind of servo system with uncertainties and disturbances. To obtain high performance and good robustness for the flight simulator, we present a robust compound controller base on Backstepping controller and BP neural network. Firstly, the design procedure of the robust Backstepping controller is described and correlative problems are proposed. Secondly, the principle and the design process of BP neural network are analyzed and expatiated respectively. Finally, simulation results on the flight simulator show that the BP neural network can compensate external disturbances including system input and output disturbance and the system performance can be improved. Therefore both robustness and high performance of the flight simulator are achieved. It is an applied technology for the control of servo system, such as the flight motion simulator.

  2. Intelligent control of neurosurgical robot MM-3 using dynamic motion scaling.

    Science.gov (United States)

    Ko, Sunho; Nakazawa, Atsushi; Kurose, Yusuke; Harada, Kanako; Mitsuishi, Mamoru; Sora, Shigeo; Shono, Naoyuki; Nakatomi, Hirofumi; Saito, Nobuhito; Morita, Akio

    2017-05-01

    OBJECTIVE Advanced and intelligent robotic control is necessary for neurosurgical robots, which require great accuracy and precision. In this article, the authors propose methods for dynamically and automatically controlling the motion-scaling ratio of a master-slave neurosurgical robotic system to reduce the task completion time. METHODS Three dynamic motion-scaling modes were proposed and compared with the conventional fixed motion-scaling mode. These 3 modes were defined as follows: 1) the distance between a target point and the tip of the slave manipulator, 2) the distance between the tips of the slave manipulators, and 3) the velocity of the master manipulator. Five test subjects, 2 of whom were neurosurgeons, sutured 0.3-mm artificial blood vessels using the MM-3 neurosurgical robot in each mode. RESULTS The task time, total path length, and helpfulness score were evaluated. Although no statistically significant differences were observed, the mode using the distance between the tips of the slave manipulators improves the suturing performance. CONCLUSIONS Dynamic motion scaling has great potential for the intelligent and accurate control of neurosurgical robots.

  3. Mechatronic System Design and Intelligent Motion Control of Hydraulic Robots and Machines

    DEFF Research Database (Denmark)

    Conrad, Finn; Sørensen, Torben

    2003-01-01

    integration of an overall design and manufacturing IT- concept feasible and commercially attractive. An IT-tool concept for modelling, simulation and design of mechatronic products and systems is proposed in this paper. It built on results from a Danish mechatronic research program on intelligent motion...... controller utilizes the dSPACE System suitable for real-time experimentation, evaluation and validation of control laws and algorithms....

  4. An object orient program specification for a mobile robot motion control language

    OpenAIRE

    Grim, Carl Joseph

    1993-01-01

    Approved for public release; distribution is unlimited The Yamabico Research Group at the Naval Postgraduate School is actively pursuing improvements in design and implementation of applications for it's family of autonomous mobile robots. This paper describes a new high level language for controlling the Yamabico- 11, surnamed OOPS-MML (Object-Oriented Program Specification for a Mobile robot Motion control Language). Conceptual goals included a user friendly, high level inter...

  5. A study of pilot behavior during controlling the lateral directional motion of airplanes in turbulent air

    Science.gov (United States)

    Beppu, G.

    1975-01-01

    The pilot behaviors controlling the lateral directional motion of airplanes in turbulent air have been investigated by using the pilot transfer function which has been obtained by the analysis of flight test data. The pilot uses the gains for the aileron manipulation proportionally to bank angle so as to minimize r.m.s. of bank angle. The pilot rudder manipulations are done proportionally to rolling velocity, yawing velocity, and yaw angle. Namely, the pilot carries out the cross control for the rudder.

  6. ANALYSIS OF PERTURBED MOTION STABILITY OF WHEELER VEHICLES BRAKES CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    V. Verbytskiyi

    2011-01-01

    Full Text Available The analysis of the perturbed motion stability of the brake automatic control system on the basis of Lyapunov’s second method is carried out. Using transformations of Lurie there has been ob-tained the canonical form of the system of equations of automatic control. It allowed determining the necessary and sufficient conditions of the asymptotic stability of the system irrespective of its initial condition and a definite choice of the admissible characteristic of the regulator.

  7. The Motion Path Study of Measuring Robot Based on Variable Universe Fuzzy Control

    Directory of Open Access Journals (Sweden)

    Ma Guoqing

    2017-01-01

    Full Text Available For the problem of measuring robot requires a higher positioning, firstly learning about the error overview of the system, analysised the influence of attitude, speed and other factors on systematic errors. Then collected and analyzed the systematic error curve in the track to complete the planning process. The last adding fuzzy control in both cases, by comparing with the original system, can found that the method based on fuzzy control system can significantly reduce the error during the motion.

  8. Real-time high-speed motion blur compensation system based on back-and-forth motion control of galvanometer mirror.

    Science.gov (United States)

    Hayakawa, Tomohiko; Watanabe, Takanoshin; Ishikawa, Masatoshi

    2015-12-14

    We developed a novel real-time motion blur compensation system for the blur caused by high-speed one-dimensional motion between a camera and a target. The system consists of a galvanometer mirror and a high-speed color camera, without the need for any additional sensors. We controlled the galvanometer mirror with continuous back-and-forth oscillating motion synchronized to a high-speed camera. The angular speed of the mirror is given in real time within 10 ms based on the concept of background tracking and rapid raw Bayer block matching. Experiments demonstrated that our system captures motion-invariant images of objects moving at speeds up to 30 km/h.

  9. Motion Perception and Manual Control Performance During Passive Tilt and Translation Following Space Flight

    Science.gov (United States)

    Clement, Gilles; Wood, Scott J.

    2010-01-01

    This joint ESA-NASA study is examining changes in motion perception following Space Shuttle flights and the operational implications of post-flight tilt-translation ambiguity for manual control performance. Vibrotactile feedback of tilt orientation is also being evaluated as a countermeasure to improve performance during a closed-loop nulling task. METHODS. Data has been collected on 5 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s) combined with body translation (12-22 cm, peak-to-peak) is utilized to elicit roll-tilt perception (equivalent to 20 deg, peak-to-peak). A forward-backward moving sled (24-390 cm, peak-to-peak) with or without chair tilting in pitch is utilized to elicit pitch tilt perception (equivalent to 20 deg, peak-to-peak). These combinations are elicited at 0.15, 0.3, and 0.6 Hz for evaluating the effect of motion frequency on tilt-translation ambiguity. In both devices, a closed-loop nulling task is also performed during pseudorandom motion with and without vibrotactile feedback of tilt. All tests are performed in complete darkness. PRELIMINARY RESULTS. Data collection is currently ongoing. Results to date suggest there is a trend for translation motion perception to be increased at the low and medium frequencies on landing day compared to pre-flight. Manual control performance is improved with vibrotactile feedback. DISCUSSION. The results of this study indicate that post-flight recovery of motion perception and manual control performance is complete within 8 days following short-duration space missions. Vibrotactile feedback of tilt improves manual control performance both before and after flight.

  10. Motion control in double-walled carbon nanotube systems using a Stone-Thrower-Wales defect cluster

    International Nuclear Information System (INIS)

    Liu Ping; Zhang Yongwei

    2010-01-01

    The ability to control the motion of a single molecule will have an important impact in nano-mechanical systems. Multi-walled carbon nanotube systems, which have extremely low intertube friction and strong motion confinement, can form the basis for mechanically based motion control. We devise two molecular motion control units based on double-walled carbon nanotubes embedded with a Stone-Thrower-Wales defect cluster, and perform molecular dynamics simulations to determine the characteristics of these two control units. We show that one of the molecular control units is able to perform a logic operation on one logic input and produce three logic outputs, while the other is able to produce two logic outputs. Potential applications of the motion control units include molecular switches, shuttles and mechanically based logic devices.

  11. The motion and control of a complex three-body space tethered system

    Science.gov (United States)

    Shi, Gefei; Zhu, Zhanxia; Chen, Shiyu; Yuan, Jianping; Tang, Biwei

    2017-11-01

    This paper is mainly devoted to investigating the dynamics and stability control of a three body-tethered satellite system which contains a main satellite and two subsatellites connected by two straight, massless and inextensible tethers. Firstly, a detailed mathematical model is established in the central gravitational field. Then, the dynamic characteristics of the established system are investigated and analyzed. Based on the dynamic analysis, a novel sliding mode prediction model (SMPM) control strategy is proposed to suppress the motion of the built tethered system. The numerical results show that the proposed underactuated control law is highly effective in suppressing the attitude/libration motion of the underactuated three-body tethered system. Furthermore, cases of different target angles are also examined and analyzed. The simulation results reveal that even if the final equilibrium states differ from different selections of the target angles, the whole system can still be maintained in acceptable areas.

  12. Imparting Motion to a Test Object Such as a Motor Vehicle in a Controlled Fashion

    Science.gov (United States)

    Southward, Stephen C. (Inventor); Reubush, Chandler (Inventor); Pittman, Bryan (Inventor); Roehrig, Kurt (Inventor); Gerard, Doug (Inventor)

    2014-01-01

    An apparatus imparts motion to a test object such as a motor vehicle in a controlled fashion. A base has mounted on it a linear electromagnetic motor having a first end and a second end, the first end being connected to the base. A pneumatic cylinder and piston combination have a first end and a second end, the first end connected to the base so that the pneumatic cylinder and piston combination is generally parallel with the linear electromagnetic motor. The second ends of the linear electromagnetic motor and pneumatic cylinder and piston combination being commonly linked to a mount for the test object. A control system for the linear electromagnetic motor and pneumatic cylinder and piston combination drives the pneumatic cylinder and piston combination to support a substantial static load of the test object and the linear electromagnetic motor to impart controlled motion to the test object.

  13. Mechatronic System Design and Intelligent Motion Control of Hydraulic Robots and Machines

    DEFF Research Database (Denmark)

    Conrad, Finn; Sørensen, Torben

    2003-01-01

    The paper presents an approach and concept to mechatronic system design and intelligent motion control. The Information Technology (IT) offers software and hardware for improvement of R&D Mechatronic Teams to create products and solutions for industrial applications. The latest progress in IT makes...... integration of an overall design and manufacturing IT- concept feasible and commercially attractive. An IT-tool concept for modelling, simulation and design of mechatronic products and systems is proposed in this paper. It built on results from a Danish mechatronic research program on intelligent motion...... control as well as from the Esprit project SWING on IT-tools for rapid prototyping of fluid power components and systems. A mechatronic test facility for a DTU-AAU hydraulic robot ¿Thor¿, and a CNC XY-machine table was implemented. The controller applies digital signal processors (DSPs). The DSP...

  14. Modeling, system identification, and control for slosh-free motion of an open container of liquid

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, J.; Baty, R.; Dykhuizen, R.; Dohrmann, C.; Parker, G.; Robinett, R.; Romero, V.; Schmitt, D.

    1996-04-01

    This report discusses work performed under a Cooperative Research And Development Agreement (CRADA) with Corning, Inc., to analyze and test various techniques for controlling the motion of a high speed robotic arm carrying an open container of viscous liquid, in this case, molten glass. A computer model was generated to estimate the modes of oscillation of the liquid based on the shape of the container and the viscosity of the liquid. This fluid model was experimentally verified and tuned based on experimental data from a capacitive sensor on the side of the container. A model of the robot dynamics was also developed and verified through experimental tests on a Fanuc S-800 robot arm. These two models were used to estimate the overall modes of oscillation of an open container of liquid being carried by a robot arm. Using the estimated modes, inverse dynamic control techniques were used to determine a motion profile which would eliminate waves on the liquid`s surface. Experimental tests showed that residual surface waves in an open container of water at the end of motion were reduced by over 95% and that in-motion surface waves were reduced by over 75%.

  15. Virtual reality-based assessment of basic laparoscopic skills using the Leap Motion controller.

    Science.gov (United States)

    Lahanas, Vasileios; Loukas, Constantinos; Georgiou, Konstantinos; Lababidi, Hani; Al-Jaroudi, Dania

    2017-12-01

    The majority of the current surgical simulators employ specialized sensory equipment for instrument tracking. The Leap Motion controller is a new device able to track linear objects with sub-millimeter accuracy. The aim of this study was to investigate the potential of a virtual reality (VR) simulator for assessment of basic laparoscopic skills, based on the low-cost Leap Motion controller. A simple interface was constructed to simulate the insertion point of the instruments into the abdominal cavity. The controller provided information about the position and orientation of the instruments. Custom tools were constructed to simulate the laparoscopic setup. Three basic VR tasks were developed: camera navigation (CN), instrument navigation (IN), and bimanual operation (BO). The experiments were carried out in two simulation centers: MPLSC (Athens, Greece) and CRESENT (Riyadh, Kingdom of Saudi Arabia). Two groups of surgeons (28 experts and 21 novices) participated in the study by performing the VR tasks. Skills assessment metrics included time, pathlength, and two task-specific errors. The face validity of the training scenarios was also investigated via a questionnaire completed by the participants. Expert surgeons significantly outperformed novices in all assessment metrics for IN and BO (p controller for assessment of basic laparoscopic skills. The proposed system allowed the evaluation of dexterity of the hand movements. Future work will involve comparison studies with validated simulators and development of advanced training scenarios on current Leap Motion controller.

  16. Development of virtual reality exercise of hand motion assist robot for rehabilitation therapy by patient self-motion control.

    Science.gov (United States)

    Ueki, Satoshi; Nishimoto, Yutaka; Abe, Motoyuki; Kawasaki, Haruhisa; Ito, Satoshi; Ishigure, Yasuhiko; Mizumoto, Jun; Ojika, Takeo

    2008-01-01

    This paper presents a virtual reality-enhanced hand rehabilitation support system with a symmetric master-slave motion assistant for independent rehabilitation therapies. Our aim is to provide fine motion exercise for a hand and fingers, which allows the impaired hand of a patient to be driven by his or her healthy hand on the opposite side. Since most disabilities caused by cerebral vascular accidents or bone fractures are hemiplegic, we adopted a symmetric master-slave motion assistant system in which the impaired hand is driven by the healthy hand on the opposite side. A VR environment displaying an effective exercise was created in consideration of system's characteristic. To verify the effectiveness of this system, a clinical test was executed by applying to six patients.

  17. Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints

    Directory of Open Access Journals (Sweden)

    Ollin Peñaloza-Mejía

    2015-01-01

    Full Text Available A solution to achieve global asymptotic tracking with bounded velocities in an omnidirectional mobile robot is proposed in this paper. It is motivated by the need of having a useful in-practice motion control scheme, which takes into account the physical limits of the velocities. To this end, a passive nonlinear controller is designed and combined with a tracking controller in a negative feedback connection structure. By using Lyapunov theory and passivity tools, global asymptotic tracking with desired bounded velocities is proved. Simulations and experimental results are provided to show the effectiveness of the proposal.

  18. Low Thrust Relative Motion Control of Satellite Formations in Deep Space

    Science.gov (United States)

    Prioroc, Claudiu-Lucian; Mikkola, Seppo

    The problem of placing and controlling a formation of satellites on a Halo orbit is studied. The Earth-Sun circular restricted three body problem is considered. A family of artificial Halo orbits with the same periods, around the L 1 and L 2 Lagrange points in the Earth-Sun system is found using the pseudo-arc-length continuation method. The orbits are used are reference trajectories for satellites to track. The problem of orbit stability, bounding and controlling the relative motion by means of nonlinear control is addressed.

  19. Autonomous tracked robots in planar off-road conditions modelling, localization, and motion control

    CERN Document Server

    González, Ramón; Guzmán, José Luis

    2014-01-01

    This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques.   Keywords: longitudinal slip, visual odometry, slip...

  20. Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation

    Directory of Open Access Journals (Sweden)

    Jianyong Yao

    2013-01-01

    Full Text Available Uncertainties including the structured and unstructured, especially the nonlinear frictions, always exist in physical servo systems and degrade their tracking accuracy. In this paper, a practical method named adaptive robust controller (ARC is synthesized with a continuous differentiable friction model for high accuracy motion control of a direct-drive dc motor, which results in a continuous control input and thus is more suitable for application. To further reduce the noise sensitivity and improve the tracking accuracy, a desired compensation version of the proposed adaptive robust controller is also developed and its stability is guaranteed by a proper robust law. The proposed controllers not only account for the structured uncertainties (e.g., parametric uncertainties but also for the unstructured uncertainties (e.g., unconsidered nonlinear frictions. Furthermore, the controllers theoretically guarantee a prescribed output tracking transient performance and final tracking accuracy in both structured and unstructured uncertainties while achieving asymptotic output tracking in the absence of unstructured uncertainties, which is very important for high accuracy control of motion systems. Extensive comparative experimental results are obtained to verify the high-performance nature of the proposed control strategies.

  1. Non-Linear Fuzzy Logic Control for Forced Large Motions of Spinning Shafts

    Science.gov (United States)

    LEI, SHULIANG; PALAZZOLO, ALAN; NA, UHNJOO; KASCAK, ALBERT

    2000-08-01

    A unique control approach is developed for prescribed large motion control using magnetic bearings in a proposed active stall control test rig. A finite element based, flexible shaft is modeled in a closed loop system with PD controllers that generate the control signals to support and to shake the rotor shaft. A linearized force model of the stall rig with 16 magnetic poles (4 opposing C-cores) yields stability and frequency responses. The non-linear model retains the non-linearities in Ampere's law, Faraday's law and the Maxwell stress tensor. A fuzzy logic control system is then designed to show the advantages over the conventional controllers with the fully non-linear model.

  2. CDIO-Concept for Enginering Education in Fluid Power, Motion Control and Mechatronic Design

    DEFF Research Database (Denmark)

    Conrad, Finn; Andersen, Torben O.; Hansen, Michael Rygaard

    2006-01-01

    of mechatronics solutions with fluid power actuators for motion control of machines and robots. The idea of CDIO-Concept is to take care of that the students are learning by doing and learning while doing when the students are active to generate new products and solutions by going through the phases from...... mechatronics design, and advantages as well as challenges are identified and discussed. An IT-tool concept for modelling, simulation and design of mechatronic products and systems is proposed....

  3. Motion Planning and Posture Control of the General 3-Trailer System

    OpenAIRE

    K. Raghuwaiya; B. Sharma; J. Vanualailai

    2014-01-01

    This paper presents a set of artificial potential field functions that improves upon, in general, the motion planning and posture control, with theoretically guaranteed point and posture stabilities, convergence and collision avoidance properties of the general3-trailer system in a priori known environment. We basically design and inject two new concepts; ghost walls and the distance optimization technique (DOT) to strengthen point and posture stabilities, in the sense of Lyapunov, of our dyn...

  4. Robust Motion Control of Industrial Robot Based on Robot Parameter Identification and Feedforward Control Considering Resonant Frequency

    Science.gov (United States)

    Tungpataratanawong, Somsawas; Ohishi, Kiyoshi; Miyazaki, Toshimasa

    In control application of industrial robot manipulator, a two-inertia resonant system is normally represented as the basic plant model for various control schemes. Various control techniques with partially feedback linearization have been proposed to achieve high performance motion control. The design of such controllers basically relies on system mechanical parameters. The proper parameters of the model cannot be obtained by the parameter identification based on only manipulator force and motion measurements. In this paper, the open-loop resonant frequency characteristic of the flexible joint is employed to identify the proper mechanical parameters of the two-inertia model. The nominal link inertia and spring constant of gear drive can be readily measured by this novel identification method. The identified parameters are used in independent-joint controller design for conventional PD control scheme and robust control scheme to verify the effectiveness of the proposed identification method. Moreover, the accuracy improvement of the proposed robust control scheme based on feedforward inverse dynamic compensation and D-PD position control gives support the validity of the proposed identification method.

  5. An EMG Interface for the Control of Motion and Compliance of a Supernumerary Robotic Finger

    Science.gov (United States)

    Hussain, Irfan; Spagnoletti, Giovanni; Salvietti, Gionata; Prattichizzo, Domenico

    2016-01-01

    In this paper, we propose a novel electromyographic (EMG) control interface to control motion and joints compliance of a supernumerary robotic finger. The supernumerary robotic fingers are a recently introduced class of wearable robotics that provides users additional robotic limbs in order to compensate or augment the existing abilities of natural limbs without substituting them. Since supernumerary robotic fingers are supposed to closely interact and perform actions in synergy with the human limbs, the control principles of extra finger should have similar behavior as human’s ones including the ability of regulating the compliance. So that, it is important to propose a control interface and to consider the actuators and sensing capabilities of the robotic extra finger compatible to implement stiffness regulation control techniques. We propose EMG interface and a control approach to regulate the compliance of the device through servo actuators. In particular, we use a commercial EMG armband for gesture recognition to be associated with the motion control of the robotic device and surface one channel EMG electrodes interface to regulate the compliance of the robotic device. We also present an updated version of a robotic extra finger where the adduction/abduction motion is realized through ball bearing and spur gears mechanism. We have validated the proposed interface with two sets of experiments related to compensation and augmentation. In the first set of experiments, different bimanual tasks have been performed with the help of the robotic device and simulating a paretic hand since this novel wearable system can be used to compensate the missing grasping abilities in chronic stroke patients. In the second set, the robotic extra finger is used to enlarge the workspace and manipulation capability of healthy hands. In both sets, the same EMG control interface has been used. The obtained results demonstrate that the proposed control interface is intuitive and can

  6. Design and motion control of bioinspired humanoid robot head from servo motors toward artificial muscles

    Science.gov (United States)

    Almubarak, Yara; Tadesse, Yonas

    2017-04-01

    The potential applications of humanoid robots in social environments, motivates researchers to design, and control biomimetic humanoid robots. Generally, people are more interested to interact with robots that have similar attributes and movements to humans. The head is one of most important part of any social robot. Currently, most humanoid heads use electrical motors, pneumatic actuators, and shape memory alloy (SMA) actuators for actuation. Electrical and pneumatic actuators take most of the space and would cause unsmooth motions. SMAs are expensive to use in humanoids. Recently, in many robotic projects, Twisted and Coiled Polymer (TCP) artificial muscles are used as linear actuators which take up little space compared to the motors. In this paper, we will demonstrate the designing process and motion control of a robotic head with TCP muscles. Servo motors and artificial muscles are used for actuating the head motion, which have been controlled by a cost efficient ARM Cortex-M7 based development board. A complete comparison between the two actuators is presented.

  7. Hybrid task priority-based motion control of a redundant free-floating space robot

    Directory of Open Access Journals (Sweden)

    Cheng ZHOU

    2017-12-01

    Full Text Available This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the least-squares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning, and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task’s null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology. Keywords: Base attitude control, Hybrid task-priority, Motion planning, Multiple constraints, Redundant space robot

  8. Multi-Objective Motion Control Optimization for the Bridge Crane System

    Directory of Open Access Journals (Sweden)

    Renxin Xiao

    2018-03-01

    Full Text Available A novel control algorithm combining the linear quadratic regulator (LQR control and trajectory planning (TP is proposed for the control of an underactuated crane system, targeting position adjustment and swing suppression. The TP is employed to control the swing angle within certain constraints, and the LQR is applied to achieve anti-disturbance. In order to improve the accuracy of the position control, a differential-integral control loop is applied. The weighted LQR matrices representing priorities of the state variables for the bridge crane motion are searched by the multi-objective genetic algorithm (MOGA. The stability proof is provided in order to validate the effectiveness of the proposed algorithm. Numerous simulation and experimental validations justify the feasibility of the proposed method.

  9. Provision of Controlled Motion Accuracy of Industrial Robots and Multiaxis Machines by the Method of Integrated Deviations Correction

    Science.gov (United States)

    Krakhmalev, O. N.; Petreshin, D. I.; Fedonin, O. N.

    2016-04-01

    There is a developed method of correction of the integrated motion deviations of industrial robots and multiaxis machines, which are caused by the primary geometrical deviations of their segments. This method can be used to develop a control system providing the motion correction for industrial robots and multiaxis machines.

  10. Control of motion stability of the line tracer robot using fuzzy logic and kalman filter

    Science.gov (United States)

    Novelan, M. S.; Tulus; Zamzami, E. M.

    2018-03-01

    Setting of motion and balance line tracer robot two wheels is actually a combination of a two-wheeled robot balance concept and the concept of line follower robot. The main objective of this research is to maintain the robot in an upright and can move to follow the line of the Wizard while maintaining balance. In this study the motion balance system on line tracer robot by considering the presence of a noise, so that it takes the estimator is used to mengestimasi the line tracer robot motion. The estimation is done by the method of Kalman Filter and the combination of Fuzzy logic-Fuzzy Kalman Filter called Kalman Filter, as well as optimal smooting. Based on the results of the study, the value of the output of the fuzzy results obtained from the sensor input value has been filtered before entering the calculation of the fuzzy. The results of the output of the fuzzy logic hasn’t been able to control dc motors are well balanced at the moment to be able to run. The results of the fuzzy logic by using membership function of triangular membership function or yet can control with good dc motor movement in order to be balanced

  11. Time-domain prefilter design for enhanced tracking and vibration suppression in machine motion control

    Science.gov (United States)

    Cole, Matthew O. T.; Shinonawanik, Praween; Wongratanaphisan, Theeraphong

    2018-05-01

    Structural flexibility can impact negatively on machine motion control systems by causing unmeasured positioning errors and vibration at locations where accurate motion is important for task execution. To compensate for these effects, command signal prefiltering may be applied. In this paper, a new FIR prefilter design method is described that combines finite-time vibration cancellation with dynamic compensation properties. The time-domain formulation exploits the relation between tracking error and the moment values of the prefilter impulse response function. Optimal design solutions for filters having minimum H2 norm are derived and evaluated. The control approach does not require additional actuation or sensing and can be effective even without complete and accurate models of the machine dynamics. Results from implementation and testing on an experimental high-speed manipulator having a Delta robot architecture with directionally compliant end-effector are presented. The results show the importance of prefilter moment values for tracking performance and confirm that the proposed method can achieve significant reductions in both peak and RMS tracking error, as well as settling time, for complex motion patterns.

  12. Model-Based Design of Brushless DC Motor Control and Motion Control Modelling for RoboCup SSL Robots

    OpenAIRE

    Li, Xiaotian

    2015-01-01

    Over the recent years, the RoboCup competition has grown popular and attracted more and more domestic and international universities, and the levels of the teams increase every year. In Small Size League (SSL) competition, besides a good strategy system, the precision of the robots’ actions is also of vital importance in order to achieve high performance. Thus, a highly accurate and stable motion control system is needed to drive the robots to move in accordance with the planned trajectory. C...

  13. Oblique-wing research airplane motion simulation with decoupling control laws

    Science.gov (United States)

    Kempel, Robert W.; Mc Neill, Walter E.; Maine, Trindel A.

    1988-01-01

    A large piloted vertical motion simulator was used to assess the performance of a preliminary decoupling control law for an early version of the F-8 oblique wing research demonstrator airplane. Evaluations were performed for five discrete flight conditions, ranging from low-altitude subsonic Mach numbers to moderate-altitude supersonic Mach numbers. Asymmetric sideforce as a function of angle of attack was found to be the primary cause of both the lateral acceleration noted in pitch and the tendency to roll into left turns and out of right turns. The flight control system was shown to be effective in generally decoupling the airplane and reducing the lateral acceleration in pitch maneuvers.

  14. Controlled switching of single-molecule junctions by mechanical motion of a phenyl ring

    Directory of Open Access Journals (Sweden)

    Yuya Kitaguchi

    2015-10-01

    Full Text Available Mechanical methods for single-molecule control have potential for wide application in nanodevices and machines. Here we demonstrate the operation of a single-molecule switch made functional by the motion of a phenyl ring, analogous to the lever in a conventional toggle switch. The switch can be actuated by dual triggers, either by a voltage pulse or by displacement of the electrode, and electronic manipulation of the ring by chemical substitution enables rational control of the on-state conductance. Owing to its simple mechanics, structural robustness, and chemical accessibility, we propose that phenyl rings are promising components in mechanical molecular devices.

  15. Intelligent Motion Control for Four-Wheeled Holonomic Mobile Robots Using FPGA-Based Artificial Immune System Algorithm

    OpenAIRE

    Hsu-Chih Huang

    2013-01-01

    This paper presents an intelligent motion controller for four-wheeled holonomic mobile robots with four driving omnidirectional wheels equally spaced at 90 degrees from one another by using field-programmable gate array (FPGA)-based artificial immune system (AIS) algorithm. Both the nature-inspired AIS computational approach and motion controller are implemented in one FPGA chip to address the optimal control problem of real-world mobile robotics application. The proposed FPGA-based AIS metho...

  16. Motion interference analysis and optimal control of an electronic controlled bamboo-dance mechanism

    Science.gov (United States)

    Liu, Xiaohong; Xu, Liang; Hu, Xiaobin

    2017-08-01

    An electric bamboo-dance mechanism was designed and developed to realize mechanism of automation and mechanization. For coherent and fluent motion, ANSYS finite element analysis was applied on movement interference. Static structural method was used for analyzing dynamic deflection and deformation of the slender rod, while modal analysis was applied on frequency analysis to avoid second deformation caused by resonance. Therefore, the deformation in vertical and horizontal direction was explored and reasonable optimization was taken to avoid interference.

  17. Micro-topography controls on incipient motion in very steep, ephemeral streams

    Science.gov (United States)

    Scheingross, J. S.; Winchell, E. W.; Lamb, M. P.; Dietrich, W. E.

    2010-12-01

    Much of the drainage network in hilly and mountainous areas is composed of small, steep streams, and predicting incipient sediment motion in these streams is critical to modeling bedload transport, bedrock incision, and landscape evolution. While the conditions for incipient motion in low lying rivers have been well established, field measurements on initial motion in steep, mountainous streams remain sparse, and existing models remain relatively untested. To fill this knowledge gap, we monitored initial motion of sediment in six small (drainage areas of 0.05 - 2 km2) and steep (slopes of 3.5 - 35%) tributaries of the South Fork Eel River, CA. Sites were monitored for three winters from 2007 - 2010 using automated field cameras, water stage height recorders, and painted sediment. We calculated critical shear stress for grain entrainment using a number of methods including a 1D non-uniform hydraulic model (HEC-RAS), a normal flow model (i.e. τ = ρghS), and a form-drag-corrected model that accounts for immobile grains (i.e. Yager et al, 2007). In all cases, the available empirical and theoretical predictions do not adequately describe the observed transport. Furthermore, the data itself is highly scattered suggesting that the traditional non-dimensional framework used to describe incipient motion in low slope rivers (e.g. Shields number and relative grain roughness) may not adequately capture the physics of sediment transport in small, steep streams. We hypothesize that this discrepancy is due to centimeter-scale topographic variations and grain-size patchiness that appear to play an important role in controlling variations in sediment transport in these streams, especially at low-stage. Small steps and depressions within the channel bed create low-stage chutes and pools that result in highly variable flow velocities and basal shear stresses even within a single channel cross section. By changing shear stress distributions, these micro-topographic variations

  18. Design and performance evaluation of a coarse/fine precision motion control system

    Energy Technology Data Exchange (ETDEWEB)

    Yang, H; Buice, E S; Smith, S T; Hocken, R J; Fagan, T J; Trumper, D L; Otten, D; Seugling, R M

    2005-03-02

    This abstract presents current collaborative work on the development of a stage system for accurate nanometer level positioning for scanning specimens spanning an area of 50 mm x 50 mm. The completed system employs a coarse/fine approach which comprises a short-range, six degree-of-freedom fine-motion platform (5 microns 200 micro-radians) carried by a long-range, two-axis X-Y coarse positioning system. Relative motion of the stage to a fixed metrology frame will be measured using a heterodyne laser in an eight-pass interferometer configuration. The final stage system will be housed in a vacuum environment and operated in a temperature-controlled laboratory. Results from a simple single coarse/fine axis system will be the design basis for the final multi-axis system. It is expected that initial stage performance evaluation will be presented at the conference.

  19. Friction control using ultrasonic oscillation for rolling-element linear-motion guide

    International Nuclear Information System (INIS)

    Oiwa, Takaaki

    2006-01-01

    This article reports a friction-control method for rolling-element linear-motion guides used for precision positioning. In general, static friction greater than dynamic friction generates stick-slip motion and diminishes the positioning accuracy. Two ultrasonic actuators excite both the rail and the carriage of the guide to give relative displacements to bearing surfaces. In order to effectively propagate the vibration over the entire rail without damping, the actuator drives at that frequency with a half wavelength corresponding to the distances between the rail mounting bolts. This also minimizes undesirable vibration of the machine structure. Moreover, the bearing surfaces of the carriage are resonated by a second ultrasonic actuator. The experiments using a force sensor showed that the static and dynamic friction forces were reduced by approximately 25% at any place on the 600-mm-long rail. Moreover, excitation only at very low velocity decreased the static friction peak

  20. Combining Dense Structure from Motion and Visual SLAM in a Behavior-Based Robot Control Architecture

    Directory of Open Access Journals (Sweden)

    Geert De Cubber

    2010-03-01

    Full Text Available In this paper, we present a control architecture for an intelligent outdoor mobile robot. This enables the robot to navigate in a complex, natural outdoor environment, relying on only a single on-board camera as sensory input. This is achieved through a twofold analysis of the visual data stream: a dense structure from motion algorithm calculates a depth map of the environment and a visual simultaneous localization and mapping algorithm builds a map of the surroundings using image features. This information enables a behavior-based robot motion and path planner to navigate the robot through the environment. In this paper, we show the theoretical aspects of setting up this architecture.

  1. Enhancing the stabilization of aircraft pitch motion control via intelligent and classical method

    Science.gov (United States)

    Lukman, H.; Munawwarah, S.; Azizan, A.; Yakub, F.; Zaki, S. A.; Rasid, Z. A.

    2017-12-01

    The pitching movement of an aircraft is very important to ensure passengers are intrinsically safe and the aircraft achieve its maximum stability. The equations governing the motion of an aircraft are a complex set of six nonlinear coupled differential equations. Under certain assumptions, it can be decoupled and linearized into longitudinal and lateral equations. Pitch control is a longitudinal problem and thus, only the longitudinal dynamics equations are involved in this system. It is a third order nonlinear system, which is linearized about the operating point. The system is also inherently unstable due to the presence of a free integrator. Because of this, a feedback controller is added in order to solve this problem and enhance the system performance. This study uses two approaches in designing controller: a conventional controller and an intelligent controller. The pitch control scheme consists of proportional, integral and derivatives (PID) for conventional controller and fuzzy logic control (FLC) for intelligent controller. Throughout the paper, the performance of the presented controllers are investigated and compared based on the common criteria of step response. Simulation results have been obtained and analysed by using Matlab and Simulink software. The study shows that FLC controller has higher ability to control and stabilize the aircraft's pitch angle as compared to PID controller.

  2. The use of active breathing control (ABC) to reduce margin for breathing motion

    International Nuclear Information System (INIS)

    Wong, John W.; Sharpe, Michael B.; Jaffray, David A.; Kini, Vijay R.; Robertson, John M.; Stromberg, Jannifer S.; Martinez, Alavro A.

    1999-01-01

    Purpose: For tumors in the thorax and abdomen, reducing the treatment margin for organ motion due to breathing reduces the volume of normal tissues that will be irradiated. A higher dose can be delivered to the target, provided that the risk of marginal misses is not increased. To ensure safe margin reduction, we investigated the feasibility of using active breathing control (ABC) to temporarily immobilize the patient's breathing. Treatment planning and delivery can then be performed at identical ABC conditions with minimal margin for breathing motion. Methods and Materials: An ABC apparatus is constructed consisting of 2 pairs of flow monitor and scissor valve, 1 each to control the inspiration and expiration paths to the patient. The patient breathes through a mouth-piece connected to the ABC apparatus. The respiratory signal is processed continuously, using a personal computer that displays the changing lung volume in real-time. After the patient's breathing pattern becomes stable, the operator activates ABC at a preselected phase in the breathing cycle. Both valves are then closed to immobilize breathing motion. Breathing motion of 12 patients were held with ABC to examine their acceptance of the procedure. The feasibility of applying ABC for treatment was tested in 5 patients by acquiring volumetric scans with a spiral computed tomography (CT) scanner during active breath-hold. Two patients had Hodgkin's disease, 2 had metastatic liver cancer, and 1 had lung cancer. Two intrafraction ABC scans were acquired at the same respiratory phase near the end of normal or deep inspiration. An additional ABC scan near the end of normal expiration was acquired for 2 patients. The ABC scans were also repeated 1 week later for a Hodgkin's patient. In 1 liver patient, ABC scans were acquired at 7 different phases of the breathing cycle to facilitate examination of the liver motion associated with ventilation. Contours of the lungs and livers were outlined when applicable

  3. Motion coordination for VTOL unmanned aerial vehicles attitude synchronisation and formation control

    CERN Document Server

    Abdessameud, Abdelkader

    2013-01-01

    Motion Coordination for VTOL Unmanned Aerial Vehicles develops new control design techniques for the distributed coordination of a team of autonomous unmanned aerial vehicles. In particular, it provides new control design approaches for the attitude synchronization of a formation of rigid body systems. In addition, by integrating new control design techniques with some concepts from nonlinear control theory and multi-agent systems, it presents  a new theoretical framework for the formation control of a class of under-actuated aerial vehicles capable of vertical take-off and landing. Several practical problems related to the systems’ inputs, states measurements, and  restrictions on the interconnection  topology  between the aerial vehicles in the team  are addressed. Worked examples with sufficient details and simulation results are provided to illustrate the applicability and effectiveness of the theoretical results discussed in the book. The material presented is primarily intended for researchers an...

  4. Neural Network Control for the Linear Motion of a Spherical Mobile Robot

    Directory of Open Access Journals (Sweden)

    Yao Cai

    2011-09-01

    Full Text Available This paper discussed the stabilization and position tracking control of the linear motion of an underactuated spherical robot. By considering the actuator dynamics, a complete dynamic model of the robot is deduced, which is a complex third order, two variables nonlinear differential system and those two variables have strong coupling due to the mechanical structure of the robot. Different from traditional treatments, no linearization is applied to this system but a single‐input multiple‐output PID (SIMO_PID controller is designed by adopting a six‐input single‐ output CMAC_GBF (Cerebellar Model Articulation Controller with General Basis Function neural network to compensate the actuator nonlinearity and the credit assignment (CA learning method to obtain faster convergence of CMAC_GBF. The proposed controller is generalizable to other single‐input multiple‐output system with good real‐time capability. Simulations in Matlab are used to validate the control effects.

  5. Voltage Sags Ride-Through of Motion Sensorless Controlled PMSG for Wind Turbines

    DEFF Research Database (Denmark)

    Fatu, Marius; Lascu, Cristian; Andreescu, Gheorghe-Daniel

    2007-01-01

    . The control system employs PI current controllers with crosscoupling decoupling for both inverters, an active power controller, and a DC link voltage controller. The PMSG rotor speed without using emf integration, and the line voltage frequency are estimated by two PLL based observers. A Dmodule filter...... with experimental results for single-, two-, and three-phase voltage source sags. Smooth transition through asymmetric voltage sags is demonstrated by all experiments.......This paper describes a variable-speed motion-sensorless permanent magnet synchronous generator (PMSG) control system for wind energy generation. The proposed system contains a PMSG connected to the grid by a back-to-back PWM inverter with bidirectional power flow, a line filter, and a transformer...

  6. Fuzzy robust nonlinear control approach for electro-hydraulic flight motion simulator

    Directory of Open Access Journals (Sweden)

    Han Songshan

    2015-02-01

    Full Text Available A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command, but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output (MISO fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion simulators. Comparative experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties.

  7. SDRE controller for motion design of cable-suspended robot with uncertainties and moving obstacles

    Science.gov (United States)

    Behboodi, Ahad; Salehi, Seyedmohammad

    2017-10-01

    In this paper an optimal control approach for nonlinear dynamical systems was proposed based on State Dependent Riccati Equation (SDRE) and its robustness against uncertainties is shown by simulation results. The proposed method was applied on a spatial six-cable suspended robot, which was designed to carry loads or perform different tasks in huge workspaces. Motion planning for cable-suspended robots in such a big workspace is subjected to uncertainties and obstacles. First, we emphasized the ability of SDRE to construct a systematic basis and efficient design of controller for wide variety of nonlinear dynamical systems. Then we showed how this systematic design improved the robustness of the system and facilitated the integration of motion planning techniques with the controller. In particular, obstacle avoidance technique based on artificial potential field (APF) can be easily combined with SDRE controller with efficient performance. Due to difficulties of exact solution for SDRE, an approximation method was used based on power series expansion. The efficiency and robustness of the SDRE controller was illustrated on a six-cable suspended robot with proper simulations.

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

    Science.gov (United States)

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

    2018-02-01

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

  9. Early testing of a coarse/fine precision motion control system

    Energy Technology Data Exchange (ETDEWEB)

    Buice, E S; Yang, H; Smith, S T; Hocken, R J; Seugling, R M; Trumper, D L; Otten, D

    2005-08-01

    This abstract presents a brief overview of key components of a motion control stage for accurate nanometer level positioning for scanning specimens over an area measuring 50 mm x 50 mm. The completed system will utilize a short-range, third generation 6 degree-of-freedom fine motion control platform (4 microns, 160 micro-radians) carried by a long-range, two-axis x-y positioning system (50 mm x 50 mm). Motion of the controlled platform relative to a measurement frame will be measured using a heterodyne laser interferometer and capacitance sensing. The final stage will be mounted onto an isolation table in a vacuum chamber, itself on isolation supports mounted to a granite slab on bed rock and isolated from the main floor of the building. This whole system is housed in a temperature-controlled laboratory. It is envisaged that the current system will provide the ability to ''pick and place'' at nanometer levels and be used for long range scanning of specimens (including biological specimens), micro- /macroassembly, lithography and as a coordinate measuring machine (CMM). Furthermore, the system performance will be compared with other comparable systems at international locations such as, National Physical Laboratory (NPL) in the UK, Technical University of Eindhoven (TUE) in the Netherlands, Physikalisch-Technische Bundesanstalt (PTB) in Germany, and our own sub-atomic measuring machine (SAMM) [1, 2] at UNC-Charlotte. Critical requirements of the system are as follows: (1) Vacuum compatible to better than 20 mPa; (2) Range of 50 mm x 50 mm x 4 microns; (3) Maximum translation velocity of 5 mm {center_dot} s{sup -1}; (4) Sub-nanometer resolution; and (5) System accuracy of better than 10 nm.

  10. An Investigation of Open Loop Flight Control Equations of Motion Used to Predict Flight Control Surface Deflections at Non-Steady State Trim Conditions (Project HAVE TRIM)

    National Research Council Canada - National Science Library

    Miller, Gary

    2003-01-01

    This report presents the results of Project HAVE TRIM, An Investigation of Open Loop Flight Control Equations of Motion Used To Predict Flight Control Surface Deflections at Non-Steady State Trim Conditions...

  11. Can Rehabilitation Influence the Efficiency of Control Signals in Complex Motion Strategies?

    Directory of Open Access Journals (Sweden)

    Joanna Cholewa

    2017-01-01

    Full Text Available The factor determining quality of life in Parkinson’s disease (PD is the worsening of a patient’s walking ability. The use of external stimuli can improve gait when performing complex motor patterns. The aim of this study was to evaluate the effect of rehabilitation on the effectiveness of control signals in people with PD. The study was performed on 42 people with idiopathic PD in the third stage of disease. The control group consisted of 19 patients who did not participate in rehabilitation activities. The experimental group was systematically participating in rehabilitation activities twice a week (60 minutes for 9 months. Gait speed, mean step length, and step frequency were calculated on the basis of the obtained results. These parameters were compared in both groups by single factor variance analyses. The best results were obtained using rhythmic external auditory signals. The group with patients actively participating in rehabilitation showed statistically significant improvement in gait speed (12.35%, mean step length (18.00%, and frequency step (2.40% compared to the control group. The presented research showed the positive effect of rehabilitation and was based on the performance of complex motion patterns, using external control signals for their effectiveness in new motion tasks.

  12. Design and Implementation an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

    Full Text Available Research on humanoid robotics in Mechatronics and Automation Laboratory, Electrical and Computer Engineering, Islamic Azad University Khorasgan branch (Isfahan of Iran was started at
    the beginning of this decade. Various research prototypes for humanoid robots have been designed and are going through evolution over these years. This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. The robot has 20 actuated degrees of freedom based on Hitec HSR898. In this paper we have tried to focus on areas such as mechanical structure, Image processing unit, robot controller, Robot AI and behavior
    learning. In 2009, our developments for the Kid size humanoid robot include: (1 the design and construction of our new humanoid robots (2 the design and construction of a new hardware and software controller to be used in our robots. The project is described in two main parts: Hardware and Software. The software is developed a robot application which consists walking controller, autonomous motion robot, self localization base on vision and Particle Filter, local AI, Trajectory Planning, Motion Controller and Network. The hardware consists of the mechanical structure and the driver circuit board. Each robot is able to walk, fast walk, pass, kick and dribble when it catches
    the ball. These humanoids have been successfully participating in various robotic soccer competitions. This project is still in progress and some new interesting methods are described in the current report.

  13. Hopping system control with an approximated dynamics model and upper-body motion

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Hyang Jun; Oh, Jun Ho [KAIST, Daejeon (Korea, Republic of)

    2015-11-15

    A hopping system is highly non-linear due to the nature of its dynamics, which has alternating phases in a cycle, flight and stance phases and related transitions. Every control method that stabilizes the hopping system satisfies the Poincaré stability condition. At the Poincaré section, a hopping system cycle is considered as discrete sectional data set. By controlling the sectional data in a discrete control form, we can generate a stable hopping cycle. We utilize phase-mapping matrices to build a Poincaré return map by approximating the dynamics of the hopping system with SLIP model. We can generate various Poincaré stable gait patterns with the approximated discrete control form which uses upper-body motions as inputs.

  14. Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

    Directory of Open Access Journals (Sweden)

    Eduardo Izaguirre

    2011-09-01

    Full Text Available This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experiment's results demonstrate the great performance of the proposed control scheme in industrial motion tracking application.

  15. Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

    Directory of Open Access Journals (Sweden)

    Changan Jiang

    2016-01-01

    Full Text Available Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

  16. Self-sustained motion of microcapsules on a substrate controlled via the repressilator regulatory network

    Science.gov (United States)

    Shum, Henry; Yashin, Victor; Balazs, Anna

    2014-11-01

    We design microcapsules that undergo self-induced motion in a fluid along a substrate and are able to collectively self-organize when controlled by a biomimetic signaling network. Three microcapsules act as localized sources of distinct chemicals that diffuse through the fluid. The production rate of each chemical is modulated by a regulatory network known as the repressilator: each species represses the production of the next in a cycle. We show that this system can exhibit sustained oscillations. We then allow the diffusing species to adsorb onto the substrate, altering the surface interaction energy. Gradients in surface energy lead to motion of the microcapsules. We find that regulation via the repressilator gives rise to qualitatively different outcomes. Chemical oscillations can facilitate aggregation of the microcapsules and the aggregate can undergo sustained translational or oscillatory motion. Numerical simulation of the fluid flow, microcapsule dynamics and concentration fields is achieved by a combination of the lattice Boltzmann, immersed boundary and finite difference methods. We assess the role of hydrodynamic interactions by comparison with a simplified model that assumes a constant drag coefficient relating the force on a microcapsule to its velocity.

  17. Estafette of drift resonances, stochasticity and control of particle motion in a toroidal magnetic trap

    Energy Technology Data Exchange (ETDEWEB)

    Shishkin, Alexander A. [Institute of Plasma Physics, National Science Center, Kharkov Institute of Physics and Technology, Kharkov (Ukraine)

    2001-02-01

    A new method of particle motion control in toroidal magnetic traps with rotational transform using the estafette of drift resonances and stochasticity of particle trajectories is proposed. The use of the word estafette' here means that the particle passes through a set of resonances in consecutive order from one to another during its motion. The overlapping of adjacent resonances can be moved radially from the center to the edge of the plasma by switching on the corresponding perturbations in accordance with a particular rule in time. In this way particles (e.g. cold alpha-particle) can be removed from the center of the confinement volume to the plasma periphery. For the analytical treatment of the stochastic behaviour of particle motion the stochastic diffusion coefficients D{sub r,}r, D{sub r,{theta}}, D{sub {theta}}{sub ,{theta}} are introduced. The new approach is demonstrated by numerical computations of the test helium particle trajectories in the toroidal trap Large Helical Device. (author)

  18. Evaluation on Usefulness of Abdomen and Chest Motion Control Device (ABCHES) for the Tumor with a Large Respiratory Motion in Radiotherapy

    International Nuclear Information System (INIS)

    Cho, Yoon Jin; Jeon, Mi Jin; Shin, Dong Bong; Kim, Jong Dae; Kim, Sel Joon; Ha, Jin Sook; Im, Jung Ho; Lee, Ik Jae

    2012-01-01

    It is essential to minimize the respiratory-induced motion of involved organs in the Tomotherapy for tumor located in the chest and abdominal region. However, the application of breathing control system to Tomotherapy is limited. This study was aimed to investigate the possible application of the ABCHES system and its efficacy as a means of breathing control in the tomotherapy treatment. Five subjects who were treated with a Hi-Art Tomotherapy system for lung, liver, gallbladder and pancreatic tumors. All patients undertook trained on two breathing method using an ABCHES, free breathing method and shallow breathing method. When the patients could carry out the breathing control, 4D-CT scan was a total of 10 4D tomographic images were acquired. A radiologist resident manually drew the tumor region, including surrounding normal organs, on each of CT images at the inhalation phase, the exhalation phase and the 40% phase (mid-inhalation) and average CT image. Those CT images were then exported to the Tomotherapy planning station. Data exported from the Tomotherapy planning station was analyzed to quantify characteristics of dose-volume histograms and motion of tumors. Organ motions under free breathing and shallow breathing were examined six directions, respectively. Radiation exposure to the surrounding organs were also measured and compared. Organ motion is in the six directions with more than a 5 mm displacement. A total of 12 Organ motions occurred during free breathing while organ motions decreased to 2 times during shallow breathing under the use of Abches. Based on the quantitative analysis of the dose-volume histograms shallow breathing showed lower resulting values, compared to free breathing, in every measure. That is, treatment volume, the dose of radiation to the tumor and two surrounding normal organs (mean doses), the volume of healthy tissue exposed to radiation were lower at the shallow breathing state. This study proposes that the use of ABCHES is

  19. Intelligent Motion Control for Four-Wheeled Holonomic Mobile Robots Using FPGA-Based Artificial Immune System Algorithm

    Directory of Open Access Journals (Sweden)

    Hsu-Chih Huang

    2013-01-01

    Full Text Available This paper presents an intelligent motion controller for four-wheeled holonomic mobile robots with four driving omnidirectional wheels equally spaced at 90 degrees from one another by using field-programmable gate array (FPGA-based artificial immune system (AIS algorithm. Both the nature-inspired AIS computational approach and motion controller are implemented in one FPGA chip to address the optimal control problem of real-world mobile robotics application. The proposed FPGA-based AIS method takes the advantages of artificial intelligence and FPGA technology by using system-on-a-programmable chip (SoPC methodology. Experimental results are conducted to show the effectiveness and merit of the proposed FPGA-based AIS intelligent motion controller for four-wheeled omnidirectional mobile robots. This FPGA-based AIS autotuning intelligent controller outperforms the conventional nonoptimal controllers, the genetic algorithm (GA controller, and the particle swarm optimization (PSO controller.

  20. Content and structure of knowledge base used for virtual control of android arm motion in specified environment

    Science.gov (United States)

    Pritykin, F. N.; Nebritov, V. I.

    2018-01-01

    The paper presents the configuration of knowledge base necessary for intelligent control of android arm mechanism motion with different positions of certain forbidden regions taken into account. The present structure of the knowledge base characterizes the past experience of arm motion synthesis in the vector of velocities with due regard for the known obstacles. This structure also specifies its intrinsic properties. Knowledge base generation is based on the study of the arm mechanism instantaneous states implementations. Computational experiments connected with the virtual control of android arm motion with known forbidden regions using the developed knowledge base are introduced. Using the developed knowledge base to control virtually the arm motion reduces the time of test assignments calculation. The results of the research can be used in developing control systems of autonomous android robots in the known in advance environment.

  1. Respiratory Motion of The Heart and Positional Reproducibility Under Active Breathing Control

    International Nuclear Information System (INIS)

    Jagsi, Reshma; Moran, Jean M.; Kessler, Marc L.; Marsh, Robin B. C; Balter, James M.; Pierce, Lori J.

    2007-01-01

    Purpose: To reduce cardiotoxicity from breast radiotherapy (RT), innovative techniques are under investigation. Information about cardiac motion with respiration and positional reproducibility under active breathing control (ABC) is necessary to evaluate these techniques. Methods and Materials: Patients requiring loco-regional RT for breast cancer were scanned by computed tomography using an ABC device at various breath-hold states, before and during treatment. Ten patients were studied. For each patient, 12 datasets were analyzed. Mutual information-based regional rigid alignment was used to determine the magnitude and reproducibility of cardiac motion as a function of breathing state. For each scan session, motion was quantified by evaluating the displacement of a point along the left anterior descending artery (LAD) with respect to its position at end expiration. Long-term positional reproducibility was also assessed. Results: Displacement of the LAD was greatest in the inferior direction, moderate in the anterior direction, and lowest in the left-right direction. At shallow breathing states, the average displacement of LAD position was up to 6 mm in the inferior direction. The maximum displacement in any patient was 2.8 cm in the inferior direction, between expiration and deep-inspiration breath hold. At end expiration, the long-term reproducibility (SD) of the LAD position was 3 mm in the A-P, 6 mm in the S-I, and 4 mm in the L-R directions. At deep-inspiration breath hold, long-term reproducibility was 3 mm in the A-P, 7 mm in the S-I, and 3 mm in the L-R directions. Conclusions: These data demonstrate the extent of LAD displacement that occurs with shallow breathing and with deep-inspiration breath hold. This information may guide optimization studies considering the effects of respiratory motion and reproducibility of cardiac position on cardiac dose, both with and without ABC

  2. The motion control of a statically stable biped robot on an uneven floor.

    Science.gov (United States)

    Shih, C L; Chiou, C J

    1998-01-01

    This work studies the motion control of a statically stable biped robot having seven degrees of freedom. Statically stable walking of the biped robot is realized by maintaining the center-of-gravity inside the convex region of the supporting foot and/or feet during both single-support and double-support phases. The main points of this work are framing the stability in an easy and correct way, the design of a bipedal statically stable walker, and walking on sloping surfaces and stairs.

  3. Control of Respiratory Motion by Hypnosis Intervention during Radiotherapy of Lung Cancer I

    Science.gov (United States)

    Deng, Jie; Xie, Yaoqin

    2013-01-01

    The uncertain position of lung tumor during radiotherapy compromises the treatment effect. To effectively control respiratory motion during radiotherapy of lung cancer without any side effects, a novel control scheme, hypnosis, has been introduced in lung cancer treatment. In order to verify the suggested method, six volunteers were selected with a wide range of distribution of age, weight, and chest circumference. A set of experiments have been conducted for each volunteer, under the guidance of the professional hypnotist. All the experiments were repeated in the same environmental condition. The amplitude of respiration has been recorded under the normal state and hypnosis, respectively. Experimental results show that the respiration motion of volunteers in hypnosis has smaller and more stable amplitudes than in normal state. That implies that the hypnosis intervention can be an alternative way for respiratory control, which can effectively reduce the respiratory amplitude and increase the stability of respiratory cycle. The proposed method will find useful application in image-guided radiotherapy. PMID:24093100

  4. Control of Respiratory Motion by Hypnosis Intervention during Radiotherapy of Lung Cancer I

    Directory of Open Access Journals (Sweden)

    Rongmao Li

    2013-01-01

    Full Text Available The uncertain position of lung tumor during radiotherapy compromises the treatment effect. To effectively control respiratory motion during radiotherapy of lung cancer without any side effects, a novel control scheme, hypnosis, has been introduced in lung cancer treatment. In order to verify the suggested method, six volunteers were selected with a wide range of distribution of age, weight, and chest circumference. A set of experiments have been conducted for each volunteer, under the guidance of the professional hypnotist. All the experiments were repeated in the same environmental condition. The amplitude of respiration has been recorded under the normal state and hypnosis, respectively. Experimental results show that the respiration motion of volunteers in hypnosis has smaller and more stable amplitudes than in normal state. That implies that the hypnosis intervention can be an alternative way for respiratory control, which can effectively reduce the respiratory amplitude and increase the stability of respiratory cycle. The proposed method will find useful application in image-guided radiotherapy.

  5. Control method and system for hydraulic machines employing a dynamic joint motion model

    Science.gov (United States)

    Danko, George [Reno, NV

    2011-11-22

    A control method and system for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm. The method can include determining a dynamic model of the motion of the hydraulic arm for each hydraulic arm link by relating the input signal vector for each respective link to the output signal vector for the same link. Also the method can include determining an error signal for each link as the weighted sum of the differences between a measured position and a reference position and between the time derivatives of the measured position and the time derivatives of the reference position for each respective link. The weights used in the determination of the error signal can be determined from the constant coefficients of the dynamic model. The error signal can be applied in a closed negative feedback control loop to diminish or eliminate the error signal for each respective link.

  6. Linear Motor Motion Control Experiment System Design Based on LabVIEW

    Directory of Open Access Journals (Sweden)

    Cuixian He

    2018-01-01

    Full Text Available In order to meet the needs of experimental training of electrical information industry, a linear motor motion experiment system based on LabVIEW was developed. This system is based on the STM32F103ZET6 system processor controller, a state signal when the motor moves through the grating encoder feedback controller to form a closed loop, through the RS232 serial port communication with the host computer, the host computer is designed in the LabVIEW interactive environment monitoring software. Combined with the modular design concept proposed overall program, given the detailed hardware circuit, targeted for the software function design, to achieve man-machine interface. The system control of high accuracy, good stability, meet the training requirements for laboratory equipment, but also as a reference embodiment of the linear motor monitoring system.

  7. A Robotic System with a Hybrid Motion Cueing Controller for Inertia Tensor Approximation in Micro-Manipulations

    Directory of Open Access Journals (Sweden)

    Umar Asif

    2011-09-01

    Full Text Available This paper summarizes the development of a robotic system for the approximation of inertia tensor of micro‐sized rigid bodies. We described the design and computer‐based simulation of a 6‐DOF motion platform in our earlier work [32] that benefits from an anthropological serial manipulator design. In [32] we emphasized that, in contrast to a standard configuration based on linear actuators, a mechanism with actuator design inspired from an anthropological kinematic structure offers relatively a larger motion envelope and higher dexterity making it a viable motion platform for micromanipulations. After having described the basic design and kinematic analysis of our motion platform in [32], we now aim to propose an advanced motion cueing algorithm for facilitating the identification of inertial parameters at micron‐level. The motion cueing algorithm for achieving high fidelity dynamic simulation is described in this paper using a hybrid force‐position‐based controller. The inertia tensor identification is done by generating a controlled motion on the specimen and measuring the resultant forces and moments to approximate the inertia tensor using rigid body dynamics equations. The paper evaluates the performance of the controller using closed‐loop dynamic simulations and validates the significance of the proposed method through experimental results.

  8. A Robotic System with a Hybrid Motion Cueing Controller for Inertia Tensor Approximation in Micro-Manipulations

    Directory of Open Access Journals (Sweden)

    Umar Asif

    2011-09-01

    Full Text Available This paper summarizes the development of a robotic system for the approximation of inertia tensor of micro-sized rigid bodies. We described the design and computer-based simulation of a 6-DOF motion platform in our earlier work [32] that benefits from an anthropological serial manipulator design. In [32] we emphasized that, in contrast to a standard configuration based on linear actuators, a mechanism with actuator design inspired from an anthropological kinematic structure offers relatively a larger motion envelope and higher dexterity making it a viable motion platform for micromanipulations. After having described the basic design and kinematic analysis of our motion platform in [32], we now aim to propose an advanced motion cueing algorithm for facilitating the identification of inertial parameters at micron-level. The motion cueing algorithm for achieving high fidelity dynamic simulation is described in this paper using a hybrid force-position-based controller. The inertia tensor identification is done by generating a controlled motion on the specimen and measuring the resultant forces and moments to approximate the inertia tensor using rigid body dynamics equations. The paper evaluates the performance of the controller using closed-loop dynamic simulations and validates the significance of the proposed method through experimental results.

  9. Leap Motion Gesture Control With Carestream Software in the Operating Room to Control Imaging: Installation Guide and Discussion.

    Science.gov (United States)

    Pauchot, Julien; Di Tommaso, Laetitia; Lounis, Ahmed; Benassarou, Mourad; Mathieu, Pierre; Bernot, Dominique; Aubry, Sébastien

    2015-12-01

    Nowadays, routine cross-sectional imaging viewing during a surgical procedure requires physical contact with an interface (mouse or touch-sensitive screen). Such contact risks exposure to aseptic conditions and causes loss of time. Devices such as the recently introduced Leap Motion (Leap Motion Society, San Francisco, CA), which enables interaction with the computer without any physical contact, are of wide interest in the field of surgery, but configuration and ergonomics are key challenges for the practitioner, imaging software, and surgical environment. This article aims to suggest an easy configuration of Leap Motion on a PC for optimized use with Carestream Vue PACS v11.3.4 (Carestream Health, Inc, Rochester, NY) using a plug-in (to download at https://drive.google.com/open?id=0B_F4eBeBQc3yNENvTXlnY09qS00&authuser=0) and a video tutorial (https://www.youtube.com/watch?v=yVPTgxg-SIk). Videos of surgical procedure and discussion about innovative gesture control technology and its various configurations are provided in this article. © The Author(s) 2015.

  10. Robust adaptive precision motion control of hydraulic actuators with valve dead-zone compensation.

    Science.gov (United States)

    Deng, Wenxiang; Yao, Jianyong; Ma, Dawei

    2017-09-01

    This paper addresses the high performance motion control of hydraulic actuators with parametric uncertainties, unmodeled disturbances and unknown valve dead-zone. By constructing a smooth dead-zone inverse, a robust adaptive controller is proposed via backstepping method, in which adaptive law is synthesized to deal with parametric uncertainties and a continuous nonlinear robust control law to suppress unmodeled disturbances. Since the unknown dead-zone parameters can be estimated by adaptive law and then the effect of dead-zone can be compensated effectively via inverse operation, improved tracking performance can be expected. In addition, the disturbance upper bounds can also be updated online by adaptive laws, which increases the controller operability in practice. The Lyapunov based stability analysis shows that excellent asymptotic output tracking with zero steady-state error can be achieved by the developed controller even in the presence of unmodeled disturbance and unknown valve dead-zone. Finally, the proposed control strategy is experimentally tested on a servovalve controlled hydraulic actuation system subjected to an artificial valve dead-zone. Comparative experimental results are obtained to illustrate the effectiveness of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  11. A Randomized Controlled Trial of Lorazepam to Reduce Liver Motion in Patients Receiving Upper Abdominal Radiation Therapy

    Energy Technology Data Exchange (ETDEWEB)

    Tsang, Derek S.; Voncken, Francine E.M.; Tse, Regina V. [Princess Margaret Cancer Centre, University Health Network, Department of Radiation Oncology, University of Toronto, Toronto (Canada); Sykes, Jenna [Department of Biostatistics, Princess Margaret Cancer Centre, University Health Network, Toronto (Canada); Wong, Rebecca K.S.; Dinniwell, Rob E.; Kim, John; Ringash, Jolie; Brierley, James D.; Cummings, Bernard J.; Brade, Anthony [Princess Margaret Cancer Centre, University Health Network, Department of Radiation Oncology, University of Toronto, Toronto (Canada); Dawson, Laura A., E-mail: laura.dawson@rmp.uhn.on.ca [Princess Margaret Cancer Centre, University Health Network, Department of Radiation Oncology, University of Toronto, Toronto (Canada)

    2013-12-01

    Purpose: Reduction of respiratory motion is desirable to reduce the volume of normal tissues irradiated, to improve concordance of planned and delivered doses, and to improve image guided radiation therapy (IGRT). We hypothesized that pretreatment lorazepam would lead to a measurable reduction of liver motion. Methods and Materials: Thirty-three patients receiving upper abdominal IGRT were recruited to a double-blinded randomized controlled crossover trial. Patients were randomized to 1 of 2 study arms: arm 1 received lorazepam 2 mg by mouth on day 1, followed by placebo 4 to 8 days later; arm 2 received placebo on day 1, followed by lorazepam 4 to 8 days later. After tablet ingestion and daily radiation therapy, amplitude of liver motion was measured on both study days. The primary outcomes were reduction in craniocaudal (CC) liver motion using 4-dimensional kV cone beam computed tomography (CBCT) and the proportion of patients with liver motion ≤5 mm. Secondary endpoints included motion measured with cine magnetic resonance imaging and kV fluoroscopy. Results: Mean relative and absolute reduction in CC amplitude with lorazepam was 21% and 2.5 mm respectively (95% confidence interval [CI] 1.1-3.9, P=.001), as assessed with CBCT. Reduction in CC amplitude to ≤5 mm residual liver motion was seen in 13% (95% CI 1%-25%) of patients receiving lorazepam (vs 10% receiving placebo, P=NS); 65% (95% CI 48%-81%) had reduction in residual CC liver motion to ≤10 mm (vs 52% with placebo, P=NS). Patients with large respiratory movement and patients who took lorazepam ≥60 minutes before imaging had greater reductions in liver CC motion. Mean reductions in liver CC amplitude on magnetic resonance imaging and fluoroscopy were nonsignificant. Conclusions: Lorazepam reduces liver motion in the CC direction; however, average magnitude of reduction is small, and most patients have residual motion >5 mm.

  12. Fault Structural Control on Earthquake Strong Ground Motions: The 2008 Wenchuan Earthquake as an Example

    Science.gov (United States)

    Zhang, Yan; Zhang, Dongli; Li, Xiaojun; Huang, Bei; Zheng, Wenjun; Wang, Yuejun

    2018-02-01

    Continental thrust faulting earthquakes pose severe threats to megacities across the world. Recent events show the possible control of fault structures on strong ground motions. The seismogenic structure of the 2008 Wenchuan earthquake is associated with high-angle listric reverse fault zones. Its peak ground accelerations (PGAs) show a prominent feature of fault zone amplification: the values within the 30- to 40-km-wide fault zone block are significantly larger than those on both the hanging wall and the footwall. The PGA values attenuate asymmetrically: they decay much more rapidly in the footwall than in the hanging wall. The hanging wall effects can be seen on both the vertical and horizontal components of the PGAs, with the former significantly more prominent than the latter. All these characteristics can be adequately interpreted by upward extrusion of the high-angle listric reverse fault zone block. Through comparison with a low-angle planar thrust fault associated with the 1999 Chi-Chi earthquake, we conclude that different fault structures might have controlled different patterns of strong ground motion, which should be taken into account in seismic design and construction.

  13. Motion Intention Analysis-Based Coordinated Control for Amputee-Prosthesis Interaction

    Directory of Open Access Journals (Sweden)

    Fei Wang

    2010-01-01

    Full Text Available To study amputee-prosthesis (AP interaction, a novel reconfigurable biped robot was designed and fabricated. In homogeneous configuration, two identical artificial legs (ALs were used to simulate the symmetrical lower limbs of a healthy person. Linear inverted pendulum model combining with ZMP stability criterion was used to generate the gait trajectories of ALs. To acquire interjoint coordination for healthy gait, rate gyroscopes were mounted on CoGs of thigh and shank of both legs. By employing principal component analysis, the measured angular velocities were processed and the motion synergy was obtained in the final. Then, one of two ALs was replaced by a bionic leg (BL, and the biped robot was changed into heterogeneous configuration to simulate the AP coupling system. To realize symmetrical stable walking, master/slave coordinated control strategy is proposed. According to information acquired by gyroscopes, BL recognized the motion intention of AL and reconstructed its kinematic variables based on interjoint coordination. By employing iterative learning control, gait tracking of BL to AL was archived. Real environment robot walking experiments validated the correctness and effectiveness of the proposed scheme.

  14. Stretching and controlled motion of single-stranded DNA in locally heated solid-state nanopores.

    Science.gov (United States)

    Belkin, Maxim; Maffeo, Christopher; Wells, David B; Aksimentiev, Aleksei

    2013-08-27

    Practical applications of solid-state nanopores for DNA detection and sequencing require the electrophoretic motion of DNA through the nanopores to be precisely controlled. Controlling the motion of single-stranded DNA presents a particular challenge, in part because of the multitude of conformations that a DNA strand can adopt in a nanopore. Through continuum, coarse-grained and atomistic modeling, we demonstrate that local heating of the nanopore volume can be used to alter the electrophoretic mobility and conformation of single-stranded DNA. In the nanopore systems considered, the temperature near the nanopore is modulated via a nanometer-size heater element that can be radiatively switched on and off. The local enhancement of temperature produces considerable stretching of the DNA fragment confined within the nanopore. Such stretching is reversible, so that the conformation of DNA can be toggled between compact (local heating is off) and extended (local heating is on) states. The effective thermophoretic force acting on single-stranded DNA in the vicinity of the nanopore is found to be sufficiently large (4-8 pN) to affect such changes in the DNA conformation. The local heating of the nanopore volume is observed to promote single-file translocation of DNA strands at transmembrane biases as low as 10 mV, which opens new avenues for using solid-state nanopores for detection and sequencing of DNA.

  15. A General Cognitive System Architecture Based on Dynamic Vision for Motion Control

    Directory of Open Access Journals (Sweden)

    Ernst D. Dickmanns

    2003-10-01

    Full Text Available Animation of spatio-temporal generic models for 3-D shape and motion of objects and subjects, based on feature sets evaluated in parallel from several image streams, is considered to be the core of dynamic vision. Subjects are a special kind of objects capable of sensing environmental parameters and of initiating own actions in combination with stored knowledge. Object / subject recognition and scene understanding are achieved on different levels and scales. Multiple objects are tracked individually in the image streams for perceiving their actual state ('here and now'. By analyzing motion of all relevant objects / subjects over a larger time scale on the level of state variables in the 'scene tree representation' known from computer graphics, the situation with respect to decision taking is assessed. Behavioral capabilities of subjects are represented explicitly on an abstract level for characterizing their potential behaviors. These are generated by stereotypical feed-forward and feedback control applications on a separate systems dynamics level with corresponding methods close to the actuator hardware. This dual representation on an abstract level (for decision making and on the implementation level allows for flexibility and easy adaptation or extension. Results are shown for road vehicle guidance based on three cameras on a gaze control platform.

  16. Controlled and uncontrolled motion in the circular, restricted three-body problem: Dynamically natural spacecraft formations

    Science.gov (United States)

    Basilio, Ralph Ramos

    Spacecraft formation flying involves operating multiple spacecraft in a pre-determined geometrical shape such that the configuration yields both individual and system benefits. One example is an over-flight of the same spatial position by spacecraft in geocentric orbit with the intent to create a complementary data set of remotely sensed observables. Another example is controlling to a high degree of accuracy the distance between spacecraft in heliocentric orbit to create a virtual, large-diameter interferometer telescope. Although Keplerian orbits provide the basic framework for general and precision spacecraft formation flying they also present limitations. Spacecraft are generally constrained to operate only in circular and elliptical orbits, parabolic paths, or hyperbolic trajectories around celestial bodies. Applying continuation methods and bifurcation theory techniques to the circular, restricted three-body problem - where stable and unstable periodic orbits exist around equilibrium points - creates an environment that is more orbit rich. After surmounting a similar challenge with test particles in the circular, restricted three-vortex problem in fluid mechanics as a proof-of-concept, it was shown that spacecraft traveling in uncontrolled motion along separate and distinct planar or three-dimensional periodic orbits could be placed in controlled motion, i.e. a controller is enabled and later disabled at precisely the proper positions, to have them phase-locked on a single periodic orbit. Although it was possible to use this controller in a resonant frequency/orbit approach to establish a formation, it was clearly shown that a separate controller could be used in conjunction with the first to expedite the formation establishment process. Creation of these dynamically natural spacecraft formations or multi-spacecraft platforms will enable the 'loiter, synchronize/coordinate, and observe' approach for future engineering and scientific missions where flexibility

  17. Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles

    Science.gov (United States)

    Grymin, David J.

    This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems. A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, dynamically feasible trajectories are generated in real-time through concatenation of pre-specified motion primitives. The motion planning task is posed as a search over a directed graph, and the applicability of informed graph search techniques is investigated. Specifically, a locally greedy algorithm with effective backtracking ability is developed and compared to weighted A* search. The greedy algorithm shows an advantage with respect to solution cost and computation time when larger motion primitive libraries that do not operate on a regular state lattice are utilized. Linearization of the nonlinear system equations about the motion primitive library results in a hybrid linear time-varying model, and an optimal control algorithm using the l 2-induced norm as the performance measure is applied to ensure that the system tracks the desired trajectory. The ability of the resulting controller to closely track the trajectory obtained from the motion planner, despite various disturbances and uncertainties, is demonstrated through simulation. Additionally, an approach for obtaining dynamically feasible reference trajectories and feedback controllers for a small unmanned aerial vehicle (UAV) based on an aerodynamic model derived from flight tests is presented. The modeling approach utilizes the two step method (TSM) with stepwise multiple regression to determine relevant explanatory terms for the aerodynamic models. Dynamically feasible trajectories are then obtained through the solution of an optimal control problem using pseudospectral optimal control software. Discretetime feedback controllers are then obtained to regulate the vehicle along the desired reference trajectory

  18. Study on robot motion control for intelligent welding processes based on the laser tracking sensor

    Science.gov (United States)

    Zhang, Bin; Wang, Qian; Tang, Chen; Wang, Ju

    2017-06-01

    A robot motion control method is presented for intelligent welding processes of complex spatial free-form curve seams based on the laser tracking sensor. First, calculate the tip position of the welding torch according to the velocity of the torch and the seam trajectory detected by the sensor. Then, search the optimal pose of the torch under constraints using genetic algorithms. As a result, the intersection point of the weld seam and the laser plane of the sensor is within the detectable range of the sensor. Meanwhile, the angle between the axis of the welding torch and the tangent of the weld seam meets the requirements. The feasibility of the control method is proved by simulation.

  19. G-paq: a motion control and data acquisition package for ion beam analysis

    International Nuclear Information System (INIS)

    Spizzirri, P.G.; Den Besten, J.L.; Jamieson, D.N.

    1999-01-01

    The analysis of crystalline materials using nuclear microprobe techniques is now commonplace. Channeling contrast microscopy (CCM) and Rutherford Backscattering (RBS) angular two-dimensional scans, which are used to study defects, strain, surface effects and the presence of impurity atoms in crystalline materials, can benefit from automation through computer control. Important criteria for a computer controlled instrument such as this are: suitable operating system (eg. Microsoft Windows), a graphical user interface (GUI), readily available components, cost effectiveness, ease of use, flexibility and scalability. While there are a number of effective RBS channeling angular scanning solutions in use throughout the microprobe community, few can provide this level of application abstraction. Recent trends in software and hardware development have seen the emergence of desktop/laptop personal computer-based virtual instruments. It has been said that the PC is now the most powerful and cost effective approach to building instruments because they can outperform 'blackbox' solutions in computing power, data transfer rates, memory, data storage, graphics, ease of use and familiarity. Other benefits stem from the availability of commercial-off-the-shelf (COTS) components (hardware) that can often provide complex functionality and third party analysis software that can extend the instrument's use beyond the vendor defined limits. This paper discusses a general purpose, data acquisition and motion control solution, G-Paq, based upon the National Instruments LabVIEW hardware and software development environment. Locally developed, this solution uses a minimum of customised components, is compatible with the principals of Good Laboratory Practice (GLP), is easy to use, has a graphical user interface and is flexible. While it has been developed for nuclear microprobe based channeling contrast microscopy using a specimen stage goniometer, its application to general motion control

  20. Emulating a robotic manipulator arm with an hybrid motion-control system

    Science.gov (United States)

    Aragón-González, G.; León-Galicia, A.; Noriega-Hernández, M.; Salazar-Hueta, A.

    2015-01-01

    A motion control system with four and 1/2 degrees of freedom, designed to move small objects within a 0.25 m3 space, parallel to a horizontal table, with high speed and performance similar to a robotic manipulator arm was built. The machine employs several actuators and control devices. Its main characteristic is to incorporate a servomotor, steeper motors, electromechanical and fluid power actuators and diverse control resources. A group of actuators arranged on a spherical coordinates system is attached to the servomotor platform. A linear pneumatic actuator with an angular grip provides the radial extension and load clamping capacity. Seven inductive proximity sensors and one encoder provide feedback, for operating the actuators under closed loop conditions. Communication between the sensors and control devices is organized by a PLC. A touch screen allows governing the system remotely, easily and interactively, without knowing the specific programming language of each control component. The graphic environment on the touch screen guides the user to design and store control programs, establishing coordinated automatic routines for moving objects in space, simulation and implementation of industrial positioning or machining processes.

  1. Neck motion, motor control, pain and disability: A longitudinal study of associations in neck pain patients in physiotherapy treatment.

    Science.gov (United States)

    Meisingset, Ingebrigt; Stensdotter, Ann-Katrin; Woodhouse, Astrid; Vasseljen, Ottar

    2016-04-01

    Neck pain is associated with several alterations in neck motion and motor control, but most of the findings are based on cross-sectional studies. The aim of this study was to investigate associations between changes in neck motion and motor control, and changes in neck pain and disability in physiotherapy patients during a course of treatment. Prospective cohort study. Subjects with non-specific neck pain (n = 71) participated in this study. Neck flexibility, joint position error (JPE), head steadiness, trajectory movement control and postural sway were recorded before commencement of physiotherapy (baseline), at 2 weeks, and at 2 months. Numerical Rating Scale and Neck Disability Index were used to measure neck pain and disability at the day of testing. To analyze within subjects effects in neck motion and motor control, neck pain, and disability over time we used fixed effects linear regression analysis. Changes in neck motion and motor control occurred primarily within 2 weeks. Reduction in neck pain was associated with increased cervical range of motion in flexion-/extension and increased postural sway when standing with eyes open. Decreased neck disability was associated with some variables for neck flexibility and trajectory movement control. Cervical range of motion in flexion-/extension was the only variable associated with changes in both neck pain and neck disability. This study shows that few of the variables for neck motion and motor control were associated with changes neck pain and disability over a course of 2 months with physiotherapy treatment. Copyright © 2015 Elsevier Ltd. All rights reserved.

  2. A Biological Micro Actuator: Graded and Closed-Loop Control of Insect Leg Motion by Electrical Stimulation of Muscles

    OpenAIRE

    Cao, Feng; Zhang, Chao; Vo Doan, Tat Thang; Li, Yao; Sangi, Daniyal Haider; Koh, Jie Sheng; Huynh, Ngoc Anh; Aziz, Mohamed Fareez Bin; Choo, Hao Yu; Ikeda, Kazuo; Abbeel, Pieter; Maharbiz, Michel M.; Sato, Hirotaka

    2014-01-01

    In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle) via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage) required to elicit leg motions was approximately 1.0 V; thus, ...

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

    Directory of Open Access Journals (Sweden)

    Xingjian Wang

    2017-10-01

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

  4. Dynamic recurrent neural networks for stable adaptive control of wing rock motion

    Science.gov (United States)

    Kooi, Steven Boon-Lam

    Wing rock is a self-sustaining limit cycle oscillation (LCO) which occurs as the result of nonlinear coupling between the dynamic response of the aircraft and the unsteady aerodynamic forces. In this thesis, dynamic recurrent RBF (Radial Basis Function) network control methodology is proposed to control the wing rock motion. The concept based on the properties of the Presiach hysteresis model is used in the design of dynamic neural networks. The structure and memory mechanism in the Preisach model is analogous to the parallel connectivity and memory formation in the RBF neural networks. The proposed dynamic recurrent neural network has a feature for adding or pruning the neurons in the hidden layer according to the growth criteria based on the properties of ensemble average memory formation of the Preisach model. The recurrent feature of the RBF network deals with the dynamic nonlinearities and endowed temporal memories of the hysteresis model. The control of wing rock is a tracking problem, the trajectory starts from non-zero initial conditions and it tends to zero as time goes to infinity. In the proposed neural control structure, the recurrent dynamic RBF network performs identification process in order to approximate the unknown non-linearities of the physical system based on the input-output data obtained from the wing rock phenomenon. The design of the RBF networks together with the network controllers are carried out in discrete time domain. The recurrent RBF networks employ two separate adaptation schemes where the RBF's centre and width are adjusted by the Extended Kalman Filter in order to give a minimum networks size, while the outer networks layer weights are updated using the algorithm derived from Lyapunov stability analysis for the stable closed loop control. The issue of the robustness of the recurrent RBF networks is also addressed. The effectiveness of the proposed dynamic recurrent neural control methodology is demonstrated through simulations to

  5. Investigation and Development of Control Laws for the NASA Langley Research Center Cockpit Motion Facility

    Science.gov (United States)

    Coon, Craig R.; Cardullo, Frank M.; Zaychik, Kirill B.

    2014-01-01

    The ability to develop highly advanced simulators is a critical need that has the ability to significantly impact the aerospace industry. The aerospace industry is advancing at an ever increasing pace and flight simulators must match this development with ever increasing urgency. In order to address both current problems and potential advancements with flight simulator techniques, several aspects of current control law technology of the National Aeronautics and Space Administration (NASA) Langley Research Center's Cockpit Motion Facility (CMF) motion base simulator were examined. Preliminary investigation of linear models based upon hardware data were examined to ensure that the most accurate models are used. This research identified both system improvements in the bandwidth and more reliable linear models. Advancements in the compensator design were developed and verified through multiple techniques. The position error rate feedback, the acceleration feedback and the force feedback were all analyzed in the heave direction using the nonlinear model of the hardware. Improvements were made using the position error rate feedback technique. The acceleration feedback compensator also provided noteworthy improvement, while attempts at implementing a force feedback compensator proved unsuccessful.

  6. A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training

    Science.gov (United States)

    Chen, Weihai; Cui, Xiang; Zhang, Jianbin; Wang, Jianhua

    2015-06-01

    Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan "assist-as-needed" torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.

  7. Design and control of three fingers motion for dexterous assembly of ...

    African Journals Online (AJOL)

    In this paper, the authors describe and demonstrate how a three fingered gripper can be designed and simulated to provide both gross motion and fine motion to the fingers. ... This mimicry is required to design the correct motions and tactile forces necessary to handle delicate and non delicate engineering components.

  8. Controlling the Motion of a Planar 3-DOF Manipulator Using PID Controllers

    Directory of Open Access Journals (Sweden)

    Thien Van NGUYEN

    2017-12-01

    Full Text Available This paper mainly presents a method to model the 3-DOF manipulator with PID controller in Matlab-SimMechanics and the way to find out optimal parameters in the PID controller including: proportional gain, integral gain and derivative gain using the genetic algorithm (GA. For that aim, the 3-DOF manipulator will be simulated in order to perform a given task. The results achieved from the model show that difficulties in tuning parameters of PID controller can be solved using GA, while SimMechanics is considered as a good virtual experiment tool for simulating an arbitrary mechanism.

  9. Virtual reality body motion induced navigational controllers and their effects on simulator sickness and pathfinding.

    Science.gov (United States)

    Aldaba, Cassandra N; White, Paul J; Byagowi, Ahmad; Moussavi, Zahra

    2017-07-01

    Virtual reality (VR) navigation is usually constrained by plausible simulator sickness (SS) and intuitive user interaction. The paper reports on the use of four different degrees of body motion induced navigational VR controllers, a TiltChair, omni-directional treadmill, a manual wheelchair joystick (VRNChair), and a joystick in relation to a participant's SS occurrence and a controller's intuitive utilization. Twenty young adult participants utilized all controllers to navigate through the same VR task environment in separate sessions. Throughout the sessions, SS occurrence was measured from a severity score by a standard SS questionnaire and from body sway by a center of pressure path length with eyes opened and closed. SS occurrence did not significantly differ among the controllers. However, time spent in VR significantly contributed to SS occurrence; hence, a few breaks to minimize SS should be interjected throughout a VR task. For all task trials, we recorded the participant's travel trajectories to investigate each controller's intuitive utilization from a computed traversed distance. Shorter traversed distances indicated that participants intuitively utilized the TiltChair with a slower speed; while longer traversed distances indicated participants struggled to utilize the omni-directional treadmill with a unnaturalistic stimulation of gait. Therefore, VR navigation should use technologies best suited for the intended age group that minimizes SS, and produces intuitive interactions for the participants.

  10. Optimal control of the vessel motion process at the broadside slip

    Directory of Open Access Journals (Sweden)

    Anton A. Omelchuk

    2015-12-01

    Full Text Available The main purpose during the mechanized launching or lifting of a vessel using broadside slip is the uniform velocity motion providing of the object (vessel with launching trolleys and the guaranteed prevention of emergencies. Aim: The aim of this work is the formulation and optimal control solution of a slip type vessel-lifting complex for providing the uniform velocity, coordinated, gradual relocation of the large vessels. Materials and Methods: The paper studies the matters of real-time control optimization of vessel-lifting complex during launching or lifting the vessel. Results: It is proposed to control the relocation of large object by funicular forces matching of the steel wire ropes of different motorized drives with account of current situation. The model in state space is obtained. This model describes the vessel relocation during the launching/lifting process. The optimal control solution of motorized multidrive system with goal functional is formulated. This solution allows minimizing the divergence of movement parameter values from given ones. It is substantiated the advisability of the use of adaptive control methods with observer to provide the corresponding reliability of vessel-lifting complex functioning.

  11. Procedural Audio in Computer Games Using Motion Controllers: An Evaluation on the Effect and Perception

    Directory of Open Access Journals (Sweden)

    Niels Böttcher

    2013-01-01

    Full Text Available A study has been conducted into whether the use of procedural audio affects players in computer games using motion controllers. It was investigated whether or not (1 players perceive a difference between detailed and interactive procedural audio and prerecorded audio, (2 the use of procedural audio affects their motor-behavior, and (3 procedural audio affects their perception of control. Three experimental surveys were devised, two consisting of game sessions and the third consisting of watching videos of gameplay. A skiing game controlled by a Nintendo Wii balance board and a sword-fighting game controlled by a Wii remote were implemented with two versions of sound, one sample based and the other procedural based. The procedural models were designed using a perceptual approach and by alternative combinations of well-known synthesis techniques. The experimental results showed that, when being actively involved in playing or purely observing a video recording of a game, the majority of participants did not notice any difference in sound. Additionally, it was not possible to show that the use of procedural audio caused any consistent change in the motor behavior. In the skiing experiment, a portion of players perceived the control of the procedural version as being more sensitive.

  12. Dynamics and motion control of a chain of particles on a rough surface

    Science.gov (United States)

    Behn, C.; Schale, F.; Zeidis, I.; Zimmermann, K.; Bolotnik, N.

    2017-05-01

    In this paper the mechanics and control of the motion of a straight chain of three particles interconnected with kinematical constraints are investigated. The ground contact is described by dry (discontinuous) or viscous (continuous) friction. Here, we understand this model as a methodological basis for the design of worm-like locomotion systems, i.e., non-pedal mobile robots. This kind of robots will prove an efficient form of locomotion in application to inspection of pipes or for rescue missions. In this paper, a number of issues related to the dynamics and control of artificial limbless locomotion systems are discussed. Simplest models of a limbless locomotor are two-body or three-body systems that move along a horizontal straight line. In the first part of the paper, the controls are assumed in the form of periodic functions with zero average, shifted on a phase one concerning each other. Thus, there is a traveling wave along the chain of particles. In the second part, actuator models are discussed. It is supposed that there are unknown actuator data or the worm system parameter are not known or exactly as well. The focus is on adaptive control algorithms for the worm-like locomotion systems in order to track given reference trajectories, like kinematic gaits. Finally, a prototype together with its signal processing and control software is presented. Theoretically (analytically and numerically) calculated results of the dynamical behavior of the mobile system are compared to experimental data.

  13. Evaluation of the Leap Motion Controller during the performance of visually-guided upper limb movements.

    Science.gov (United States)

    Niechwiej-Szwedo, Ewa; Gonzalez, David; Nouredanesh, Mina; Tung, James

    2018-01-01

    Kinematic analysis of upper limb reaching provides insight into the central nervous system control of movements. Until recently, kinematic examination of motor control has been limited to studies conducted in traditional research laboratories because motion capture equipment used for data collection is not easily portable and expensive. A recently developed markerless system, the Leap Motion Controller (LMC), is a portable and inexpensive tracking device that allows recording of 3D hand and finger position. The main goal of this study was to assess the concurrent reliability and validity of the LMC as compared to the Optotrak, a criterion-standard motion capture system, for measures of temporal accuracy and peak velocity during the performance of upper limb, visually-guided movements. In experiment 1, 14 participants executed aiming movements to visual targets presented on a computer monitor. Bland-Altman analysis was conducted to assess the validity and limits of agreement for measures of temporal accuracy (movement time, duration of deceleration interval), peak velocity, and spatial accuracy (endpoint accuracy). In addition, a one-sample t-test was used to test the hypothesis that the error difference between measures obtained from Optotrak and LMC is zero. In experiment 2, 15 participants performed a Fitts' type aiming task in order to assess whether the LMC is capable of assessing a well-known speed-accuracy trade-off relationship. Experiment 3 assessed the temporal coordination pattern during the performance of a sequence consisting of a reaching, grasping, and placement task in 15 participants. Results from the t-test showed that the error difference in temporal measures was significantly different from zero. Based on the results from the 3 experiments, the average temporal error in movement time was 40±44 ms, and the error in peak velocity was 0.024±0.103 m/s. The limits of agreement between the LMC and Optotrak for spatial accuracy measures ranged between

  14. A Biological Micro Actuator: Graded and Closed-Loop Control of Insect Leg Motion by Electrical Stimulation of Muscles

    Science.gov (United States)

    Cao, Feng; Zhang, Chao; Vo Doan, Tat Thang; Li, Yao; Sangi, Daniyal Haider; Koh, Jie Sheng; Huynh, Ngoc Anh; Aziz, Mohamed Fareez Bin; Choo, Hao Yu; Ikeda, Kazuo; Abbeel, Pieter; Maharbiz, Michel M.; Sato, Hirotaka

    2014-01-01

    In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle) via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage) required to elicit leg motions was approximately 1.0 V; thus, we fixed the stimulation amplitude at 1.5 V to ensure a muscle response. The leg motions were finely graded by alternation of the stimulation frequencies: higher stimulation frequencies elicited larger leg angular displacement. A closed-loop control system was then developed, where the stimulation frequency was the manipulated variable for leg-muscle stimulation (output from the final control element to the leg muscle) and the angular displacement of the leg motion was the system response. This closed-loop control system, with an optimized proportional gain and update time, regulated the leg to set at predetermined angular positions. The average electrical stimulation power consumption per muscle group was 148 µW. These findings related to and demonstrations of the leg motion control offer promise for the future development of a reliable, low-power, biological legged machine (i.e., an insect–machine hybrid legged robot). PMID:25140875

  15. A biological micro actuator: graded and closed-loop control of insect leg motion by electrical stimulation of muscles.

    Directory of Open Access Journals (Sweden)

    Feng Cao

    Full Text Available In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage required to elicit leg motions was approximately 1.0 V; thus, we fixed the stimulation amplitude at 1.5 V to ensure a muscle response. The leg motions were finely graded by alternation of the stimulation frequencies: higher stimulation frequencies elicited larger leg angular displacement. A closed-loop control system was then developed, where the stimulation frequency was the manipulated variable for leg-muscle stimulation (output from the final control element to the leg muscle and the angular displacement of the leg motion was the system response. This closed-loop control system, with an optimized proportional gain and update time, regulated the leg to set at predetermined angular positions. The average electrical stimulation power consumption per muscle group was 148 µW. These findings related to and demonstrations of the leg motion control offer promise for the future development of a reliable, low-power, biological legged machine (i.e., an insect-machine hybrid legged robot.

  16. Energy intake and expenditure during sedentary screen time and motion-controlled video gaming.

    Science.gov (United States)

    Lyons, Elizabeth J; Tate, Deborah F; Ward, Dianne S; Wang, Xiaoshan

    2012-08-01

    Television watching and playing of video games (VGs) are associated with higher energy intakes. Motion-controlled video games (MC) may be a healthier alternative to sedentary screen-based activities because of higher energy expenditures, but little is known about the effects of these games on energy intakes. Energy intake, expenditure, and surplus (intake - expenditure) were compared during sedentary (television and VG) and active (MC) screen-time use. Young adults (n = 120; 60 women) were randomly assigned to the following 3 groups: television watching, playing traditional VGs, or playing MCs for 1 h while snacks and beverages were provided. Energy intakes, energy expenditures, and appetites were measured. Intakes across these 3 groups showed a trend toward a significant difference (P = 0.065). The energy expenditure (P games still resulted in a positive energy balance. This trial was registered at clinicaltrials.gov as NCT01523795.

  17. Wireless Control of Smartphones with Tongue Motion Using Tongue Drive Assistive Technology

    Science.gov (United States)

    Kim, Jeonghee; Huo, Xueliang

    2010-01-01

    Tongue Drive System (TDS) is a noninvasive, wireless and wearable assistive technology that helps people with severe disabilities control their environments using their tongue motion. TDS translates specific tongue gestures to commands by detecting a small permanent magnetic tracer on the users’ tongue. We have linked the TDS to a smartphone (iPhone/iPod Touch) with a customized wireless module, added to the iPhone. We also migrated and ran the TDS sensor signal processing algorithm and graphical user interface on the iPhone in real time. The TDS-iPhone interface was evaluated by four able-bodied subjects for dialing 10-digit phone numbers using the standard telephone keypad and three methods of prompting the numbers: visual, auditory, and cognitive. Preliminary results showed that the interface worked quite reliably at a rate of 15.4 digits per minute, on average, with negligible errors. PMID:21096049

  18. Modulated Magnetic Nanowires for Controlling Domain Wall Motion: Toward 3D Magnetic Memories

    KAUST Repository

    Ivanov, Yurii P.

    2016-05-03

    Cylindrical magnetic nanowires are attractive materials for next generation data storage devices owing to the theoretically achievable high domain wall velocity and their efficient fabrication in highly dense arrays. In order to obtain control over domain wall motion, reliable and well-defined pinning sites are required. Here, we show that modulated nanowires consisting of alternating nickel and cobalt sections facilitate efficient domain wall pinning at the interfaces of those sections. By combining electron holography with micromagnetic simulations, the pinning effect can be explained by the interaction of the stray fields generated at the interface and the domain wall. Utilizing a modified differential phase contrast imaging, we visualized the pinned domain wall with a high resolution, revealing its three-dimensional vortex structure with the previously predicted Bloch point at its center. These findings suggest the potential of modulated nanowires for the development of high-density, three-dimensional data storage devices. © 2016 American Chemical Society.

  19. Motion behaviour of magneto-sensitive elastomers controlled by an external magnetic field for sensor applications

    Energy Technology Data Exchange (ETDEWEB)

    Volkova, T.I., E-mail: tatiana.volkova@tu-ilmenau.de [Technische Universität Ilmenau, Faculty of Mechanical Engineering, Technical Mechanics Group, D-98693 Ilmenau (Germany); Böhm, V., E-mail: valter.boehm@tu-ilmenau.de [Technische Universität Ilmenau, Faculty of Mechanical Engineering, Technical Mechanics Group, D-98693 Ilmenau (Germany); Kaufhold, T., E-mail: tobias.kaufhold@tu-ilmenau.de [Technische Universität Ilmenau, Faculty of Mechanical Engineering, Technical Mechanics Group, D-98693 Ilmenau (Germany); Popp, J., E-mail: jana.popp@tu-ilmenau.de [Technische Universität Ilmenau, Faculty of Mechanical Engineering, Technical Mechanics Group, D-98693 Ilmenau (Germany); Becker, F., E-mail: felix.becker@tu-ilmenau.de [Technische Universität Ilmenau, Faculty of Mechanical Engineering, Technical Mechanics Group, D-98693 Ilmenau (Germany); Borin, D.Yu., E-mail: dmitry.borin@tu-dresden.de [Technische Universität Dresden, Magnetofluiddynamics, Measuring and Automation Technology, D-01062 Dresden (Germany); Stepanov, G.V., E-mail: gstepanov@mail.ru [State Institute of Chemistry and Technology of Organoelement Compounds, 105118 Moscow (Russian Federation); Zimmermann, K., E-mail: klaus.zimmermann@tu-ilmenau.de [Technische Universität Ilmenau, Faculty of Mechanical Engineering, Technical Mechanics Group, D-98693 Ilmenau (Germany)

    2017-06-01

    The development of sensor systems with a complex adaptive regulation of the operating sensitivity and behaviour is an actual scientific and technical challenge. Smart materials like magneto-sensitive elastomers (MSE) are seen as one potential solution for this problem, since their mechanical properties may be controlled by external magnetic fields. The present paper deals with the investigation of elastic and damping properties of MSE containing magnetically soft particles under the influence of a uniform magnetic field. Based on the measurement of the first eigenfrequency of free bending vibrations of a fixed beam, the effective Young's modulus is evaluated theoretically and also numerically using Finite Element Method. It is shown that this parameter, as well as the first eigenfrequency of the beam, increases monotonically with the magnitude of the applied magnetic field. The results are aimed to develop an acceleration sensor with adaptive magnetically controllable sensitivity range for the detection of external mechanical stimuli of the environment. - Highlights: • The motion behaviour of magneto-sensitive elastomers (MSE) with magnetically soft particles is investigated. • The first eigenfrequency of free bending vibrations of an MSE beam can be controlled by a uniform magnetic field. • Based on the experimental results, the effective Young's modulus of the system is evaluated theoretically and numerically. • The Young's modulus increases monotonically with the magnitude of the applied magnetic field. • The controlled mechanical compliance of MSE may be used for development of sensor systems with adaptive sensitivity range.

  20. Chaos control of Hastings-Powell model by combining chaotic motions

    Science.gov (United States)

    Danca, Marius-F.; Chattopadhyay, Joydev

    2016-04-01

    In this paper, we propose a Parameter Switching (PS) algorithm as a new chaos control method for the Hastings-Powell (HP) system. The PS algorithm is a convergent scheme that switches the control parameter within a set of values while the controlled system is numerically integrated. The attractor obtained with the PS algorithm matches the attractor obtained by integrating the system with the parameter replaced by the averaged value of the switched parameter values. The switching rule can be applied periodically or randomly over a set of given values. In this way, every stable cycle of the HP system can be approximated if its underlying parameter value equalizes the average value of the switching values. Moreover, the PS algorithm can be viewed as a generalization of Parrondo's game, which is applied for the first time to the HP system, by showing that losing strategy can win: "losing + losing = winning." If "loosing" is replaced with "chaos" and, "winning" with "order" (as the opposite to "chaos"), then by switching the parameter value in the HP system within two values, which generate chaotic motions, the PS algorithm can approximate a stable cycle so that symbolically one can write "chaos + chaos = regular." Also, by considering a different parameter control, new complex dynamics of the HP model are revealed.

  1. The Structure, Design, and Closed-Loop Motion Control of a Differential Drive Soft Robot.

    Science.gov (United States)

    Wu, Pang; Jiangbei, Wang; Yanqiong, Fei

    2018-02-01

    This article presents the structure, design, and motion control of an inchworm inspired pneumatic soft robot, which can perform differential movement. This robot mainly consists of two columns of pneumatic multi-airbags (actuators), one sensor, one baseboard, front feet, and rear feet. According to the different inflation time of left and right actuators, the robot can perform both linear and turning movements. The actuators of this robot are composed of multiple airbags, and the design of the airbags is analyzed. To deal with the nonlinear performance of the soft robot, we use radial basis function neural networks to train the turning ability of this robot on three different surfaces and create a mathematical model among coefficient of friction, deflection angle, and inflation time. Then, we establish the closed-loop automatic control model using three-axis electronic compass sensor. Finally, the automatic control model is verified by linear and turning movement experiments. According to the experiment, the robot can finish the linear and turning movements under the closed-loop control system.

  2. Complexity Control of Fast Motion Estimation in H.264/MPEG-4 AVC with Rate-Distortion-Complexity optimization

    DEFF Research Database (Denmark)

    Wu, Mo; Forchhammer, Søren; Aghito, Shankar Manuel

    2007-01-01

    A complexity control algorithm for H.264 advanced video coding is proposed. The algorithm can control the complexity of integer inter motion estimation for a given target complexity. The Rate-Distortion-Complexity performance is improved by a complexity prediction model, simple analysis of the pa...

  3. Pitch Motion Stabilization by Propeller Speed Control Using Statistical Controller Design

    DEFF Research Database (Denmark)

    Nakatani, Toshihiko; Blanke, Mogens; Galeazzi, Roberto

    2006-01-01

    This paper describes dynamics analysis of a small training boat and a possibility of ship pitch stabilization by control of propeller speed. After upgrading the navigational system of an actual small training boat, in order to identify the model of the ship, the real data collected by sea trials...

  4. Initial experience with active breathing control of liver motion during ventilation

    International Nuclear Information System (INIS)

    Robertson, John M.; Sharpe, Michael B.; Jaffray, David A.; Wong, John W.

    1997-01-01

    Purpose: Recent evidence has shown that some patients with hepatic tumors can be safely irradiated to a dose well over twice the whole liver tolerance dose if portions of normal liver are spared. Correction during treatment planning for the ventilatory motion of the liver can add a large volume of normal liver to the planning target volume. Any reduction in ventilatory motion has the potential to allow a higher dose of radiation to be given safely. Active Breathing Control (ABC) can be used to temporarily stop the airflow to a patient, thus immobilizing the liver, at any part of a patient's ventilatory cycle. ABC during helical CT scanning can be used to study the full three dimensional motion of the liver and other abdominal organs during ventilation. Ultimately, if the use of ABC is found to be clinically feasible, tolerable for patients, and, most importantly, reproducible over time, then ABC may be used during radiation treatment. Materials and Methods: An ABC apparatus was constructed using a flow monitor and scissor valves on both the inhalation and exhalation paths to the patient. The patient breathed through either a mouthpiece or facemask during the procedure. The ventilatory cycle was displayed in real time. When a stable breathing pattern was observed, the ABC was activated at a specific lung volume, closing both scissors valves, and preventing ventilation. The length of time for comfortable activation of the ABC machine for the individual patient was determined during a teaching and practice period prior to CT scanning. Helical CT scans (slice thickness 0.5 cm) to assess the potential benefit of immobilizing breathing were obtained for normal breathing, end-inspiration and end-expiration. The reproducibility of ABC over time was assessed by repeating the end-inspiration scan both immediately and one week later. The contours of the liver and kidneys were entered for each study. Results: Five patients have undergone ABC study of the abdomen. End

  5. Calibration and Motion Control of a Cable-Driven Parallel Manipulator Based Triple-Level Spatial Positioner

    Directory of Open Access Journals (Sweden)

    Xuechao Duan

    2014-02-01

    Full Text Available This paper deals with the kinematic calibration and motion control of a triple-level spatial positioner consisting of the cable-driven parallel manipulator (CDPM, active gyro stabilizer (AGS, and the Stewart platform. A six-degree-of-freedom laser tracker is employed when calibrating the benchmark positions and measuring the real-time position and orientation in motion control, which makes it a straightforward solution to tackle with hierarchical mechatronic system actuated by servomotors with incremental encoders. Then the trajectory planning and motion control of the triple-level robotic spatial positioner are explored to verify the correctness and to what extent the calibration improves the system. This CDPM based spatial positioner has an accuracy of several millimeters though it has a ten-meter workspace.

  6. Efficacy of early controlled motion of the ankle compared with no motion after non-operative treatment of an acute Achilles tendon rupture

    DEFF Research Database (Denmark)

    Barfod, Kristoffer Weisskirchner; Hansen, Maria Swennergren; Hølmich, Per

    2016-01-01

    controlled motion of the ankle in weeks 3-8 after rupture. The control group is immobilized. In total, 130 patients will be included from one big orthopedic center over a period of 2½ years. The primary outcome is the patient-reported Achilles tendon Total Rupture Score evaluated at 12 months post...... affects functional and patient-reported outcomes. METHODS/DESIGN: The study is performed as a blinded, randomized, controlled trial with patients allocated in a 1:1 ratio to one of two parallel groups. Patients aged from 18 to 70 years are eligible for inclusion. The intervention group performs early...... of acute Achilles tendon rupture in a randomized setup. The study uses the patient-reported outcome measure, the Achilles tendon Total Rupture Score, as the primary endpoint, as it is believed to be the best surrogate measure for the tendon's actual capability to function in everyday life. TRIAL...

  7. Human Control Law and Brain Activity of Voluntary Motion by Utilizing a Balancing Task with an Inverted Pendulum

    Directory of Open Access Journals (Sweden)

    Satoshi Suzuki

    2010-01-01

    Full Text Available Human characteristics concerning voluntary motion control are investigated, because this motion is fundamental for the machine operation and human-computer system. Using a force feedback haptic device and a balancing task of a virtual inverted pendulum, participants were trained in the task, and hand motion/force was measured, and brain activity was monitored. First, through brain analysis by near-infrared spectroscopy (NIRS and motion analysis of the pendulum, we identified a participant who was the most expert. Next, control characteristics of the most expert were investigated by considering the operational force and delay factor of a human. As a result, it was found that predictive control based on velocity information was used predominantly although a perception feedback control against the pendulum posture worked. And it was shown that an on-off intermittency control, which was a strategy for the skilled balancing, can be described well by a liner model involving two types of time shifts for the position and velocity. In addition, it was confirmed that the cortex activity for observation in an ocular motor control area and visual processing area was strong to enhance above-mentioned control strategies.

  8. Vehicle lateral motion regulation under unreliable communication links based on robust H∞ output-feedback control schema

    Science.gov (United States)

    Li, Cong; Jing, Hui; Wang, Rongrong; Chen, Nan

    2018-05-01

    This paper presents a robust control schema for vehicle lateral motion regulation under unreliable communication links via controller area network (CAN). The communication links between the system plant and the controller are assumed to be imperfect and therefore the data packet dropouts occur frequently. The paper takes the form of parallel distributed compensation and treats the dropouts as random binary numbers that form Bernoulli distribution. Both of the tire cornering stiffness uncertainty and external disturbances are considered to enhance the robustness of the controller. In addition, a robust H∞ static output-feedback control approach is proposed to realize the lateral motion control with relative low cost sensors. The stochastic stability of the closed-loop system and conservation of the guaranteed H∞ performance are investigated. Simulation results based on CarSim platform using a high-fidelity and full-car model verify the effectiveness of the proposed control approach.

  9. A piloted evaluation of an oblique-wing research aircraft motion simulation with decoupling control laws

    Science.gov (United States)

    Kempel, Robert W.; Mcneill, Walter E.; Gilyard, Glenn B.; Maine, Trindel A.

    1988-01-01

    The NASA Ames Research Center developed an oblique-wing research plane from NASA's digital fly-by-wire airplane. Oblique-wing airplanes show large cross-coupling in control and dynamic behavior which is not present on conventional symmetric airplanes and must be compensated for to obtain acceptable handling qualities. The large vertical motion simulator at NASA Ames-Moffett was used in the piloted evaluation of a proposed flight control system designed to provide decoupled handling qualities. Five discrete flight conditions were evaluated ranging from low altitude subsonic Mach numbers to moderate altitude supersonic Mach numbers. The flight control system was effective in generally decoupling the airplane. However, all participating pilots objected to the high levels of lateral acceleration encountered in pitch maneuvers. In addition, the pilots were more critical of left turns (in the direction of the trailing wingtip when skewed) than they were of right turns due to the tendency to be rolled into the left turns and out of the right turns. Asymmetric side force as a function of angle of attack was the primary cause of lateral acceleration in pitch. Along with the lateral acceleration in pitch, variation of rolling and yawing moments as functions of angle of attack caused the tendency to roll into left turns and out of right turns.

  10. Magnetic fish-robot based on multi-motion control of a flexible magnetic actuator

    International Nuclear Information System (INIS)

    Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi; Shin, Kyoosik

    2012-01-01

    This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible magnetic actuator driven by an external rotating magnetic field can create several gaits such as the bending vibration, the twisting vibration, and their combination. Most magnetic fish-like micro-robots do not have pectoral fins on the side and are simply propelled by the tail fin. The proposed robot can swim and perform a variety of maneuvers with the addition of pectoral fins and control of the magnetic torque direction. In this paper, we find that the robot's dynamic actuation correlates with the magnetic actuator and the rotating magnetic field. The proposed robot is also equipped with new features, such as a total of six degrees of freedom, a new control method that stabilizes posture, three-dimensional swimming, a new velocity control, and new turning abilities. (paper)

  11. Control Motion Approach of a Lower Limb Orthosis to Reduce Energy Consumption

    Directory of Open Access Journals (Sweden)

    Daniel Sanz-Merodio

    2012-12-01

    Full Text Available By analysing the dynamic principles of the human gait, an economic gait-control analysis is performed, and passive elements are included to increase the energy efficiency in the motion control of active orthoses. Traditional orthoses use position patterns from the clinical gait analyses (CGAs of healthy people, which are then de-normalized and adjusted to each user. These orthoses maintain a very rigid gait, and their energy cost is very high, reducing the autonomy of the user. First, to take advantage of the inherent dynamics of the legs, a state machine pattern with different gains in each state is applied to reduce the actuator energy consumption. Next, different passive elements, such as springs and brakes in the joints, are analysed to further reduce energy consumption. After an off-line parameter optimization and a heuristic improvement with genetic algorithms, a reduction in energy consumption of 16.8% is obtained by applying a state machine control pattern, and a reduction of 18.9% is obtained by using passive elements. Finally, by combining both strategies, a more natural gait is obtained, and energy consumption is reduced by 24.6% compared with a pure CGA pattern.

  12. Auricular Acupressure for Managing Postoperative Pain and Knee Motion in Patients with Total Knee Replacement: A Randomized Sham Control Study

    Directory of Open Access Journals (Sweden)

    Ling-hua Chang

    2012-01-01

    Full Text Available Background. Postoperative pain management remains a significant challenge for all healthcare providers. A randomized controlled trial was conducted to examine the adjuvant effects of auricular acupressure on relieving postoperative pain and improving the passive range of motion in patients with total knee replacement (TKR. Method. Sixty-two patients who had undergone a TKR were randomly assigned to the acupressure group and the sham control group. The intervention was delivered three times a day for 3 days. A visual analog scale (VAS and the Short-Form McGill Pain Questionnaire were used to assess pain intensity. Pain medication consumption was recorded, and the knee motion was measured using a goniometer. Results. The patients experienced a moderately severe level of pain postoperatively (VAS 58.66 ± 20.35 while being on the routine PCA. No differences were found in pain scores between the groups at all points. However, analgesic drug usage in the acupressure group patients was significantly lower than in the sham control group (<0.05, controlling for BMI, age, and pain score. On the 3rd day after surgery, the passive knee motion in the acupressure group patients was significantly better than in the sham control group patients (<0.05, controlling for BMI. Conclusion. The application of auricular acupressure at specific therapeutic points significantly reduces the opioid analgesia requirement and improves the knee motion in patients with TKR.

  13. Assessment of Relationships Between Joint Motion Quality and Postural Control in Patients With Chronic Ankle Joint Instability.

    Science.gov (United States)

    Bączkowicz, Dawid; Falkowski, Krzysztof; Majorczyk, Edyta

    2017-08-01

    Study Design Controlled laboratory study, cross-sectional. Background Lateral ankle sprains are among the most common injuries encountered during athletic participation. Following the initial injury, there is an alarmingly high risk of reinjury and development of chronic ankle instability (CAI), which is dependent on a combination of factors, including sensorimotor deficits and changes in the biomechanical environment of the ankle joint. Objective To evaluate CAI-related disturbances in arthrokinematic motion quality and postural control and the relationships between them. Methods Sixty-three male subjects (31 with CAI and 32 healthy controls) were enrolled in the study. For arthrokinematic motion quality analysis, the vibroarthrographic signals were collected during ankle flexion/extension motion using an acceleration sensor and described by variability (variance of mean squares [VMS]), amplitude (mean of 4 maximal and 4 minimal values [R4]), and frequency (vibroarthrographic signal bands of 50 to 250 Hz [P1] and 250 to 450 Hz [P2]) parameters. Using the Biodex Balance System, single-leg dynamic balance was measured by overall, anteroposterior, and mediolateral stability indices. Results Values of vibroarthrographic parameters (VMS, R4, P1 and P2) were significantly higher in the CAI group than those in the control group (Pankle arthrokinematic motion and postural control were present. Therefore, physical therapy interventions focused on improving ankle neuromuscular control and arthrokinematic function are necessary in CAI patient care. J Orthop Sports Phys Ther 2017;47(8):570-577. Epub 4 Nov 2016. doi:10.2519/jospt.2017.6836.

  14. Implementation of High Performance Microstepping Driver Using FPGA with the Aim of Realizing Accurate Control on a Linear Motion System

    Directory of Open Access Journals (Sweden)

    Farid Alidoust Aghdam

    2013-01-01

    Full Text Available This paper presents an FPGA-based microstepping driver which drives a linear motion system with a smooth and precise way. Proposed driver built on a Spartan3 FPGA (XC3S400 core development board from Xilinx. Implementation of driver realized by an FPGA and using Verilog hardware description language in the Xilinx ISE environment. The driver’s control behavior can be adapted just by altering Verilog scripts. In addition, a linear motion system developed (with 4 mm movement per motor revolution and coupled it to the stepper motor. The performance of the driver is tested by measuring the distance traveled on linear motion system. The experimental results verified using hardware-in-loop Matlab and Xilinx cosimulation method. This driver accomplishes a firm and accurate control and is responsive.

  15. Modeling the angular motion dynamics of spacecraft with a magnetic attitude control system based on experimental studies and dynamic similarity

    Science.gov (United States)

    Kulkov, V. M.; Medvedskii, A. L.; Terentyev, V. V.; Firsyuk, S. O.; Shemyakov, A. O.

    2017-12-01

    The problem of spacecraft attitude control using electromagnetic systems interacting with the Earth's magnetic field is considered. A set of dimensionless parameters has been formed to investigate the spacecraft orientation regimes based on dynamically similar models. The results of experimental studies of small spacecraft with a magnetic attitude control system can be extrapolated to the in-orbit spacecraft motion control regimes by using the methods of the dimensional and similarity theory.

  16. Precision motion and control for the plane grating monochromator at SRC

    Energy Technology Data Exchange (ETDEWEB)

    Fisher, M.V.; Bissen, M.; Bourgeois, F.; Eisert, D.; Kubala, T.; Reininger, R.; Severson, M. [Univ. of Wisconsin, Stoughton, WI (United States). Synchrotron Radiation Center

    1996-12-31

    A nearly stigmatic Plane Grating Monochromator (PGM) under commissioning for the new undulator beamline at the Synchrotron Radiation Center will provide a resolving power > 10,000 as it scans from 8 to 240 eV. Scanning requires the precise, simultaneous rotation of a plane mirror and a combined rotation-translation of a plane grating in close proximity to one another inside a UHV chamber. The required scanning motions are significant due to the large energy range covered by a single grating. The mirror and grating rotate nearly 23 and 33 degrees respectively and the grating translates approximately 200 mm. Sub-arcsec angular resolution allows several steps to be taken across the monochromator`s energy resolution. Both rotations utilize a combination stepping motor-piezoelectric actuator scan drive that is controlled with a feedback loop using a laser interferometer to measure the in-situ rotation of the optics. The grating mechanism is supported via bellows to an external stepping motor driven stage that travels directly on an inspection grade granite block. The stage position is controlled with a feedback loop using a precision linear encoder. A positional accuracy and vertical stability of a few micrometers is achieved on the grating translation which prevents the image from shifting at the exit slit and introducing energy calibration errors.

  17. High-bandwidth and flexible tracking control for precision motion with application to a piezo nanopositioner.

    Science.gov (United States)

    Feng, Zhao; Ling, Jie; Ming, Min; Xiao, Xiao-Hui

    2017-08-01

    For precision motion, high-bandwidth and flexible tracking are the two important issues for significant performance improvement. Iterative learning control (ILC) is an effective feedforward control method only for systems that operate strictly repetitively. Although projection ILC can track varying references, the performance is still limited by the fixed-bandwidth Q-filter, especially for triangular waves tracking commonly used in a piezo nanopositioner. In this paper, a wavelet transform-based linear time-varying (LTV) Q-filter design for projection ILC is proposed to compensate high-frequency errors and improve the ability to tracking varying references simultaneously. The LVT Q-filter is designed based on the modulus maximum of wavelet detail coefficients calculated by wavelet transform to determine the high-frequency locations of each iteration with the advantages of avoiding cross-terms and segmenting manually. The proposed approach was verified on a piezo nanopositioner. Experimental results indicate that the proposed approach can locate the high-frequency regions accurately and achieve the best performance under varying references compared with traditional frequency-domain and projection ILC with a fixed-bandwidth Q-filter, which validates that through implementing the LTV filter on projection ILC, high-bandwidth and flexible tracking can be achieved simultaneously by the proposed approach.

  18. Hip and ankle range of motion and hip muscle strength in young female ballet dancersand controls

    Science.gov (United States)

    Bennell, K.; Khan, K. M.; Matthews, B.; De Gruyter, M.; Cook, E.; Holzer, K.; Wark, J. D.

    1999-01-01

    OBJECTIVES: To compare the hip and ankle range of motion and hip muscle strength in 8-11 year old novice female ballet dancers and controls. METHODS: Subjects were 77 dancers and 49 controls (mean (SD) age 9.6 (0.8) and 9.6 (0.7) years respectively). Supine right active hip external rotation (ER) and internal rotation (IR) were measured using an inclinometer. A turnout protractor was used to assess standing active turnout range. The measure of ER achieved from below the hip during turnout (non-hip ER) was calculated by subtracting hip ER range from turnout range, and hip ER:IR was derived by dividing ER range by IR range. Range of right weight bearing ankle dorsiflexion was measured in a standing lunge using two methods: the distance from the foot to the wall (in centimetres) and the angle of the shank to the vertical via an inclinometer (in degrees). Right calf muscle range was measured in weight bearing using an inclinometer. A manual muscle tester was used to assess right isometric hip flexor, internal rotator, external rotator, abductor, and adductor strength. RESULTS: Dancers had less ER (pballetic training. 


 PMID:10522638

  19. High-bandwidth and flexible tracking control for precision motion with application to a piezo nanopositioner

    Science.gov (United States)

    Feng, Zhao; Ling, Jie; Ming, Min; Xiao, Xiao-Hui

    2017-08-01

    For precision motion, high-bandwidth and flexible tracking are the two important issues for significant performance improvement. Iterative learning control (ILC) is an effective feedforward control method only for systems that operate strictly repetitively. Although projection ILC can track varying references, the performance is still limited by the fixed-bandwidth Q-filter, especially for triangular waves tracking commonly used in a piezo nanopositioner. In this paper, a wavelet transform-based linear time-varying (LTV) Q-filter design for projection ILC is proposed to compensate high-frequency errors and improve the ability to tracking varying references simultaneously. The LVT Q-filter is designed based on the modulus maximum of wavelet detail coefficients calculated by wavelet transform to determine the high-frequency locations of each iteration with the advantages of avoiding cross-terms and segmenting manually. The proposed approach was verified on a piezo nanopositioner. Experimental results indicate that the proposed approach can locate the high-frequency regions accurately and achieve the best performance under varying references compared with traditional frequency-domain and projection ILC with a fixed-bandwidth Q-filter, which validates that through implementing the LTV filter on projection ILC, high-bandwidth and flexible tracking can be achieved simultaneously by the proposed approach.

  20. Auditory motion capturing ambiguous visual motion

    Directory of Open Access Journals (Sweden)

    Arjen eAlink

    2012-01-01

    Full Text Available In this study, it is demonstrated that moving sounds have an effect on the direction in which one sees visual stimuli move. During the main experiment sounds were presented consecutively at four speaker locations inducing left- or rightwards auditory apparent motion. On the path of auditory apparent motion, visual apparent motion stimuli were presented with a high degree of directional ambiguity. The main outcome of this experiment is that our participants perceived visual apparent motion stimuli that were ambiguous (equally likely to be perceived as moving left- or rightwards more often as moving in the same direction than in the opposite direction of auditory apparent motion. During the control experiment we replicated this finding and found no effect of sound motion direction on eye movements. This indicates that auditory motion can capture our visual motion percept when visual motion direction is insufficiently determinate without affecting eye movements.

  1. An innovative optimal control approach for the next generation simulator motion platform DESDEMONA

    NARCIS (Netherlands)

    Mayrhofer, M.; Langwallner, B.; Schlüsselberger, R.; Bles, W.; Wentink, M.

    2007-01-01

    The very unique and novel motion platform DESDEMONA was taken into start-up operation early this year. This next generation motion platform allows 6-DoF movement combined with the capability of producing sustained g-forces. These features make the simulator extremely valuable for future flight

  2. Adaptive simultaneous motion and vibration control for a multi flexible-link mechanism with uncertain general harmonic disturbance

    Science.gov (United States)

    Wang, Ji; Pi, Yangjun; Hu, Yumei; Zhu, Zhencai; Zeng, Lingbin

    2017-11-01

    In this paper, a new motion and vibration synthesized control system-a linear quadratic regulator/strain rate feedback controller (LQR/SRF) with adaptive disturbance attenuation is presented for a multi flexible-link mechanism subjected to uncertain harmonic disturbances with arbitrary frequencies and unknown magnitudes. In the proposed controller, nodal strain rates are introduced into the model of the multi flexible-link mechanism, based upon which a synthesized LQR controller where both rigid-body motion and elastic deformation are considered is designed. The uncertain harmonic disturbances would be canceled in the feedback loop by its approximated value which is computed online via an adaptive update law. Asymptotic stability of the closed-loop system is proved by the Lyapunov analysis. The effectiveness of the proposed controller is shown via simulation.

  3. Active-flux based motion sensorless vector control of biaxial excitation generator/motor for automobiles (BEGA)

    DEFF Research Database (Denmark)

    Coroban-Schramel, Vasile; Boldea, Ion; Andreescu, Gheorghe-Daniel

    2009-01-01

    This paper proposes a novel, active-flux based, motion-sensorless vector control structure for biaxial excitation generator for automobiles (BEGA) for wide speed range operation. BEGA is a hybrid excited synchronous machine having permanent magnets on q-axis and a dc excitation on daxis. Using...... electrical degrees in less than 2 ms test time....

  4. Exploring direct 3D interaction for full horizontal parallax light field displays using leap motion controller.

    Science.gov (United States)

    Adhikarla, Vamsi Kiran; Sodnik, Jaka; Szolgay, Peter; Jakus, Grega

    2015-04-14

    This paper reports on the design and evaluation of direct 3D gesture interaction with a full horizontal parallax light field display. A light field display defines a visual scene using directional light beams emitted from multiple light sources as if they are emitted from scene points. Each scene point is rendered individually resulting in more realistic and accurate 3D visualization compared to other 3D displaying technologies. We propose an interaction setup combining the visualization of objects within the Field Of View (FOV) of a light field display and their selection through freehand gesture tracked by the Leap Motion Controller. The accuracy and usefulness of the proposed interaction setup was also evaluated in a user study with test subjects. The results of the study revealed high user preference for free hand interaction with light field display as well as relatively low cognitive demand of this technique. Further, our results also revealed some limitations and adjustments of the proposed setup to be addressed in future work.

  5. Adaptive sliding mode control on inner axis for high precision flight motion simulator

    Science.gov (United States)

    Fu, Yongling; Niu, Jianjun; Wang, Yan

    2008-10-01

    Discrete adaptive sliding mode control (ASMC) with exponential reaching law is proposed to alleviate the influence of the factors such as the periodical fluctuation torque of motor, nonlinear friction, and other disturbance which will deteriorate the tracking performance of a DC torque motor driven inner axis for a high precision flight motion simulator, considering the limited compensating ability of the ASMC for these uncertainty, an equivalent friction advance compensator based on Stribeck model is also presented for extra-low speed servo of the system. Firstly, the way direct using the available parts of the inner axis itself to ascertain the parameters for Stribeck model is listed. Secondly, adaptive approach is used to overcome the difficulty of choice the key parameter for exponential reaching law, and the stability of the algorithm is analyzed. Lastly, comparable experiments are carried out to verify the valid of the combined approach. The experiments results show with a stable 0.00006°/s speed response, 95% of time the tracking error is within 0.0002°, other servos such as sine wave tracking are also with high precision.

  6. Effect of interconversion between reactant configurational states on enzyme kinetics controlled by rototranslational diffusion motions

    Science.gov (United States)

    Baldo, Marcello; Grassi, Antonio; Raudino, Antonio

    1990-10-01

    In this paper we extend a previous model [M. Baldo, A. Grassi, and A. Raudino, J. Chem. Phys. 91, 4658 (1989)] describing the orientational effects in diffusion-controlled enzyme (or membrane surface) reactions. The present generalization takes into account the reactants internal motions involving the interconversion between configurational states, one of them being much more reactive than the others. The problem leads to a system of rotational-translational diffusion equations (RT-DEs) coupled through the interconversion reactions between the conformers. For sake of simplicity, we have restricted the analysis to the case of only two conformational states. The steady-state RT-DE with the proper boundary conditions has been solved by an exact analytical procedure, leading to a set of linear algebraic equations which have been numerically solved. The model allows one to calculate the kinetic constants of the enzyme reactions as a function of available experimental parameters, such as the rotational and translational diffusion coefficients, the reactant's orientational constraints and the rates of interconversion between its different conformations. The numerical results show a monotonous but very nonlinear increasing of the enzyme kinetic constant on raising either the rotational diffusion constant or the interconversion rate between the P+ and P- reactant's conformations. Well-defined regions where the influence of the above parameters on the enzyme kinetics reaches a maximum have been identified.

  7. Exploring Direct 3D Interaction for Full Horizontal Parallax Light Field Displays Using Leap Motion Controller

    Directory of Open Access Journals (Sweden)

    Vamsi Kiran Adhikarla

    2015-04-01

    Full Text Available This paper reports on the design and evaluation of direct 3D gesture interaction with a full horizontal parallax light field display. A light field display defines a visual scene using directional light beams emitted from multiple light sources as if they are emitted from scene points. Each scene point is rendered individually resulting in more realistic and accurate 3D visualization compared to other 3D displaying technologies. We propose an interaction setup combining the visualization of objects within the Field Of View (FOV of a light field display and their selection through freehand gesture tracked by the Leap Motion Controller. The accuracy and usefulness of the proposed interaction setup was also evaluated in a user study with test subjects. The results of the study revealed high user preference for free hand interaction with light field display as well as relatively low cognitive demand of this technique. Further, our results also revealed some limitations and adjustments of the proposed setup to be addressed in future work.

  8. Input relegation control for gross motion of a kinematically redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1992-10-01

    This report proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the joint velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The approach is also applied to the problem of resolving the kinematic redundancy at the acceleration level. Upon resolving the kinematic redundancy, a rigid body dynamical model governing the gross motion of the manipulator is derived. A control architecture is suggested which according to the model, decouples the Cartesian space DOF and the redundant DOF.

  9. Predicting the Motions and Forces of Wearable Robotic Systems Using Optimal Control

    Directory of Open Access Journals (Sweden)

    Matthew Millard

    2017-08-01

    Full Text Available Wearable robotic systems are being developed to prevent injury to the low back. Designing a wearable robotic system is challenging because it is difficult to predict how the exoskeleton will affect the movement of the wearer. To aid the design of exoskeletons, we formulate and numerically solve an optimal control problem (OCP to predict the movements and forces of a person as they lift a 15 kg box from the ground both without (human-only OCP and with (with-exo OCP the aid of an exoskeleton. We model the human body as a sagittal-plane multibody system that is actuated by agonist and antagonist pairs of muscle torque generators (MTGs at each joint. Using the literature as a guide, we have derived a set of MTGs that capture the active torque–angle, passive torque–angle, and torque–velocity characteristics of the flexor and extensor groups surrounding the hip, knee, ankle, lumbar spine, shoulder, elbow, and wrist. Uniquely, these MTGs are continuous to the second derivative and so are compatible with gradient-based optimization. The exoskeleton is modeled as a rigid-body mechanism that is actuated by a motor at the hip and the lumbar spine and is coupled to the wearer through kinematic constraints. We evaluate our results by comparing our predictions with experimental recordings of a human subject. Our results indicate that the predicted peak lumbar-flexion angles and extension torques of the human-only OCP are within the range reported in the literature. The results of the with-exo OCP indicate that the exoskeleton motors should provide relatively little support during the descent to the box but apply a substantial amount of support during the ascent phase. The support provided by the lumbar motor is similar in shape to the net moment generated at the L5/S1 joint by the body; however, the support of the hip motor is more complex because it is coupled to the passive forces that are being generated by the hip extensors of the human subject

  10. Excitation of Intra-bunch Vertical Motion in the SPS - Implications for Feedback Control of Ecloud and TMCI Instabilities

    CERN Document Server

    Cesaratto, John; Pivi, M T; Rivetta, C H; Turgut, O; Uemura, S; Hofle, W; Wehrle, U

    2012-01-01

    Electron cloud (ecloud) and transverse mode coupledbunch instabilities (TMCI) limit the bunch intensity in the CERN SPS. This paper presents experimental measurements in the SPS of single-bunch motion driven by a GHz bandwidth vertical excitation system [1]. The nal goal is to quantify the change in internal bunch dynamics as instability thresholds are approached, and quantify the frequencies of internal modes as ecloud effects become signicant. Initially, we have been able to drive the beam and view its motion. We show the excitation of barycentric, head-tail and higher vertical modes at different bunch intensities. The beam motion is analyzed in the time domain, via animated presentations of the sampled vertical signals, and in the frequency domain, via spectrograms showing the modal frequencies vs. time. The demonstration of the excitation of selected internal modes is a signicant step in the development of the feedback control techniques.

  11. Truss Climbing Robot for Space Station: Design, Analysis, and Motion Control

    Science.gov (United States)

    Chung, Wing Kwong

    The application of space robots has become more popular in performing tasks such as Intra and Extra Vehicular Activities (EVA) in Low Earth Orbit. For EVA, space robots were always designed as a chain-like manipulator with a joint configuration similar to on the earth robotic arm. Based on their joint configuration, they can be classified into two main categories. The first one is the six degrees of freedom (DOF) robotic arm including Shuttle Remote Manipulator System (SRMS), Engineering Test Satellite No. 7 (ETS-VII), the Main Arm (MA) and the Small Fine Arm (SFA) of Module Remote Manipulator System (JEMRMS). The other group is the seven-DOF space robotic arm which includes European Robotic Arm (ERA) and Space Station Remote Manipulator System (SSRMS), or Canadarm2. They not only perform manipulation tasks, but also be able to navigate on the exterior of the International Space Station (ISS). In a free floating environment, motions of a space robotic arm cause the attitude change of a space station because of their dynamic coupling effect. Hence, the stabilization of the space station attitude is important to maintain the electrical energy generated by the solar panels and the signal strength for communication. Most of research in this area focuses on the motion control of a space manipulator through the study of Generalized Jacobian Matrix. Little research has been conducted specifically on the design of locomotion mechanism of a space manipulator. This dissertation proposes a novel methodology for the locomotion on a space station which aims to lower the disturbance on a space station. Without modifying the joint configuration of conventional space manipulators, the use of a new gripping mechanism is proposed which combines the advantages of active wheels and conventional grippers. To realize the proposed gripping mechanism, this dissertation also presents the design of a novel frame climbing robot (Frambot) which is equipped with the new gripping mechanism

  12. Non-Markovianity in the optimal control of an open quantum system described by hierarchical equations of motion

    OpenAIRE

    Mangaud, Etienne; Puthumpally-Joseph, Raijumon; Sugny, Dominique; Meier, Christoph; Atabek, Osman; Desouter-Lecomte, Michèle

    2017-01-01

    Optimal control theory is implemented with fully converged hierarchical equations of motion (HEOM) describing the time evolution of an open system density matrix strongly coupled to the bath in a spin-boson model. The populations of the two-level sub-system are taken as control objectives; namely, their revivals or exchange when switching off the field. We, in parallel, analyze how the optimal electric field consequently modifies the information back flow from the environment through differen...

  13. Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System

    Directory of Open Access Journals (Sweden)

    Rongsheng Liu

    2015-01-01

    Full Text Available Joint motion control of a 52-meter-long five-boom system driven by proportional hydraulic system is developed. It has been considered difficult due to strong nonlinearities and parametric uncertainties, the effect of which increases with the size of booms. A human simulated intelligent control scheme is developed to improve control performance by modifying control mode and control parameters. In addition, considering the negative effects caused by frequent and redundant reverse actions of the proportional valve, a double-direction compensation scheme is proposed to deal with the dead-zone nonlinearity of proportional valve. Sinusoidal motions are implemented on a real boom system. The results indicate that HSIC controller can improve control accuracy, and dead-zone nonlinearity is effectively compensated by proposed compensation scheme without introducing frequent reverse actions of proportional valve.

  14. Design of Fuzzy Enhanced Hierarchical Motion Stabilizing Controller of Unmanned Ground Vehicle in Three DimensionalSpace

    Directory of Open Access Journals (Sweden)

    Yue Ma

    2011-12-01

    Full Text Available In this paper, stabilizing control of tracked unmanned ground vehicle in 3-D space was presented. Firstly, models of major modules of tracked UGV were established. Next, to reveal the mechanism of disturbances applied on the UGV, two kinds of representative disturbances (slope and general disturbances in yaw motion were discussed in depth. Consequently, an attempting PID method was employed to compensate the impacts of disturbances andsimulation results proved the validity for disturbance incited by slope force, but revealed the lack for general disturbance on yaw motion. Finally, a hierarchical fuzzy controller combined with PID controller was proposed. In lower level, there were two PID controllers to compensate the disturbance of slope force, and on top level, the fuzzy logic controller was employed to correct the yaw motion error based on the differences between the model and the real UGV, which was able to guide the UGV maintain on the stable state. Simulation results demonstrated the excellent effectiveness of the newly designed controller.

  15. Environmental controls on multiscale spatial patterns of salt marsh vegetation

    DEFF Research Database (Denmark)

    Kim, Daehyun; Cairns, David; Bartholdy, Jesper

    2010-01-01

    In coastal environments, biogeographic patterns are generally influenced by surface elevation and horizontal distance from sea water. However, it is still unclear whether these major topographic factors are significant controls of vegetation patterns across spatial scales at which different...... physical processes operate. This study investigated such a topography-vegetation relationship in a Danish salt marsh, focusing upon two scales: a macro-scale (ca. 500 m) across the marsh platform, encompassing seaward and landward areas, and a meso-scale ( ca. 25 m) across tidal creeks. While long-term sea......-level variation and grazing influenced the macro-scale pattern, short-term fluvial-geomorphic processes drove the meso-scale pattern. Despite these different underlying processes, similar floristic gradient structures between the two scales were identified by nonmetric multidimensional scaling. The gradient...

  16. Weigh-in-Motion Sensor and Controller Operation and Performance Comparison

    Science.gov (United States)

    2018-01-01

    This research project utilized statistical inference and comparison techniques to compare the performance of different Weigh-in-Motion (WIM) sensors. First, we analyzed test-vehicle data to perform an accuracy check of the results reported by the sen...

  17. Joint Command & Control Ship: Literature Survey on Motion Effects and Related Environmental Effects on Personnel

    Science.gov (United States)

    2000-10-26

    Institute, Report TM-98-A068, December 1998. 95 Allen G. Proposed limits for exposure to whole-body vibration. In: von Gierke HE ed. Vibration and...Ergonomics. 1976; 19(6):719-726. 112 von Gierke HE, McCloskey K, Albery WB. Military performance in sustained acceleration and vibration environments. In...namely motion sickness, has been documented throughout history. Motion sickness is not a disease , nor is it a sign of physical or mental weakness

  18. Comparison of visual biofeedback system with a guiding waveform and abdomen-chest motion self-control system for respiratory motion management.

    Science.gov (United States)

    Nakajima, Yujiro; Kadoya, Noriyuki; Kanai, Takayuki; Ito, Kengo; Sato, Kiyokazu; Dobashi, Suguru; Yamamoto, Takaya; Ishikawa, Yojiro; Matsushita, Haruo; Takeda, Ken; Jingu, Keiichi

    2016-07-01

    Irregular breathing can influence the outcome of 4D computed tomography imaging and cause artifacts. Visual biofeedback systems associated with a patient-specific guiding waveform are known to reduce respiratory irregularities. In Japan, abdomen and chest motion self-control devices (Abches) (representing simpler visual coaching techniques without a guiding waveform) are used instead; however, no studies have compared these two systems to date. Here, we evaluate the effectiveness of respiratory coaching in reducing respiratory irregularities by comparing two respiratory management systems. We collected data from 11 healthy volunteers. Bar and wave models were used as visual biofeedback systems. Abches consisted of a respiratory indicator indicating the end of each expiration and inspiration motion. Respiratory variations were quantified as root mean squared error (RMSE) of displacement and period of breathing cycles. All coaching techniques improved respiratory variation, compared with free-breathing. Displacement RMSEs were 1.43 ± 0.84, 1.22 ± 1.13, 1.21 ± 0.86 and 0.98 ± 0.47 mm for free-breathing, Abches, bar model and wave model, respectively. Period RMSEs were 0.48 ± 0.42, 0.33 ± 0.31, 0.23 ± 0.18 and 0.17 ± 0.05 s for free-breathing, Abches, bar model and wave model, respectively. The average reduction in displacement and period RMSE compared with the wave model were 27% and 47%, respectively. For variation in both displacement and period, wave model was superior to the other techniques. Our results showed that visual biofeedback combined with a wave model could potentially provide clinical benefits in respiratory management, although all techniques were able to reduce respiratory irregularities. © The Author 2016. Published by Oxford University Press on behalf of The Japan Radiation Research Society and Japanese Society for Radiation Oncology.

  19. Comparison of visual biofeedback system with a guiding waveform and abdomen-chest motion self-control system for respiratory motion management

    International Nuclear Information System (INIS)

    Nakajima, Yujiro; Kadoya, Noriyuki; Kanai, Takayuki; Ito, Kengo; Sato, Kiyokazu; Dobashi, Suguru; Yamamoto, Takaya; Ishikawa, Yojiro; Matsushita, Haruo; Takeda, Ken; Jingu, Keiichi

    2016-01-01

    Irregular breathing can influence the outcome of 4D computed tomography imaging and cause artifacts. Visual biofeedback systems associated with a patient-specific guiding waveform are known to reduce respiratory irregularities. In Japan, abdomen and chest motion self-control devices (Abches) (representing simpler visual coaching techniques without a guiding waveform) are used instead; however, no studies have compared these two systems to date. Here, we evaluate the effectiveness of respiratory coaching in reducing respiratory irregularities by comparing two respiratory management systems. We collected data from 11 healthy volunteers. Bar and wave models were used as visual biofeedback systems. Abches consisted of a respiratory indicator indicating the end of each expiration and inspiration motion. Respiratory variations were quantified as root mean squared error (RMSE) of displacement and period of breathing cycles. All coaching techniques improved respiratory variation, compared with free-breathing. Displacement RMSEs were 1.43 ± 0.84, 1.22 ± 1.13, 1.21 ± 0.86 and 0.98 ± 0.47 mm for free-breathing, Abches, bar model and wave model, respectively. Period RMSEs were 0.48 ± 0.42, 0.33 ± 0.31, 0.23 ± 0.18 and 0.17 ± 0.05 s for free-breathing, Abches, bar model and wave model, respectively. The average reduction in displacement and period RMSE compared with the wave model were 27% and 47%, respectively. For variation in both displacement and period, wave model was superior to the other techniques. Our results showed that visual biofeedback combined with a wave model could potentially provide clinical benefits in respiratory management, although all techniques were able to reduce respiratory irregularities

  20. Modern power converter drives. Drive systems, power electronics, machines, mechatronics and motion control. 5. rev. and enl. ed.; Moderne Stromrichterantriebe. Antriebssystem, Leistungselektronik, Maschinen, Mechatronik und Motion Control, Arbeitsweise drehzahlveraenderbarer Antriebe mit Stromrichtern und Antriebsvernetzung

    Energy Technology Data Exchange (ETDEWEB)

    Brosch, P.F.

    2008-07-01

    This book informs students and practicians on variable-speed drives. Constructional engineers, technicians and others are given a practical tool for their daily work. - Fundamentals of motive power engineering - power converter components - electric machines - power converter drives with commutator motors - power converter drives with induction machines - integrated drive systems - motion control and mechatronics - selection and dimensioning of variable-speed drives converter measuring engineering - electromagnetic compatibility, with examples - measurements on power converter drives with variable speed adjustment - electromagnetic compatibility. (orig./GL)

  1. Spatial and Temporal Control of Hyperthermia Using Real Time Ultrasonic Thermal Strain Imaging with Motion Compensation, Phantom Study.

    Directory of Open Access Journals (Sweden)

    Josquin Foiret

    Full Text Available Mild hyperthermia has been successfully employed to induce reversible physiological changes that can directly treat cancer and enhance local drug delivery. In this approach, temperature monitoring is essential to avoid undesirable biological effects that result from thermal damage. For thermal therapies, Magnetic Resonance Imaging (MRI has been employed to control real-time Focused Ultrasound (FUS therapies. However, combined ultrasound imaging and therapy systems offer the benefits of simple, low-cost devices that can be broadly applied. To facilitate such technology, ultrasound thermometry has potential to reliably monitor temperature. Control of mild hyperthermia was previously achieved using a proportional-integral-derivative (PID controller based on thermocouple measurements. Despite accurate temporal control of heating, this method is limited by the single position at which the temperature is measured. Ultrasound thermometry techniques based on exploiting the thermal dependence of acoustic parameters (such as longitudinal velocity can be extended to create thermal maps and allow an accurate monitoring of temperature with good spatial resolution. However, in vivo applications of this technique have not been fully developed due to the high sensitivity to tissue motion. Here, we propose a motion compensation method based on the acquisition of multiple reference frames prior to treatment. The technique was tested in the presence of 2-D and 3-D physiological-scale motion and was found to provide effective real-time temperature monitoring. PID control of mild hyperthermia in presence of motion was then tested with ultrasound thermometry as feedback and temperature was maintained within 0.3°C of the requested value.

  2. Effect of Continuous Motion Parameter Feedback on Laparoscopic Simulation Training: A Prospective Randomized Controlled Trial on Skill Acquisition and Retention.

    Science.gov (United States)

    Buescher, Julian Frederik; Mehdorn, Anne-Sophie; Neumann, Philipp-Alexander; Becker, Felix; Eichelmann, Ann-Kathrin; Pankratius, Ulrich; Bahde, Ralf; Foell, Daniel; Senninger, Norbert; Rijcken, Emile

    To investigate the effect of motion parameter feedback on laparoscopic basic skill acquisition and retention during a standardized box training curriculum. A Lap-X Hybrid laparoscopic simulator was designed to provide individual and continuous motion parameter feedback in a dry box trainer setting. In a prospective controlled trial, surgical novices were randomized into 2 groups (regular box group, n = 18, and Hybrid group, n = 18) to undergo an identical 5-day training program. In each group, 7 standardized tasks on laparoscopic basic skills were completed twice a day on 4 consecutive days in fixed pairs. Additionally, each participant performed a simulated standard laparoscopic cholecystectomy before (day 1) and after training (day 5) on a LAP Mentor II virtual reality (VR) trainer, allowing an independent control of skill progress in both groups. A follow-up assessment of skill retention was performed after 6 weeks with repetition of both the box tasks and VR cholecystectomy. Muenster University Hospital Training Center, Muenster, Germany. Medical students without previous surgical experience. Laparoscopic skills in both groups improved significantly during the training period, measured by the overall task performance time. The 6 week follow-up showed comparable skill retention in both groups. Evaluation of the VR cholecystectomies demonstrated significant decrease of operation time (p Simulation training on both trainers enables reliable acquisition of laparoscopic basic skills. Furthermore, individual and continuous motion feedback improves laparoscopic skill enhancement significantly in several aspects. Thus, training systems with feedback of motion parameters should be considered to achieve long-term improvement of motion economy among surgical trainees. Copyright © 2017 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  3. An Evolutionary Robotics Approach to the Control of Plant Growth and Motion: Modeling Plants and Crossing the Reality Gap

    DEFF Research Database (Denmark)

    Wahby, Mostafa; Hofstadler, Daniel Nicolas; Heinrich, Mary Katherine

    2016-01-01

    The self-organizing bio-hybrid collaboration of robots and natural plants allows for a variety of interesting applications. As an example we investigate how robots can be used to control the growth and motion of a natural plant, using LEDs to provide stimuli. We follow an evolutionary robotics...... approach where task performance is determined by monitoring the plant's reaction. First, we do initial plant experiments with simple, predetermined controllers. Then we use image sampling data as a model of the dynamics of the plant tip xy position. Second, we use this approach to evolve robot controllers...

  4. Structural motion engineering

    CERN Document Server

    Connor, Jerome

    2014-01-01

    This innovative volume provides a systematic treatment of the basic concepts and computational procedures for structural motion design and engineering for civil installations. The authors illustrate the application of motion control to a wide spectrum of buildings through many examples. Topics covered include optimal stiffness distributions for building-type structures, the role of damping in controlling motion, tuned mass dampers, base isolation systems, linear control, and nonlinear control. The book's primary objective is the satisfaction of motion-related design requirements, such as restrictions on displacement and acceleration. The book is ideal for practicing engineers and graduate students. This book also: ·         Broadens practitioners' understanding of structural motion control, the enabling technology for motion-based design ·         Provides readers the tools to satisfy requirements of modern, ultra-high strength materials that lack corresponding stiffness, where the motion re...

  5. Air-Breathing Ramjet Electric Propulsion for Controlling Low-Orbit Spacecraft Motion to Compensate for Aerodynamic Drag

    Science.gov (United States)

    Erofeev, A. I.; Nikiforov, A. P.; Popov, G. A.; Suvorov, M. O.; Syrin, S. A.; Khartov, S. A.

    2017-12-01

    Problems on designing the air-breathing ramjet electric propulsion thruster for controlling loworbit spacecraft motion are examined in the paper. Information for choosing orbits' altitudes for reasonable application of an air-breathing ramjet electric propulsion thruster and propellant exhaust velocity is presented. Estimates of the probable increase of gas concentration in the area of air-breathing ramjet ionization are presented. The test results of the thruster are also given.

  6. The Relationship Between Engagement and Neurophysiological Measures of Attention in Motion-Controlled Video Games: A Randomized Controlled Trial.

    Science.gov (United States)

    Leiker, Amber M; Miller, Matthew; Brewer, Lauren; Nelson, Monica; Siow, Maria; Lohse, Keith

    2016-04-21

    Video games and virtual environments continue to be the subject of research in health sciences for their capacity to augment practice through user engagement. Creating game mechanics that increase user engagement may have indirect benefits on learning (ie, engaged learners are likely to practice more) and may also have direct benefits on learning (ie, for a fixed amount of practice, engaged learners show superior retention of information or skills). To manipulate engagement through the aesthetic features of a motion-controlled video game and measure engagement's influence on learning. A group of 40 right-handed participants played the game under two different conditions (game condition or sterile condition). The mechanics of the game and the amount of practice were constant. During practice, event-related potentials (ERPs) to task-irrelevant probe tones were recorded during practice as an index of participants' attentional reserve. Participants returned for retention and transfer testing one week later. Although both groups improved in the task, there was no difference in the amount of learning between the game and sterile groups, countering previous research. A new finding was a statistically significant relationship between self-reported engagement and the amplitude of the early-P3a (eP3a) component of the ERP waveform, such that participants who reported higher levels of engagement showed a smaller eP3a (beta=-.08, P=.02). This finding provides physiological data showing that engagement elicits increased information processing (reducing attentional reserve), which yields new insight into engagement and its underlying neurophysiological properties. Future studies may objectively index engagement by quantifying ERPs (specifically the eP3a) to task-irrelevant probes.

  7. Motion compensation with skin contact control for high intensity focused ultrasound surgery in moving organs

    Science.gov (United States)

    Diodato, A.; Cafarelli, A.; Schiappacasse, A.; Tognarelli, S.; Ciuti, G.; Menciassi, A.

    2018-02-01

    High intensity focused ultrasound (HIFU) is an emerging therapeutic solution that enables non-invasive treatment of several pathologies, mainly in oncology. On the other hand, accurate targeting of moving abdominal organs (e.g. liver, kidney, pancreas) is still an open challenge. This paper proposes a novel method to compensate the physiological respiratory motion of organs during HIFU procedures, by exploiting a robotic platform for ultrasound-guided HIFU surgery provided with a therapeutic annular phased array transducer. The proposed method enables us to keep the same contact point between the transducer and the patient’s skin during the whole procedure, thus minimizing the modification of the acoustic window during the breathing phases. The motion of the target point is compensated through the rotation of the transducer around a virtual pivot point, while the focal depth is continuously adjusted thanks to the axial electronically steering capabilities of the HIFU transducer. The feasibility of the angular motion compensation strategy has been demonstrated in a simulated respiratory-induced organ motion environment. Based on the experimental results, the proposed method appears to be significantly accurate (i.e. the maximum compensation error is always under 1 mm), thus paving the way for the potential use of this technique for in vivo treatment of moving organs, and therefore enabling a wide use of HIFU in clinics.

  8. Continuous Passive Motion Provides Good Pain Control in Patients with Adhesive Capsulitis

    Science.gov (United States)

    Dundar, Umit; Toktas, Hasan; Cakir, Tuncay; Evcik, Deniz; Kavuncu, Vural

    2009-01-01

    Painful stiffening of the shoulder, "frozen shoulder" is a common cause of shoulder pain and disability. Continuous passive motion (CPM) is an established method of preventing joint stiffness and of overcoming it. A randomized, comparative prospective clinical trial was planned to compare the early response with different rehabilitation…

  9. Integrating topology optimization in precision motion system design for optimal closed-loop control performance

    NARCIS (Netherlands)

    van der Veen, G.J.; Langelaar, M.; Van Der Meulen, Stan; Laro, Dick; Aangenent, Wouter; van Keulen, A.

    2017-01-01

    In pursuit of better accuracy, higher speed and larger scale, manufacturers of high-performance devices increasingly rely on components which have been designed with a multidisciplinary approach from the outset. In the context of motion systems, this means that for instance structural mechanics,

  10. Inertial measures of motion for clinical biomechanics: comparative assessment of accuracy under controlled conditions - changes in accuracy over time.

    Directory of Open Access Journals (Sweden)

    Karina Lebel

    Full Text Available Interest in 3D inertial motion tracking devices (AHRS has been growing rapidly among the biomechanical community. Although the convenience of such tracking devices seems to open a whole new world of possibilities for evaluation in clinical biomechanics, its limitations haven't been extensively documented. The objectives of this study are: 1 to assess the change in absolute and relative accuracy of multiple units of 3 commercially available AHRS over time; and 2 to identify different sources of errors affecting AHRS accuracy and to document how they may affect the measurements over time.This study used an instrumented Gimbal table on which AHRS modules were carefully attached and put through a series of velocity-controlled sustained motions including 2 minutes motion trials (2MT and 12 minutes multiple dynamic phases motion trials (12MDP. Absolute accuracy was assessed by comparison of the AHRS orientation measurements to those of an optical gold standard. Relative accuracy was evaluated using the variation in relative orientation between modules during the trials.Both absolute and relative accuracy decreased over time during 2MT. 12MDP trials showed a significant decrease in accuracy over multiple phases, but accuracy could be enhanced significantly by resetting the reference point and/or compensating for initial Inertial frame estimation reference for each phase.The variation in AHRS accuracy observed between the different systems and with time can be attributed in part to the dynamic estimation error, but also and foremost, to the ability of AHRS units to locate the same Inertial frame.Mean accuracies obtained under the Gimbal table sustained conditions of motion suggest that AHRS are promising tools for clinical mobility assessment under constrained conditions of use. However, improvement in magnetic compensation and alignment between AHRS modules are desirable in order for AHRS to reach their full potential in capturing clinical outcomes.

  11. From reaching to reach-to-grasp: the arm posture difference and its implications on human motion control strategy.

    Science.gov (United States)

    Li, Zhi; Milutinović, Dejan; Rosen, Jacob

    2017-05-01

    Reach-to-grasp arm postures differ from those in pure reaching because they are affected by grasp position/orientation, rather than simple transport to a position during a reaching motion. This paper investigates this difference via an analysis of experimental  data collected on reaching and reach-to-grasp motions. A seven-degree-of-freedom (DOFs) kinematic arm model with the swivel angle is used for the motion analysis. Compared to a widely used anatomical arm model, this model distinguishes clearly the four grasping-relevant DOFs (GR-DOFs) that are affected by positions and orientations of the objects to be grasped. These four GR-DOFs include the swivel angle that measures the elbow rotation about the shoulder-wrist axis, and three wrist joint angles. For each GR-DOF, we quantify position vs orientation task-relevance bias that measures how much the DOF is affected by the grasping position vs orientation. The swivel angle and forearm supination have similar bias, and the analysis of their motion suggests two hypotheses regarding the synergistic coordination of the macro- and micro-structures of the human arm (1) DOFs with similar task-relevance are synergistically coordinated; and (2) such synergy breaks when a task-relevant DOF is close to its joint limit without necessarily reaching the limit. This study provides a motion analysis method to reduce the control complexity for reach-to-grasp tasks, and suggests using dynamic coupling to coordinate the hand and arm of upper-limb exoskeletons.

  12. The research of the coupled orbital-attitude controlled motion of celestial body in the neighborhood of the collinear libration point L1

    Science.gov (United States)

    Shmyrov, A.; Shmyrov, V.; Shymanchuk, D.

    2017-10-01

    This article considers the motion of a celestial body within the restricted three-body problem of the Sun-Earth system. The equations of controlled coupled attitude-orbit motion in the neighborhood of collinear libration point L1 are investigated. The translational orbital motion of a celestial body is described using Hill's equations of circular restricted three-body problem of the Sun-Earth system. Rotational orbital motion is described using Euler's dynamic equations and quaternion kinematic equation. We investigate the problem of stability of celestial body rotational orbital motion in relative equilibrium positions and stabilization of celestial body rotational orbital motion with proposed control laws in the neighborhood of collinear libration point L1. To study stabilization problem, Lyapunov function is constructed in the form of the sum of the kinetic energy and special "kinematic function" of the Rodriguez-Hamiltonian parameters. Numerical modeling of the controlled rotational motion of a celestial body at libration point L1 is carried out. The numerical characteristics of the control parameters and rotational motion are given.

  13. High Precision Motion Control System for the Two-Stage Light Gas Gun at the Dynamic Compression Sector

    Science.gov (United States)

    Zdanowicz, E.; Guarino, V.; Konrad, C.; Williams, B.; Capatina, D.; D'Amico, K.; Arganbright, N.; Zimmerman, K.; Turneaure, S.; Gupta, Y. M.

    2017-06-01

    The Dynamic Compression Sector (DCS) at the Advanced Photon Source (APS), located at Argonne National Laboratory (ANL), has a diverse set of dynamic compression drivers to obtain time resolved x-ray data in single event, dynamic compression experiments. Because the APS x-ray beam direction is fixed, each driver at DCS must have the capability to move through a large range of linear and angular motions with high precision to accommodate a wide variety of scientific needs. Particularly challenging was the design and implementation of the motion control system for the two-stage light gas gun, which rests on a 26' long structure and weighs over 2 tons. The target must be precisely positioned in the x-ray beam while remaining perpendicular to the gun barrel axis to ensure one-dimensional loading of samples. To accommodate these requirements, the entire structure can pivot through 60° of angular motion and move 10's of inches along four independent linear directions with 0.01° and 10 μm resolution, respectively. This presentation will provide details of how this system was constructed, how it is controlled, and provide examples of the wide range of x-ray/sample geometries that can be accommodated. Work supported by DOE/NNSA.

  14. An Extremely Slow Motion Servo Control Technique Used in the Hubble Space Telescope's Star Selector Servo Subsystem

    Science.gov (United States)

    Madni, Asad M.; Jumper, Mike

    1997-02-01

    A state-of-the-art, slow motion dual axis servo control system used on the Hubble Space Telescope's Star Selector Subsystem is presented. It utilizes optical encoders with integral DC torque motors to provide precise, digital rate control over a range of 0.5 arcseconds/second (0.0333 revolution/day) to 16,384 arcseconds/second (0.759 revolution/minute) and 21-bit absolute-position words to an accuracy of 2.0 arcseconds peak-to-peak. In the finetracking mode the system provides position tracking to the order of 0.1 microradian.

  15. Semi-active Control of Shallow Cables with Magnetorheological Dampers under Harmonic Axial Support Motion

    DEFF Research Database (Denmark)

    Zhou, Q.; Nielsen, Søren R.K.; Qu, W.L.

    2007-01-01

    ) algorithm. Four cases are analysed when the circular frequency O of the support point motion is in the vicinity of 2o1, o1, 2o1/3, and o1/2, o1 being the first in-plane eigenfrequency of the cable. The vibration reduction ability of the MR damper is compared with that of the viscous damper optimally tuned...... the cable vibration compared with the SA-1 rule. In the final analysis, both the MR damper and the viscous damper can effectively mitigate the out-of-plane component of the cable, while having little effect on the reduction of the in-plane response in most cases. Furthermore, when the support motion...

  16. Continuous passive motion in adhesive capsulitis patients with diabetes mellitus: A randomized controlled trial.

    Science.gov (United States)

    Ekim, Ayşe Aydemir; İnal, Esra Erkol; Gönüllü, Emel; Hamarat, Hatice; Yorulmaz, Göknur; Mumcu, Gamze; Yılmazer, Şebnem; Kaya, Dilek Serin; Kuzgun, Selen; Çolak, Ertuǧrul; Orhan, Hikmet

    2016-11-21

    The aim of this study was to clarify the effects of continuous passive motion (CPM) treatment on adhesive capsulitis (AC) in diabetes mellitus (DM) patients. Forty-one DM patients with AC were randomized to two treatment groups. The first group (n= 20) (CPM group) received CPM treatments; the second group (n= 21) had conventional physical therapy (CPT group), including active stretching, range of motion (ROM) and pendulum exercises. All patients received electrotherapy. After a four-week-long physical therapy program, the patients were instructed to continue with an eight-week home exercise program. The patients rated the pain they felt at night, both while at rest and in motion, in the past week using the visual analogue scale (VAS). Functional outcome evaluations were performed using the Constant Shoulder Score (CSS) and Shoulder Pain and Disability Index (SPADI). All patients were evaluated at baseline, and during the fourth and twelfth weeks of the study. There were significant improvements in both groups' active and passive ROM for the shoulder, VAS measures, SPADI pain and disability scores and CSS, and excluding the active and passive internal and external rotation of shoulder increased with both treatment methods (CPM or CPT) over time (p< 0.001), however these differences were found to be prominent in patients receiving CPM therapy. Both the CPM and CPT therapies seemed to be beneficial for the treatment of AC in DM patients, however CPM revealed more distinctive improvements in the function and pain levels of the AC patients.

  17. Affine Transform to Reform Pixel Coordinates of EOG Signals for Controlling Robot Manipulators Using Gaze Motions

    Directory of Open Access Journals (Sweden)

    Muhammad Ilhamdi Rusydi

    2014-06-01

    Full Text Available Biosignals will play an important role in building communication between machines and humans. One of the types of biosignals that is widely used in neuroscience are electrooculography (EOG signals. An EOG has a linear relationship with eye movement displacement. Experiments were performed to construct a gaze motion tracking method indicated by robot manipulator movements. Three operators looked at 24 target points displayed on a monitor that was 40 cm in front of them. Two channels (Ch1 and Ch2 produced EOG signals for every single eye movement. These signals were converted to pixel units by using the linear relationship between EOG signals and gaze motion distances. The conversion outcomes were actual pixel locations. An affine transform method is proposed to determine the shift of actual pixels to target pixels. This method consisted of sequences of five geometry processes, which are translation-1, rotation, translation-2, shear and dilatation. The accuracy was approximately 0.86° ± 0.67° in the horizontal direction and 0.54° ± 0.34° in the vertical. This system successfully tracked the gaze motions not only in direction, but also in distance. Using this system, three operators could operate a robot manipulator to point at some targets. This result shows that the method is reliable in building communication between humans and machines using EOGs.

  18. Affine transform to reform pixel coordinates of EOG signals for controlling robot manipulators using gaze motions.

    Science.gov (United States)

    Rusydi, Muhammad Ilhamdi; Sasaki, Minoru; Ito, Satoshi

    2014-06-10

    Biosignals will play an important role in building communication between machines and humans. One of the types of biosignals that is widely used in neuroscience are electrooculography (EOG) signals. An EOG has a linear relationship with eye movement displacement. Experiments were performed to construct a gaze motion tracking method indicated by robot manipulator movements. Three operators looked at 24 target points displayed on a monitor that was 40 cm in front of them. Two channels (Ch1 and Ch2) produced EOG signals for every single eye movement. These signals were converted to pixel units by using the linear relationship between EOG signals and gaze motion distances. The conversion outcomes were actual pixel locations. An affine transform method is proposed to determine the shift of actual pixels to target pixels. This method consisted of sequences of five geometry processes, which are translation-1, rotation, translation-2, shear and dilatation. The accuracy was approximately 0.86° ± 0.67° in the horizontal direction and 0.54° ± 0.34° in the vertical. This system successfully tracked the gaze motions not only in direction, but also in distance. Using this system, three operators could operate a robot manipulator to point at some targets. This result shows that the method is reliable in building communication between humans and machines using EOGs.

  19. Control of motion of tibial fractures with use of a functional brace or an external fixator. A study of cadavera with use of a magnetic motion sensor.

    Science.gov (United States)

    McKellop, H; Hoffmann, R; Sarmiento, A; Ebramzadeh, E

    1993-07-01

    A computer-linked magnetic motion transducer was used to monitor and record the six components of motion of the bone fragments in eight cadaveric tibiae in which a simulated, oblique fracture of the middle of the shaft had been stabilized with a functional brace. The limbs were mounted in a servo-hydraulic testing frame, and a cyclic load of 150 newtons was applied along the axis of the tibia. Motion sensors, attached to each side of the fracture, measured and displayed the values of the three translations (axial, anterior-posterior, and medial-lateral), the axial rotation, and the two angulations (anterior-posterior and varus-valgus) as they occurred. Although only an axial load was applied, the off-axis motions were comparable in magnitude with the motion along the axis. The elastic (recoverable) translations of the fragments ranged from 0.5 to 1.9 millimeters, about four to ten times larger than the corresponding motions that were recorded in an earlier study of such fractures that had been stabilized with two types of external fixators. The recoverable rotation and angulations of the fragments of the limbs in the functional brace ranged from 0.7 to 1.2 degrees, about ten times those recorded when the external fixators were used.

  20. Meso-scale FE modelling of structurally stitched preform

    NARCIS (Netherlands)

    Koysin, V.; Lomov, S.V.; Verpoest, I.

    2007-01-01

    This article addresses the finite-element (FE) analysis of a local fibre placement in a stitched fibrous mat. The term “structural” presumes here that the stitching yarn is relatively thick (contrary to a non-structural NCF kniting) and its fibre stiffness is much higher than the matrix stiffness

  1. Meso-scale atmospheric events promote phytoplankton blooms in ...

    Indian Academy of Sciences (India)

    The Bay of Bengal is considered to be a low productive region compared to the Arabian Sea based on conventional seasonal observations. Such seasonal observations are not representative of a calendar year since the conventional approach might miss episodic high productive events associated with extreme ...

  2. Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion

    Directory of Open Access Journals (Sweden)

    Wanke Cao

    2017-10-01

    Full Text Available All-wheel-independent-drive electric vehicles (AWID-EVs have considerable advantages in terms of energy optimization, drivability and driving safety due to the remarkable actuation flexibility of electric motors. However, in their current implementations, various real-time data in the vehicle control system are exchanged via a controller area network (CAN, which causes network congestion and network-induced delays. These problems could lead to systemic instability and make the system integration difficult. The goal of this paper is to provide a design methodology that can cope with all these challenges for the lateral motion control of AWID-EVs. Firstly, a continuous-time model of an AWID-EV is derived. Then an expression for determining upper and lower bounds on the delays caused by CAN is presented and with which a discrete-time model of the closed-loop CAN system is derived. An expression on the bandwidth utilization is introduced as well. Thirdly, a co-design based scheme combining a period-dependent linear quadratic regulator (LQR and a dynamic period scheduler is designed for the resulting model and the stability criterion is also derived. The results of simulations and hard-in-loop (HIL experiments show that the proposed methodology can effectively guarantee the stability of the vehicle lateral motion control while obviously declining the network congestion.

  3. An Evolutionary Robotics Approach to the Control of Plant Growth and Motion: Modeling Plants and Crossing the Reality Gap

    DEFF Research Database (Denmark)

    Wahby, Mostafa; Hofstadler, Daniel Nicolas; Heinrich, Mary Katherine

    2016-01-01

    The self-organizing bio-hybrid collaboration of robots and natural plants allows for a variety of interesting applications. As an example we investigate how robots can be used to control the growth and motion of a natural plant, using LEDs to provide stimuli. We follow an evolutionary robotics...... approach where task performance is determined by monitoring the plant's reaction. First, we do initial plant experiments with simple, predetermined controllers. Then we use image sampling data as a model of the dynamics of the plant tip xy position. Second, we use this approach to evolve robot controllers...... in simulation. The task is to make the plant approach three predetermined, distinct points in an xy-plane. Finally, we test the evolved controllers in real plant experiments and find that we cross the reality gap successfully. We shortly describe how we have extended from plant tip to many points on the plant...

  4. Motion of the two-control airplane in rectilinear flight after initial disturbances with introduction of controls following an exponential law

    Science.gov (United States)

    Klemin, Alexander

    1937-01-01

    An airplane in steady rectilinear flight was assumed to experience an initial disturbance in rolling or yawing velocity. The equations of motion were solved to see if it was possible to hasten recovery of a stable airplane or to secure recovery of an unstable airplane by the application of a single lateral control following an exponential law. The sample computations indicate that, for initial disturbances complex in character, it would be difficult to secure correlation with any type of exponential control. The possibility is visualized that the two-control operation may seriously impair the ability to hasten recovery or counteract instability.

  5. Continuous passive motion provides good pain control in patients with adhesive capsulitis.

    Science.gov (United States)

    Dundar, Umit; Toktas, Hasan; Cakir, Tuncay; Evcik, Deniz; Kavuncu, Vural

    2009-09-01

    Painful stiffening of the shoulder, 'frozen shoulder' is a common cause of shoulder pain and disability. Continuous passive motion (CPM) is an established method of preventing joint stiffness and of overcoming it. A randomized, comparative prospective clinical trial was planned to compare the early response with different rehabilitation methods [CPM vs. conventional physiotherapy treatment (CPT) protocol] for adhesive capsulitis taking into consideration the clinical efficacy. A total of 57 patients with frozen shoulder were included in this study. Patients were assigned randomly to receive daily CPM treatments or CPT protocol. Parameters were measured at baseline, and at weeks 4 and 12. All patients were evaluated with respect to pain (visual anologue scale) at rest, pain at movement, pain at night, measurement of range of motion (shoulder flexion, abduction, internal-external rotation were assessed), constant functional shoulder score and the shoulder pain and disability index. The first group (n=29) (CPM group) received CPM treatments for 1 h once a day for 20 days during a period of 4 weeks. The second group (n=28) (CPT group) had a daily physiotherapy treatment protocol including active stretching and pendulum exercises for 1 h once a day for 20 days during a period of 4 weeks. All patients in both groups were also instructed in a standardized home exercise programme consisting of passive range of motion and pendulum exercises to be performed every day. In both groups, statistically significant improvements were detected in all outcome measures compared with baseline. Pain reduction, however, evaluated with respect to pain at rest, at movement and at night was better in CPM group. In addition the CPM group showed better shoulder pain index scores than the CPT group. CPM treatment provides better response in pain reduction than the conventional physiotherapy treatment protocol in the early phase of treatment in adhesive capsulitis.

  6. Drag-Free Motion Control of Satellite for High-Precision Gravity Field Mapping

    DEFF Research Database (Denmark)

    Ziegler, Bent Lindvig; Blanke, Mogens

    2002-01-01

    High precision mapping of the geoid and the Earth's gravity field are of importance to a wide range of ongoing studies in areas like ocean circulation, solid Earth physics and ice sheet dynamics. Using a satellite in orbit around the Earth gives the opportunity to map the Earth's gravity field in 3...... dimensions with much better accuracy and spatial resolution than ever accomplished. To reach the desired quality of measurements, the satellite must fly in a low Earth orbit where disturbances from atmospheric drag and the Earth's magnetic field will perturb the satellite's motion. These effects...

  7. Modification of Otolith-Ocular Reflexes, Motion Perception and Manual Control During Variable Radius Centrifugation Following Space Flight

    Science.gov (United States)

    Wood, Scott J.; Clarke, A. H.; Rupert, A. H.; Harm, D. L.; Clement, G. R.

    2009-01-01

    Two joint ESA-NASA studies are examining changes in otolith-ocular reflexes and motion perception following short duration space flights, and the operational implications of post-flight tilt-translation ambiguity for manual control performance. Vibrotactile feedback of tilt orientation is also being evaluated as a countermeasure to improve performance during a closed-loop nulling task. Data is currently being collected on astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation is utilized to elicit otolith reflexes in the lateral plane without concordant roll canal cues. Unilateral centrifugation (400 deg/s, 3.5 cm radius) stimulates one otolith positioned off-axis while the opposite side is centered over the axis of rotation. During this paradigm, roll-tilt perception is measured using a subjective visual vertical task and ocular counter-rolling is obtained using binocular video-oculography. During a second paradigm (216 deg/s, less than 20 cm radius), the effects of stimulus frequency (0.15 - 0.6 Hz) are examined on eye movements and motion perception. A closed-loop nulling task is also performed with and without vibrotactile display feedback of chair radial position. Data collection is currently ongoing. Results to date suggest there is a trend for perceived tilt and translation amplitudes to be increased at the low and medium frequencies on landing day compared to pre-flight. Manual control performance is improved with vibrotactile feedback. One result of this study will be to characterize the variability (gain, asymmetry) in both otolith-ocular responses and motion perception during variable radius centrifugation, and measure the time course of post-flight recovery. This study will also address how adaptive changes in otolith-mediated reflexes correspond to one's ability to perform closed-loop nulling tasks following G-transitions, and whether manual control performance can be improved

  8. The modulation of motor control by imitating non-biological motions: a study about motor resonance.

    Science.gov (United States)

    Miyawaki, Yu; Yamamoto, Taisei

    2018-01-01

    [Purpose] Sensorimotor experience modulates motor resonance, such as motor interference, which occurs when observing others' movements; however, it is unclear how motor resonance is modulated by intentionally imitating others' movements. This study examined the effects of imitation experience on subsequent motor resonance. [Subjects and Methods] Twenty-seven healthy participants performed horizontal arm movements while observing non-biological, incongruent (vertical) movements of a visual stimulus (triangle object) in pre- and post-test procedures. Thirteen participants in the imitation group imitated vertical movements (non-biological motion) of the triangle object between pre- and post-test procedures and fourteen participants in the non-imitation group observed that. [Results] Variance in the executed movements was measured as an index of motor resonance. Although there was no significant difference in the non-imitation group, there was a significantly smaller variance for post-test compared to pre-test in the imitation group. [Conclusion] Motor resonance was inhibited by intentionally imitating non-biological motions. Imitating movements different from one's own motor property might inhibit subsequent motor resonance. This finding might be applied to selectively using motor resonance as a form of rehabilitation.

  9. An artificial-vision responsive to patient motions during computer controlled radiation therapy

    International Nuclear Information System (INIS)

    Kalend, A.M.; Shimoga, K.; Kanade, T.; Greenberger, J.S.

    1997-01-01

    Purpose/Objectives: Automated precision radiotherapy using multiple conformal and modulated beams, requires monitoring of patient movements during irradiation. Immobilizers relying on patient cooperating in cradles have somewhat reduced positional uncertainties, but others including breathing are largely unknown. We built an artificial vision (AV) device for real-time vision of patient movements, their tracking and quantification. Method and Materials: The Artificial Vision System's 'acuity' and 'reflex' were evaluated in terms of imaged skin spatial resolutions and temporal dispersions measured using a mannequin and a fiduciated harmonic oscillator placed at 100cm isocenter. The device traced skin motion even in poorly lighted rooms without use of explicit skin fiduciation, or using standard radiotherapy skin tattoos. Results: The AV system tracked human skin at vision rates approaching 30Hz and sensitivity of 2mm. It successfully identified and tracked independent skin marks, either natural tattoos or artificial fiducials. Three alert levels triggered when patient movement exceeded preset displacements (2mm/30Hz), motion velocities (5m/sec) or acceleration (2m/sec 2 ). Conclusion: The AV system trigger should suit for patient ventilatory gating and safety interlocking of treatment accelerators, in order to modulate, interrupt, or abort radiation during dynamic therapy

  10. Predictive fault-tolerant control of an all-thruster satellite in 6-DOF motion via neural network model updating

    Science.gov (United States)

    Tavakoli, M. M.; Assadian, N.

    2018-03-01

    The problem of controlling an all-thruster spacecraft in the coupled translational-rotational motion in presence of actuators fault and/or failure is investigated in this paper. The nonlinear model predictive control approach is used because of its ability to predict the future behavior of the system. The fault/failure of the thrusters changes the mapping between the commanded forces to the thrusters and actual force/torque generated by the thruster system. Thus, the basic six degree-of-freedom kinetic equations are separated from this mapping and a set of neural networks are trained off-line to learn the kinetic equations. Then, two neural networks are attached to these trained networks in order to learn the thruster commands to force/torque mappings on-line. Different off-nominal conditions are modeled so that neural networks can detect any failure and fault, including scale factor and misalignment of thrusters. A simple model of the spacecraft relative motion is used in MPC to decrease the computational burden. However, a precise model by the means of orbit propagation including different types of perturbation is utilized to evaluate the usefulness of the proposed approach in actual conditions. The numerical simulation shows that this method can successfully control the all-thruster spacecraft with ON-OFF thrusters in different combinations of thruster fault and/or failure.

  11. Stretching and Controlled Motion of Single-Stranded DNA in Locally-Heated Solid-State Nanopores

    Science.gov (United States)

    Belkin, Maxim; Maffeo, Christopher; Wells, David B.

    2013-01-01

    Practical applications of solid-state nanopores for DNA detection and sequencing require the electrophoretic motion of DNA through the nanopores to be precisely controlled. Controlling the motion of single-stranded DNA presents a particular challenge, in part because of the multitude of conformations that a DNA strand can adopt in a nanopore. Through continuum, coarse-grained and atomistic modeling, we demonstrate that local heating of the nanopore volume can be used to alter the electrophoretic mobility and conformation of single-stranded DNA. In the nanopore systems considered, the temperature near the nanopore is modulated via a nanometer-size heater element that can be radiatively switched on and off. The local enhancement of temperature produces considerable stretching of the DNA fragment confined within the nanopore. Such stretching is reversible, so that the conformation of DNA can be toggled between compact (local heating is off) and extended (local heating is on) states. The effective thermophoretic force acting on single-stranded DNA in the vicinity of the nanopore is found to be sufficiently large (4–8 pN) to affect such changes in the DNA conformation. The local heating of the nanopore volume is observed to promote single-file translocation of DNA strands at transmembrane biases as low as 10 mV, which opens new avenues for using solid-state nanopores for detection and sequencing of DNA. PMID:23876013

  12. Control-Informed Geometric Optimization of Wave Energy Converters: The Impact of Device Motion and Force Constraints

    Directory of Open Access Journals (Sweden)

    Paula B. Garcia-Rosa

    2015-12-01

    Full Text Available The energy cost for producing electricity via wave energy converters (WECs is still not competitive with other renewable energy sources, especially wind energy. It is well known that energy maximising control plays an important role to improve the performance of WECs, allowing the energy conversion to be performed as economically as possible. The control strategies are usually subsequently employed on a device that was designed and optimized in the absence of control for the prevailing sea conditions in a particular location. If an optimal unconstrained control strategy, such as pseudo-spectral optimal control (PSOC, is adopted, an overall optimized system can be obtained no matter whether the control design is incorporated at the geometry optimization stage or not. Nonetheless, strategies, such as latching control (LC, must be incorporated at the optimization design stage of the WEC geometry if an overall optimized system is to be realised. In this paper, the impact of device motion and force constraints in the design of control-informed optimized WEC geometries is addressed. The aim is to verify to what extent the constraints modify the connection between the control and the optimal device design. Intuitively, one might expect that if the constraints are very tight, the optimal device shape is the same regardless of incorporating or not the constrained control at the geometry optimization stage. However, this paper tests the hypothesis that the imposition of constraints will limit the control influence on the optimal device shape. PSOC, LC and passive control (PC are considered in this study. In addition, constrained versions of LC and PC are presented.

  13. Model-based Robotic Dynamic Motion Control for the Robonaut 2 Humanoid Robot

    Science.gov (United States)

    Badger, Julia M.; Hulse, Aaron M.; Taylor, Ross C.; Curtis, Andrew W.; Gooding, Dustin R.; Thackston, Allison

    2013-01-01

    Robonaut 2 (R2), an upper-body dexterous humanoid robot, has been undergoing experimental trials on board the International Space Station (ISS) for more than a year. R2 will soon be upgraded with two climbing appendages, or legs, as well as a new integrated model-based control system. This control system satisfies two important requirements; first, that the robot can allow humans to enter its workspace during operation and second, that the robot can move its large inertia with enough precision to attach to handrails and seat track while climbing around the ISS. This is achieved by a novel control architecture that features an embedded impedance control law on the motor drivers called Multi-Loop control which is tightly interfaced with a kinematic and dynamic coordinated control system nicknamed RoboDyn that resides on centralized processors. This paper presents the integrated control algorithm as well as several test results that illustrate R2's safety features and performance.

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

    Science.gov (United States)

    Mauldin, Rebecca H.

    2010-01-01

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

  15. Development of constrained motion control for robot handling of hazardous waste

    International Nuclear Information System (INIS)

    Starr, G.P.

    1993-01-01

    Handling and archiving of hazardous waste is an area where automation and robotics can be of significant benefit, by removing the human operator from the workplace and its associated hazards. For reasons of safety, throughput, and reduced setup time, force-controlled robots are well-suited for hazardous materials handling. The focus of this investigation is the development of advanced force control techniques for commercial industrial robots in the surface sampling of hazardous waste containers. Two particular control strategies are considered, (1) preview control, and (2) adaptive control. Preview control uses a sensor which can ''look ahead'' and thereby reduce the effect of surface irregularity on contact force control. Adaptive control allows the robot controller to compensate for changes in the robot characteristics as it changes position, and likewise improves performance. The resulting control algorithms will be applied to a two-dimensional contour-following task using a PUMA robot at the Robotics Research Laboratory at The University of New Mexico. (author) 9 figs., 13 refs

  16. Terapia baseada em realidade virtual usando o leap motion controller para reabilitação do membro superior após acidente vascular cerebral = Virtual reality therapy using the leap motion controller for post-stroke upper limb rehabilitation Virtual reality therapy using the Leap Motion Controller for post-stroke upper limb rehabilitation

    Directory of Open Access Journals (Sweden)

    Soares, Nayron Medeiros

    2017-01-01

    Full Text Available OBJETIVOS: Avaliar a aplicabilidade de um sensor de movimento, baseado em realidade virtual, para promover a reabilitação do membro superior após um acidente vascular cerebral. RELATO DOS CASOS: Três pacientes após acidente vascular cerebral realizaram um treino para reabilitação do membro superior com realidade virtual usando a tecnologia Leap Motion Controller e o jogo Playground 3D®, durante três dias consecutivos. No primeiro e no terceiro dia, foram avaliados com os testes Caixa e Blocos, Coordenação Óculo-Manual de Melo e Estimulação Magnética Transcraniana. No último dia, foram aplicadas Fichas de Avaliação da Experiência do paciente. Após o treinamento proposto, observou-se diminuição do limiar motor em ambos os hemisférios cerebrais e melhores desempenhos nos testes que avaliaram a habilidade manual e óculo-manual. A terapia proposta foi bem recebida pelos pacientes testados. CONCLUSÕES: Não foram observados efeitos adversos e os resultados mostram-se promissores e precisos no treinamento realizado com realidade virtual usando a tecnologia Leap Motion Controller e o jogo Playground 3D®. O treinamento proporcionou uma participação ativa dos pacientes na reabilitação das sequelas de extremidade superior após um acidente vascular cerebral

  17. Effects of Heave Washout Filtering on Motion Fidelity and Pilot Control Behavior for a Large Commercial Airliner

    NARCIS (Netherlands)

    Van Wieringen, A.T.; Pool, D.M.; Van Paassen, M.M.; Mulder, M.

    2011-01-01

    Due to the significant translational heave motion at the pilot station associated with changes in aircraft pitch attitude, themotion cueing for aircraft pitchmaneuvering typically requires significant heave washout filtering. Previous studies that attempted to motivate choices in the motion cueing

  18. Independent motion control of a tower crane through wireless sensor and actuator networks.

    Science.gov (United States)

    Koumboulis, Fotis N; Kouvakas, Nikolaos D; Giannaris, George L; Vouyioukas, Demosthenes

    2016-01-01

    The problem of independent control of the performance variables of a tower crane through a wireless sensor and actuator network is investigated. The complete nonlinear mathematical model of the tower crane is developed. Based on appropriate data driven norms an accurate linear approximant of the system, including an upper bound of the communication delays, is derived. Using this linear approximant, a dynamic measurable output multi delay controller for independent control of the performance outputs of the system is proposed. The controller performs satisfactory despite the nonlinearities of the model and the communication delays of the wireless network. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  19. Velocity-dependent changes of rotational axes in the non-visual control of unconstrained 3D arm motions.

    Science.gov (United States)

    Isableu, B; Rezzoug, N; Mallet, G; Bernardin, D; Gorce, P; Pagano, C C

    2009-12-29

    We examined the roles of inertial (e(3)), shoulder-centre of mass (SH-CM) and shoulder-elbow articular (SH-EL) rotation axes in the non-visual control of unconstrained 3D arm rotations. Subjects rotated the arm in elbow configurations that yielded either a constant or variable separation between these axes. We hypothesized that increasing the motion frequency and the task complexity would result in the limbs' rotational axis to correspond to e(3) in order to minimize rotational resistances. Results showed two velocity-dependent profiles wherein the rotation axis coincided with the SH-EL axis for S and I velocities and then in the F velocity shifted to either a SH-CM/e(3) trade-off axis for one profile, or to no preferential axis for the other. A third profile was velocity-independent, with the SH-CM/e(3) trade-off axis being adopted. Our results are the first to provide evidence that the rotational axis of a multi-articulated limb may change from a geometrical axis of rotation to a mass or inertia based axis as motion frequency increases. These findings are discussed within the framework of the minimum inertia tensor model (MIT), which shows that rotations about e(3) reduce the amount of joint muscle torque that must be produced by employing the interaction torque to assist movement.

  20. Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb

    Directory of Open Access Journals (Sweden)

    Victoria W. Oguntosin

    2017-07-01

    Full Text Available We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM. Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments.

  1. Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb

    Science.gov (United States)

    Oguntosin, Victoria W.; Mori, Yoshiki; Kim, Hyejong; Nasuto, Slawomir J.; Kawamura, Sadao; Hayashi, Yoshikatsu

    2017-01-01

    We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments. PMID:28736514

  2. Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation-Vision-Based Control for Precise Reaching Motion of Upper Limb.

    Science.gov (United States)

    Oguntosin, Victoria W; Mori, Yoshiki; Kim, Hyejong; Nasuto, Slawomir J; Kawamura, Sadao; Hayashi, Yoshikatsu

    2017-01-01

    We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments.

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

    DEFF Research Database (Denmark)

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

    2003-01-01

    Implementation of passive and active ride control systems into both linear frequency and non-linear time domain strip theories is described. The ride control systems considered can consist of T-foils, fins or a combination of these. These appendages are taken into account by considering the lift...

  4. Free and Open-source Control Software for 3-D Motion and Processing

    Directory of Open Access Journals (Sweden)

    Bas Wijnen

    2016-01-01

    Full Text Available RepRap 3-D printers and their derivatives using conventional firmware are limited by: 1 requiring technical knowledge, 2 poor resilience with unreliable hardware, and 3 poor integration in complicated systems. In this paper, a new control system called Franklin, for CNC machines in general and 3-D printers specifically, is presented that enables web-based three dimensional control of additive, subtractive and analytical tools from any Internet connected device. Franklin can be set up and controlled entirely from a web interface; it uses a custom protocol which allows it to continue printing when the connection is temporarily lost, and allows communication with scripts.

  5. Motion control of planar parallel robot using the fuzzy descriptor system approach.

    Science.gov (United States)

    Vermeiren, Laurent; Dequidt, Antoine; Afroun, Mohamed; Guerra, Thierry-Marie

    2012-09-01

    This work presents the control of a two-degree of freedom parallel robot manipulator. A quasi-LPV approach, through the so-called TS fuzzy model and LMI constraints problems is used. Moreover, in this context a way to derive interesting control laws is to keep the descriptor form of the mechanical system. Therefore, new LMI problems have to be defined that helps to reduce the conservatism of the usual results. Some relaxations are also proposed to leave the pure quadratic stability/stabilization framework. A comparison study between the classical control strategies from robotics and the control design using TS fuzzy descriptor models is carried out to show the interest of the proposed approach. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  6. 14 CFR 23.779 - Motion and effect of cockpit controls.

    Science.gov (United States)

    2010-01-01

    .... Elevator Rearward for nose up. Rudder Right pedal forward for nose right. (2) Secondary controls: Flaps (or... for right tanks, left for left tanks. Landing gear Down to extend. Speed brakes Aft to extend. [Amdt...

  7. Motion Sensorless Control of BLDC PM Motor with Offline FEM Info Assisted State Observer

    DEFF Research Database (Denmark)

    Stirban, Alin; Boldea, Ion; Andreescu, Gheorghe-Daniel

    2010-01-01

    This paper describes a new offline FEM assisted position and speed observer, for brushless dc (BLDC) PM motor drive sensorless control, based on the line-to-line PM flux linkage estimation. The zero-crossing of the line-to-line PM flux linkage occurs right in the middle of two commutation points...... identification. Digital simulations and experimental results are shown, demonstrating the reliability of the FEM assisted position and speed observer for BLDC PM motor sensorless control operation....

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

    Science.gov (United States)

    Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi

    2018-02-01

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

  9. Trends in Modelling, Simulation and Design of Water Hydraulic Systems – Motion Control and Open-Ended Solutions

    DEFF Research Database (Denmark)

    Conrad, Finn

    2006-01-01

    is that the components operate with pure water from the tap without additives of any kind. Hence water hydraulics takes the benefit of pure water as fluid being environmentally friendly, easy to clean sanitary design, non-toxic, non-flammable, inexpensive, readily available and easily disposable. The low-pressure tap......, dedicated pumps and accessories running with sea-water as fluid are available. A unique solution is to use reverse osmosis to generate drinking water from sea-water, and furthermore for several off-shore applications. Furthermore, tap water hydraulic components of the Nessie® family and examples of measured......The paper presents and discusses a R&D-view on trends in development and best practise in modelling, simulation and design of both low-pressure and high-pressure tap water hydraulic components and systems for motion control as well as open-ended solutions various industrial applications. The focus...

  10. An Active Winch Control System for Ship-Induced Motion Isolation

    Science.gov (United States)

    1985-02-01

    shall be controllable to within 0.5 centimeter/second. The speed of the winch shall be a linear function of the input signal to within 0.37. of...manually applied brake that is separate and distinct from the sel-f- acuating brake. The manual brake shall stop a load of 2250 pounds at mid-drum layer...be easily readable in daylight or night. (f)Aud ible alarm The remote control unit shall sound an audible alarm and shall cause the self acuating

  11. GENERATING OF OPTIMAL QUANTIZATION LEVELS OF CONTROL CURRENTS FOR LINEAR STEPPING DRIVES OF PRECISION MOTION SYSTEMS

    Directory of Open Access Journals (Sweden)

    I. V. Dainiak

    2014-01-01

    Full Text Available The paper proposes a method of taking into account accumulated and temperature errors while forming coordinate discrete grid of a linear stepping drive. An algorithm for determination of optimal quantization levels of control currents of drive's phases has been developed in the paper; it minimizes an error of positioning that forms correction files for application of a control system in the software. Investigations on stability of discrete grid nodes coordinates have been carried our with the help of a monitoring station for accurate parameters of linear stepping drive. The investigations have proved an efficiency of the proposed algorithm and methodology for forming coordinate discrete grid.

  12. Motion sickness

    NARCIS (Netherlands)

    Bles, Willem; Bos, Jelte E.; Kruit, Hans

    2000-01-01

    The number of recently published papers on motion sickness may convey the impression that motion sickness is far from being understood. The current review focusses on a concept which tends to unify the different manifestations and theories of motion sickness. The paper highlights the relations

  13. Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback

    NARCIS (Netherlands)

    Scheggi, Stefano; Chandrasekar, Krishna Kumar T.; Yoon, ChangKyu; Sawaryn, Ben; van de Steeg, G.; Gracias, David H.; Misra, Sarthak

    2017-01-01

    Soft miniaturized untethered grippers can be used to manipulate and transport biological material in unstructured and tortuous environments. Previous studies on control of soft miniaturized grippers employed cameras and optical images as a feedback modality. However, the use of cameras might be

  14. Single motor–variable stiffness actuator using bistable switching mechanisms for independent motion and stiffness control

    NARCIS (Netherlands)

    Groothuis, Stefan; Carloni, Raffaella; Stramigioli, Stefano

    This paper presents a proof of concept of a variable stiffness actuator (VSA) that uses only one (high power) input motor. In general, VSAs use two (high power) motors to be able to control both the output position and the output stiffness, which possibly results in a heavy, and bulky system. In

  15. Magnetic-based minimum input motion control of paramagnetic microparticles in three-dimensional space

    NARCIS (Netherlands)

    Khalil, I.S.M.; Metz, R.M.P.; Reefman, B.A.; Misra, Sarthak

    2013-01-01

    Magnetic drug carriers such as microrobots and paramagnetic microparticles have the potential to increase the therapeutic indices by selectively targeting the diseased tissue. These magnetic microobjects can be controlled using magnetic-based manipulation systems. In this study, we analyze a minimum

  16. Real-time control of electronic motion: Application to NaI

    DEFF Research Database (Denmark)

    Grønager, Michael; Henriksen, Niels Engholm

    1998-01-01

    + + I- depends on the electron distribution (i.e., where the electron "sits") prior to the time where the bond is broken by a subpicosecond half-cycle unipolar electromagnetic pulse. Thus we control, in real time, which nucleus one of the valence electrons will follow after the bond is broken. (C) 1998...

  17. Optimising UAV topographic surveys processed with structure-from-motion: Ground control quality, quantity and bundle adjustment

    Science.gov (United States)

    James, Mike R.; Robson, Stuart; d'Oleire-Oltmanns, Sebastian; Niethammer, Uwe

    2016-04-01

    Structure-from-motion (SfM) algorithms are greatly facilitating the production of detailed topographic models based on images collected by unmanned aerial vehicles (UAVs). However, SfM-based software does not generally provide the rigorous photogrammetric analysis required to fully understand survey quality. Consequently, error related to problems in control point data or the distribution of control points can remain undiscovered. Even if these errors are not large in magnitude, they can be systematic, and thus have strong implications for the use of products such as digital elevation models (DEMs) and orthophotos. Here, we develop a Monte Carlo approach to (1) improve the accuracy of products when SfM-based processing is used and (2) reduce the associated field effort by identifying suitable lower density deployments of ground control points. The method highlights over-parameterisation during camera self-calibration and provides enhanced insight into control point performance when rigorous error metrics are not available. Processing was implemented using commonly-used SfM-based software (Agisoft PhotoScan), which we augment with semi-automated and automated GCPs image measurement. We apply the Monte Carlo method to two contrasting case studies - an erosion gully survey (Taurodont, Morocco) carried out with an fixed-wing UAV, and an active landslide survey (Super-Sauze, France), acquired using a manually controlled quadcopter. The results highlight the differences in the control requirements for the two sites, and we explore the implications for future surveys. We illustrate DEM sensitivity to critical processing parameters and show how the use of appropriate parameter values increases DEM repeatability and reduces the spatial variability of error due to processing artefacts.

  18. The accuracy of webcams in 2D motion analysis: sources of error and their control

    Energy Technology Data Exchange (ETDEWEB)

    Page, A; Candelas, P; Belmar, F [Departamento de Fisica Aplicada, Universidad Politecnica de Valencia, Valencia (Spain); Moreno, R [Instituto de Biomecanica de Valencia, Valencia (Spain)], E-mail: alvaro.page@ibv.upv.es

    2008-07-15

    In this paper, we show the potential of webcams as precision measuring instruments in a physics laboratory. Various sources of error appearing in 2D coordinate measurements using low-cost commercial webcams are discussed, quantifying their impact on accuracy and precision, and simple procedures to control these sources of error are presented. Finally, an experiment with controlled movement is performed to experimentally measure the errors described above and to assess the effectiveness of the proposed corrective measures. It will be shown that when these aspects are considered, it is possible to obtain errors lower than 0.1%. This level of accuracy demonstrates that webcams should be considered as very precise and accurate measuring instruments at a remarkably low cost.

  19. The accuracy of webcams in 2D motion analysis: sources of error and their control

    International Nuclear Information System (INIS)

    Page, A; Candelas, P; Belmar, F; Moreno, R

    2008-01-01

    In this paper, we show the potential of webcams as precision measuring instruments in a physics laboratory. Various sources of error appearing in 2D coordinate measurements using low-cost commercial webcams are discussed, quantifying their impact on accuracy and precision, and simple procedures to control these sources of error are presented. Finally, an experiment with controlled movement is performed to experimentally measure the errors described above and to assess the effectiveness of the proposed corrective measures. It will be shown that when these aspects are considered, it is possible to obtain errors lower than 0.1%. This level of accuracy demonstrates that webcams should be considered as very precise and accurate measuring instruments at a remarkably low cost

  20. [Application of auto-control micro-motion intramedullary locking nail in the treatment of femoral shaft fractures].

    Science.gov (United States)

    Zhang, Hongjun; Liu, Youwen; Gao, Shutu; Du, Zhiqian

    2008-06-01

    The auto-control micro-motion intramedullary locking nail (AMLN) is designed, to reduce the incidence of delayed union and non-union of femoral shaft fractures fixed by interlocking intramedullary nails, and to observe the clinical effect of self-design AMLN in the treatment of femoral shaft fractures. The distal and promixal nails were connected by the micro-motion locking structure, which could cause 1.0-1.5 mm axial micro-motion between fracture gaps. It could produce physical stimulus and conduction between fracture gaps in the course of fracture union. From December 2003 to May 2006, 32 cases of femoral shaft fractures were treated with AMLN, including 21 males and 11 females with the average age of 31.2 years (ranging from 20 years to 43 years). The trauma resulted from fall wounds in 3 cases, crash injuries in 1 case and car accidents in 28 cases. Twenty-nine cases were fresh fractures in different parts of the femoral shaft with transverse, oblique, spiral and comminuted fractures of type I, II, III and IV. Three cases were old non-union fractures. The fresh fractures were treated by closed AMLN fixation, while the old fractures were treated by open AMLN nails after routine implantation of self bone. All the 32 cases were followed up for the average time of 11.5 months (ranging from 8 months to 22 months). The X-ray films showed the fractures were healed 4.0 to 7.5 months after the operation, with the mean time of 5.1 months, and no break of the nail happened. One nail mildly bent in the comminuted fracture, and 2 patients felt slightly unwell at the needling point. According to the Klemm criterion for function, 26 cases were excellent, 5 good, 1 fair, and the choiceness rate was 96.88%. With a suitable design, AMLN is easy to perform and helpful to quicken fracture union, and it is effective to treat femoral shaft fractures.

  1. IT-Tools Concept for Simulation and Design of Water Hydraulic Mechatronic Test Facilities for Motion Control and Operation in Environmentally Sensitive Application Areas

    DEFF Research Database (Denmark)

    Conrad, Finn; Pobedza, J.; Sobczyk, A.

    2004-01-01

    This paper presents a proposed IT-Tools concept for modeling, simulation, analysis and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. The designed test rigs have tap water hydraulic components of the Danfoss Nessie® product family and equipped...... with a measurement and data acquisition system. Results of the mathematical modeling, simulation and design of the motion control test rigs are presented. Furthermore, the paper presents selected experimental and identifying test results for the water hydraulic test rigs....

  2. Parametric motion control of robotic arms: A biologically based approach using neural networks

    Science.gov (United States)

    Bock, O.; D'Eleuterio, G. M. T.; Lipitkas, J.; Grodski, J. J.

    1993-01-01

    A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

  3. Passivity-based model predictive control for mobile vehicle motion planning

    CERN Document Server

    Tahirovic, Adnan

    2013-01-01

    Passivity-based Model Predictive Control for Mobile Vehicle Navigation represents a complete theoretical approach to the adoption of passivity-based model predictive control (MPC) for autonomous vehicle navigation in both indoor and outdoor environments. The brief also introduces analysis of the worst-case scenario that might occur during the task execution. Some of the questions answered in the text include: • how to use an MPC optimization framework for the mobile vehicle navigation approach; • how to guarantee safe task completion even in complex environments including obstacle avoidance and sideslip and rollover avoidance; and  • what to expect in the worst-case scenario in which the roughness of the terrain leads the algorithm to generate the longest possible path to the goal. The passivity-based MPC approach provides a framework in which a wide range of complex vehicles can be accommodated to obtain a safer and more realizable tool during the path-planning stage. During task execution, the optimi...

  4. Head-motion-controlled video goggles: preliminary concept for an interactive laparoscopic image display (i-LID).

    Science.gov (United States)

    Aidlen, Jeremy T; Glick, Sara; Silverman, Kenneth; Silverman, Harvey F; Luks, Francois I

    2009-08-01

    Light-weight, low-profile, and high-resolution head-mounted displays (HMDs) now allow personalized viewing, of a laparoscopic image. The advantages include unobstructed viewing, regardless of position at the operating table, and the possibility to customize the image (i.e., enhanced reality, picture-in-picture, etc.). The bright image display allows use in daylight surroundings and the low profile of the HMD provides adequate peripheral vision. Theoretic disadvantages include reliance for all on the same image capture and anticues (i.e., reality disconnect) when the projected image remains static, despite changes in head position. This can lead to discomfort and even nausea. We have developed a prototype of interactive laparoscopic image display that allows hands-free control of the displayed image by changes in spatial orientation of the operator's head. The prototype consists of an HMD, a spatial orientation device, and computer software to enable hands-free panning and zooming of a video-endoscopic image display. The spatial orientation device uses magnetic fields created by a transmitter and receiver, each containing three orthogonal coils. The transmitter coils are efficiently driven, using USB power only, by a newly developed circuit, each at a unique frequency. The HMD-mounted receiver system links to a commercially available PC-interface PCI-bus sound card (M-Audiocard Delta 44; Avid Technology, Tewksbury, MA). Analog signals at the receiver are filtered, amplified, and converted to digital signals, which are processed to control the image display. The prototype uses a proprietary static fish-eye lens and software for the distortion-free reconstitution of any portion of the captured image. Left-right and up-down motions of the head (and HMD) produce real-time panning of the displayed image. Motion of the head toward, or away from, the transmitter causes real-time zooming in or out, respectively, of the displayed image. This prototype of the interactive HMD

  5. Semi-flocking algorithm for motion control of mobile sensors in large-scale surveillance systems.

    Science.gov (United States)

    Semnani, Samaneh Hosseini; Basir, Otman A

    2015-01-01

    The ability of sensors to self-organize is an important asset in surveillance sensor networks. Self-organize implies self-control at the sensor level and coordination at the network level. Biologically inspired approaches have recently gained significant attention as a tool to address the issue of sensor control and coordination in sensor networks. These approaches are exemplified by the two well-known algorithms, namely, the Flocking algorithm and the Anti-Flocking algorithm. Generally speaking, although these two biologically inspired algorithms have demonstrated promising performance, they expose deficiencies when it comes to their ability to maintain simultaneous robust dynamic area coverage and target coverage. These two coverage performance objectives are inherently conflicting. This paper presents Semi-Flocking, a biologically inspired algorithm that benefits from key characteristics of both the Flocking and Anti-Flocking algorithms. The Semi-Flocking algorithm approaches the problem by assigning a small flock of sensors to each target, while at the same time leaving some sensors free to explore the environment. This allows the algorithm to strike balance between robust area coverage and target coverage. Such balance is facilitated via flock-sensor coordination. The performance of the proposed Semi-Flocking algorithm is examined and compared with other two flocking-based algorithms once using randomly moving targets and once using a standard walking pedestrian dataset. The results of both experiments show that the Semi-Flocking algorithm outperforms both the Flocking algorithm and the Anti-Flocking algorithm with respect to the area of coverage and the target coverage objectives. Furthermore, the results show that the proposed algorithm demonstrates shorter target detection time and fewer undetected targets than the other two flocking-based algorithms.

  6. Nano-motion control of heavy quadrupoles for future particle colliders: An experimental validation

    CERN Document Server

    Collette, C; Artoos, K; Kuzmin, A; Fernandez Carmona, P; Guinchard, M; Leuxe, R; Hauviller, C

    2011-01-01

    This paper presents an experimental validation of a control strategy capable of boths tabilizing and positioning the heavy electromagnets of future particle colliders. The originality of the approach is to use the same active mounts to perform both tasks,with a nanometer precision.In aprevious paper,the concept has been studied numerically,and validated on a scaled single degree of freedom(d.o.f.) test bench.In this paper,it is extended to a two d.o.f. testbench,constituted of a heavy mass mounted on two active legs.Firstly,the model is described and the performances are discussed numerically. Secondly,experimental results are presented,and found to correlate well with the model,and comply with the requirements.Finally,the experimental results are combined with a simplified model of the beam-based feedback to evaluate the jitter of the beam.It is found that,at the scale of a single quadrupole,the mechanical stabilization of the quadrupoles reduces the vertical beam jitter by a factor 10.

  7. I-F starting method with smooth transition to EMF based motion-sensorless vector control of PM synchronous motor/generator

    DEFF Research Database (Denmark)

    Blaabjerg, Frede; Teodorescu, Remus; Fatu, M.

    2008-01-01

    This paper proposes a novel hybrid motion- sensorless control system for permanent magnet synchronous motors (PMSM) using a new robust start-up method called I-f control, and a smooth transition to emf-based vector control. The I-f method is based on separate control of id, iq currents with the r......This paper proposes a novel hybrid motion- sensorless control system for permanent magnet synchronous motors (PMSM) using a new robust start-up method called I-f control, and a smooth transition to emf-based vector control. The I-f method is based on separate control of id, iq currents......-adaptive compensator to eliminate dc-offset and phase-delay. Digital simulations for PMSM start-up with full load torque are presented for different initial rotor-positions. The transitions from I-f to emf motion-sensorless vector control and back as well, at very low-speeds, are fully validated by experimental...

  8. WE-AB-207A-11: Respiratory Motion Guided 4DCBCT - A Step Towards Controlling 4DCBCT Image Quality

    Energy Technology Data Exchange (ETDEWEB)

    O’Brien, R; Keall, P [University of Sydney, Camperdown (Australia); Stankovic, U; Sonke, J [Netherlands Cancer Institute, Amsterdam (Netherlands)

    2016-06-15

    Purpose: We have developed a method, called respiratory motion guided 4DCBCT (RMG-4DCBCT), in which the gantry speed and projection frequency are varied in response to the patient’s real-time respiratory signal to eliminate streaking artifacts and to suppress duplicate projections in 4DCBCT images. In 2015, we realized RMG-4DCBCT on an Elekta Synergy linear accelerator with a mechanical relay to suppress projections and a potentiometer to adjust the gantry speed in response to the patient’s real-time respiratory signal. The aim of this study was to analyse the image quality to determine what can and cannot be controlled. Methods: Using RMG-4DCBCT, we acquired 40 (RMG-4DCBCT-40) and 60 (RMG-4DCBCT-60) equally spaced projections per respiratory phase of the CIRS dynamic thorax phantom with breathing periods from 2s to 8s and two breathing traces from lung cancer patients. The contrast to noise ratio (CNR) and edge response width (ERW) were used to compare image quality between RMG-4DCBCT and conventional 4DCBCT. Results: Regardless of the breathing period, for RMG-4DCBCT, the CNR is approximately 7 and 9 with RMG-4DCBCT-40 and RMG-4DCBCT-60 respectively. Conventional 4DCBCT has a CNR dropping from 20 down to 6 as the breathing period drops from 2s to 8s. With RMG-4DCBCT, the ERW, in the direction of phantom motion, ranges from 2.1mm to 2.5mm as the breathing period drops from 2s to 8s which compares to a higher range of 2.0mm to 2.5mm with conventional 4DCBCT. Images with similar quality to conventional 4DCBCT can be acquired with RMG-4DCBCT-40 which has a 70% reduction in imaging dose. Conclusion: The image contrast can be controlled with RMG-4DCBCT regardless of the patients breathing rate. However, although the image sharpness is better with RMG-4DCBCT, image sharpness has a small dependence on the breathing period; the accuracy of registration and segmentation will therefore vary with the patient’s breathing period. This project was supported by a National

  9. IT-Tools Concept for Simulation and Design of Water Hydraulic Mechatronic Test Facilities for Motion Control and Operation in Environmentally Sensitive Application Areas

    DEFF Research Database (Denmark)

    Conrad, Finn; Pobedza, J.; Sobczyk, A.

    2004-01-01

    This paper presents a proposed IT-Tools concept for modeling, simulation, analysis and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. The designed test rigs have tap water hydraulic components of the Danfoss Nessie® product family and equipped...

  10. A real-time dynamic-MLC control algorithm for delivering IMRT to targets undergoing 2D rigid motion in the beam's eye view

    International Nuclear Information System (INIS)

    McMahon, Ryan; Berbeco, Ross; Nishioka, Seiko; Ishikawa, Masayori; Papiez, Lech

    2008-01-01

    An MLC control algorithm for delivering intensity modulated radiation therapy (IMRT) to targets that are undergoing two-dimensional (2D) rigid motion in the beam's eye view (BEV) is presented. The goal of this method is to deliver 3D-derived fluence maps over a moving patient anatomy. Target motion measured prior to delivery is first used to design a set of planned dynamic-MLC (DMLC) sliding-window leaf trajectories. During actual delivery, the algorithm relies on real-time feedback to compensate for target motion that does not agree with the motion measured during planning. The methodology is based on an existing one-dimensional (1D) algorithm that uses on-the-fly intensity calculations to appropriately adjust the DMLC leaf trajectories in real-time during exposure delivery [McMahon et al., Med. Phys. 34, 3211-3223 (2007)]. To extend the 1D algorithm's application to 2D target motion, a real-time leaf-pair shifting mechanism has been developed. Target motion that is orthogonal to leaf travel is tracked by appropriately shifting the positions of all MLC leaves. The performance of the tracking algorithm was tested for a single beam of a fractionated IMRT treatment, using a clinically derived intensity profile and a 2D target trajectory based on measured patient data. Comparisons were made between 2D tracking, 1D tracking, and no tracking. The impact of the tracking lag time and the frequency of real-time imaging were investigated. A study of the dependence of the algorithm's performance on the level of agreement between the motion measured during planning and delivery was also included. Results demonstrated that tracking both components of the 2D motion (i.e., parallel and orthogonal to leaf travel) results in delivered fluence profiles that are superior to those that track the component of motion that is parallel to leaf travel alone. Tracking lag time effects may lead to relatively large intensity delivery errors compared to the other sources of error investigated

  11. Comparing the Effects of Therapeutic Exercise and Hydrotherapy on Pain Severity and Knee Range of Motion in Patients with Hemophilia: A Randomized Controlled Trial

    Directory of Open Access Journals (Sweden)

    V Mazloum

    2013-10-01

    . Results: Both experimental groups exhibited significant reduction of pain along with improved knee flexion and extension compared with the control group (P<0.001. Pain reduction in subjects treated in water treatment was significantly higher than exercise group in drought (P0.05. Conclusion: The use of therapeutic exercise in water with regular exercise rehabilitation for patients with hemophilia can be helpful to reduce pain and improve range of motion in hemophilia patients. The effect of exercise therapy on pain reduction is more effective compared to traditional pain therapy. Key words: Hydrotherapy, Exercise Therapy, Hemophilia, Knee Range of Motion

  12. A 3-DOF hemi-constrained wrist motion/force detection device for deploying simultaneous myoelectric control.

    Science.gov (United States)

    Yang, Wei; Yang, Dapeng; Liu, Yu; Liu, Hong

    2018-03-05

    For describing the state of the wrist, either the force or movement of wrist can be measured as the training target in the simultaneous electromyography control. However, the relationship between the force and movement is so complex that only the force or movement is not precise enough to describe its actual situations. In this paper, we propose a novel platform that can acquire three degrees of freedom (DOF) wrist motion/force synchronously with multi-channel electromyography signals in a hemi-constraint way. The self-made wrist force-movement mapping device establishes a stable relationship between the wrist movement and force. Meanwhile, the elicited wrist movement can be directly fed back to the subjects via laser cursor. The information of the cursor can directly reflect the 3-DOF movement of the wrist without any decoupling algorithms. Through this platform, the support vector regression model learned from the training data can well predict the arbitrary combinations of 3-DOF wrist movements. The cross-validation result indicates that the regression accuracy of free 3-DOF movements can reach a similar performance to that of 2-DOF regular movements (in terms of R 2 , regular movement vs. free movement, p > 0.1). Graphical abstract The hemi-constrained platform used for detecting 3-DOF wrist movements.

  13. A Double-Blind Placebo-Controlled Randomized Clinical Trial With Magnesium Oxide to Reduce Intrafraction Prostate Motion for Prostate Cancer Radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Lips, Irene M., E-mail: i.m.lips@umcutrecht.nl [Department of Radiation Oncology, University Medical Center Utrecht, Utrecht (Netherlands); Gils, Carla H. van [Julius Center for Health Sciences and Primary Care, University Medical Center Utrecht, Utrecht (Netherlands); Kotte, Alexis N.T.J. [Department of Radiation Oncology, University Medical Center Utrecht, Utrecht (Netherlands); Leerdam, Monique E. van [Department of Gastroenterology and Hepatology, Erasmus University Medical Center, Rotterdam (Netherlands); Franken, Stefan P.G.; Heide, Uulke A. van der; Vulpen, Marco van [Department of Radiation Oncology, University Medical Center Utrecht, Utrecht (Netherlands)

    2012-06-01

    Purpose: To investigate whether magnesium oxide during external-beam radiotherapy for prostate cancer reduces intrafraction prostate motion in a double-blind, placebo-controlled randomized trial. Methods and Materials: At the Department of Radiotherapy, prostate cancer patients scheduled for intensity-modulated radiotherapy (77 Gy in 35 fractions) using fiducial marker-based position verification were randomly assigned to receive magnesium oxide (500 mg twice a day) or placebo during radiotherapy. The primary outcome was the proportion of patients with clinically relevant intrafraction prostate motion, defined as the proportion of patients who demonstrated in {>=}50% of the fractions an intrafraction motion outside a range of 2 mm. Secondary outcome measures included quality of life and acute toxicity. Results: In total, 46 patients per treatment arm were enrolled. The primary endpoint did not show a statistically significant difference between the treatment arms with a percentage of patients with clinically relevant intrafraction motion of 83% in the magnesium oxide arm as compared with 80% in the placebo arm (p = 1.00). Concerning the secondary endpoints, exploratory analyses demonstrated a trend towards worsened quality of life and slightly more toxicity in the magnesium oxide arm than in the placebo arm; however, these differences were not statistically significant. Conclusions: Magnesium oxide is not effective in reducing the intrafraction prostate motion during external-beam radiotherapy, and therefore there is no indication to use it in clinical practice for this purpose.

  14. Development of a Shipboard Remote Control and Telemetry Experimental System for Large-Scale Model’s Motions and Loads Measurement in Realistic Sea Waves

    Directory of Open Access Journals (Sweden)

    Jialong Jiao

    2017-10-01

    Full Text Available Wave-induced motion and load responses are important criteria for ship performance evaluation. Physical experiments have long been an indispensable tool in the predictions of ship’s navigation state, speed, motions, accelerations, sectional loads and wave impact pressure. Currently, majority of the experiments are conducted in laboratory tank environment, where the wave environments are different from the realistic sea waves. In this paper, a laboratory tank testing system for ship motions and loads measurement is reviewed and reported first. Then, a novel large-scale model measurement technique is developed based on the laboratory testing foundations to obtain accurate motion and load responses of ships in realistic sea conditions. For this purpose, a suite of advanced remote control and telemetry experimental system was developed in-house to allow for the implementation of large-scale model seakeeping measurement at sea. The experimental system includes a series of technique sensors, e.g., the Global Position System/Inertial Navigation System (GPS/INS module, course top, optical fiber sensors, strain gauges, pressure sensors and accelerometers. The developed measurement system was tested by field experiments in coastal seas, which indicates that the proposed large-scale model testing scheme is capable and feasible. Meaningful data including ocean environment parameters, ship navigation state, motions and loads were obtained through the sea trial campaign.

  15. Development of a Shipboard Remote Control and Telemetry Experimental System for Large-Scale Model's Motions and Loads Measurement in Realistic Sea Waves.

    Science.gov (United States)

    Jiao, Jialong; Ren, Huilong; Adenya, Christiaan Adika; Chen, Chaohe

    2017-10-29

    Wave-induced motion and load responses are important criteria for ship performance evaluation. Physical experiments have long been an indispensable tool in the predictions of ship's navigation state, speed, motions, accelerations, sectional loads and wave impact pressure. Currently, majority of the experiments are conducted in laboratory tank environment, where the wave environments are different from the realistic sea waves. In this paper, a laboratory tank testing system for ship motions and loads measurement is reviewed and reported first. Then, a novel large-scale model measurement technique is developed based on the laboratory testing foundations to obtain accurate motion and load responses of ships in realistic sea conditions. For this purpose, a suite of advanced remote control and telemetry experimental system was developed in-house to allow for the implementation of large-scale model seakeeping measurement at sea. The experimental system includes a series of technique sensors, e.g., the Global Position System/Inertial Navigation System (GPS/INS) module, course top, optical fiber sensors, strain gauges, pressure sensors and accelerometers. The developed measurement system was tested by field experiments in coastal seas, which indicates that the proposed large-scale model testing scheme is capable and feasible. Meaningful data including ocean environment parameters, ship navigation state, motions and loads were obtained through the sea trial campaign.

  16. IMPROVEMENT OF THE «CARRIAGE-CARGO» SYSTEM MOTION MATHEMATICAL MODEL FOR SOLVING THE PROBLEM OF LIFTING AND TRANSPORT MACHINES CONTROL

    Directory of Open Access Journals (Sweden)

    О. Hryhorov

    2017-06-01

    Full Text Available The article deals with the study of a mathematical model that describes the cable crane «carriage-cargo» system motion, taking into account the carriage movement resistance, the wind strength and the friction forces. The obtained system equations can be used to build the controllability function for the «carriage-cargo» system and determine the cable crane control by minimizing the operation cycle time by cargo oscillation damping.

  17. Effectiveness of a School-Based Physical Activity Intervention on Cognitive Performance in Danish Adolescents: LCoMotion-Learning, Cognition and Motion - A Cluster Randomized Controlled Trial.

    Directory of Open Access Journals (Sweden)

    Jakob Tarp

    Full Text Available Physical activity is associated not only with health-related parameters, but also with cognitive and academic performance. However, no large scale school-based physical activity interventions have investigated effects on cognitive performance in adolescents. The aim of this study was to describe the effectiveness of a school-based physical activity intervention in enhancing cognitive performance in 12-14 years old adolescents.A 20 week cluster randomized controlled trial was conducted including seven intervention and seven control schools. A total of 632 students (mean (SD age: 12.9 (0.6 years completed the trial with baseline and follow-up data on primary or secondary outcomes (74% of randomized subjects. The intervention targeted physical activity during academic subjects, recess, school transportation and leisure-time. Cognitive performance was assessed using an executive functions test of inhibition (flanker task with the primary outcomes being accuracy and reaction time on congruent and incongruent trials. Secondary outcomes included mathematics performance, physical activity levels, body-mass index, waist-circumference and cardiorespiratory fitness.No significant difference in change, comparing the intervention group to the control group, was observed on the primary outcomes (p's>0.05 or mathematics skills (p>0.05. An intervention effect was found for cardiorespiratory fitness in girls (21 meters (95% CI: 4.4-38.6 and body-mass index in boys (-0.22 kg/m2 (95% CI: -0.39-0.05. Contrary to our predictions, a significantly larger change in interference control for reaction time was found in favor of the control group (5.0 milliseconds (95% CI: 0-9. Baseline to mid-intervention changes in physical activity levels did not differ significantly between groups (all p's>0.05.No evidence was found for effectiveness of a 20-week multi-faceted school-based physical activity intervention for enhancing executive functioning or mathematics skills compared

  18. Effectiveness of a School-Based Physical Activity Intervention on Cognitive Performance in Danish Adolescents: LCoMotion-Learning, Cognition and Motion - A Cluster Randomized Controlled Trial.

    Science.gov (United States)

    Tarp, Jakob; Domazet, Sidsel Louise; Froberg, Karsten; Hillman, Charles H; Andersen, Lars Bo; Bugge, Anna

    2016-01-01

    Physical activity is associated not only with health-related parameters, but also with cognitive and academic performance. However, no large scale school-based physical activity interventions have investigated effects on cognitive performance in adolescents. The aim of this study was to describe the effectiveness of a school-based physical activity intervention in enhancing cognitive performance in 12-14 years old adolescents. A 20 week cluster randomized controlled trial was conducted including seven intervention and seven control schools. A total of 632 students (mean (SD) age: 12.9 (0.6) years) completed the trial with baseline and follow-up data on primary or secondary outcomes (74% of randomized subjects). The intervention targeted physical activity during academic subjects, recess, school transportation and leisure-time. Cognitive performance was assessed using an executive functions test of inhibition (flanker task) with the primary outcomes being accuracy and reaction time on congruent and incongruent trials. Secondary outcomes included mathematics performance, physical activity levels, body-mass index, waist-circumference and cardiorespiratory fitness. No significant difference in change, comparing the intervention group to the control group, was observed on the primary outcomes (p's>0.05) or mathematics skills (p>0.05). An intervention effect was found for cardiorespiratory fitness in girls (21 meters (95% CI: 4.4-38.6) and body-mass index in boys (-0.22 kg/m2 (95% CI: -0.39-0.05). Contrary to our predictions, a significantly larger change in interference control for reaction time was found in favor of the control group (5.0 milliseconds (95% CI: 0-9). Baseline to mid-intervention changes in physical activity levels did not differ significantly between groups (all p's>0.05). No evidence was found for effectiveness of a 20-week multi-faceted school-based physical activity intervention for enhancing executive functioning or mathematics skills compared to a

  19. Grid to Standalone Transition Motion-Sensorless Dual-Inverter Control of PMSG With Asymmetrical Grid Voltage Sags and Harmonics Filtering

    DEFF Research Database (Denmark)

    Fatu, M.; Blaabjerg, Frede; Boldea, I.

    2014-01-01

    -coupling decoupling and line-voltage feedforward disturbance compensation. Also, a D-module filter is used to robustly extract the line voltage positive sequence followed by a phase-locked-loop (PLL) based observer to estimate the positive-sequence angle for control, including the case of asymmetric voltages...... and automatic seamless transfer method from grid connected to stand alone and vice versa. In stand-alone mode, a voltage control scheme with selective harmonic compensation is employed. The PMSG motion-sensorless control system uses an active power controller and a PLL-based observer to estimate the rotor...

  20. Two-dimensional laser servoing for precision motion control of an ODV robotic license plate recognition system

    Science.gov (United States)

    Song, Zhen; Moore, Kevin L.; Chen, YangQuan; Bahl, Vikas

    2003-09-01

    As an outgrowth of series of projects focused on mobility of unmanned ground vehicles (UGV), an omni-directional (ODV), multi-robot, autonomous mobile parking security system has been developed. The system has two types of robots: the low-profile Omni-Directional Inspection System (ODIS), which can be used for under-vehicle inspections, and the mid-sized T4 robot, which serves as a ``marsupial mothership'' for the ODIS vehicles and performs coarse resolution inspection. A key task for the T4 robot is license plate recognition (LPR). For a successful LPR task without compromising the recognition rate, the robot must be able to identify the bumper locations of vehicles in the parking area and then precisely position the LPR camera relative to the bumper. This paper describes a 2D-laser scanner based approach to bumper identification and laser servoing for the T4 robot. The system uses a gimbal-mounted scanning laser. As the T4 robot travels down a row of parking stalls, data is collected from the laser every 100ms. For each parking stall in the range of the laser during the scan, the data is matched to a ``bumper box'' corresponding to where a car bumper is expected, resulting in a point cloud of data corresponding to a vehicle bumper for each stall. Next, recursive line-fitting algorithms are used to determine a line for the data in each stall's ``bumper box.'' The fitting technique uses Hough based transforms, which are robust against segmentation problems and fast enough for real-time line fitting. Once a bumper line is fitted with an acceptable confidence, the bumper location is passed to the T4 motion controller, which moves to position the LPR camera properly relative to the bumper. The paper includes examples and results that show the effectiveness of the technique, including its ability to work in real-time.